diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index e5351ea..8f945b7 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -289,7 +289,7 @@ public final class Constants {
     public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7);
 
     public static final double TURRET_FORWARD_HARD_LIMIT = 18.429;
-    public static final double TURRET_REVERSE_HARD_LIMIT = -106.454;
+    public static final double TURRET_REVERSE_HARD_LIMIT = -117.8;
 
     public static final double TURRET_FORWARD_SOFT_LIMIT = TURRET_FORWARD_HARD_LIMIT - 5;
     public static final double TURRET_REVERSE_SOFT_LIMIT = TURRET_REVERSE_HARD_LIMIT + 2;
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 1a2ed8c..004b378 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -192,6 +192,7 @@ public class RobotContainer {
             getOperatorController().getLeftTriggerAxis(), 
             getOperatorController().getRightTriggerAxis()),
             m_robotIntake).withName("Intake runWithTriggers defaultCommand"));
+    m_robotBoomBoom.setDefaultCommand(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.35), m_robotBoomBoom));
     
     // m_robotStorage.setDefaultCommand(
     //     new ManageStorage(m_robotStorage, 
diff --git a/src/test/java/frc4388/commands/AimToCenterTest.java b/src/test/java/frc4388/commands/AimToCenterTest.java
index 0bc247d..0b68a94 100644
--- a/src/test/java/frc4388/commands/AimToCenterTest.java
+++ b/src/test/java/frc4388/commands/AimToCenterTest.java
@@ -10,7 +10,11 @@ public class AimToCenterTest {
 
     private static final double DELTA = 1e-15;
 
-    //@Test
+    /**
+     * Unit tests the isDeadzone function in AimToCenter.java
+     * @author Ryan Manley
+     * @link www.hoohle.com
+     */
     public void givenAngle_whenTestIfDeadzone_thenReturnIfInDeadzone() {
         boolean output;