diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 62e5422..277d3a2 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -184,7 +184,7 @@ public final class Constants {
     public static final int SHOOTER_FALCON_LEFT_CAN_ID = 21;
     public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 22;
     public static final double TURRET_SPEED_MULTIPLIER = 0.4d;
-    public static final int DEGREES_PER_ROT = 0;
+    public static final double DEGREES_PER_ROT = 180.0/105.45445251464844;
     public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
     public static final int TURRET_MOTOR_ROTS_PER_ROT = 0;
     public static final double ENCODER_TICKS_PER_REV = 2048;
@@ -196,10 +196,10 @@ public final class Constants {
     // ID
     public static final int TURRET_MOTOR_CAN_ID = 19;
       //Gains for turret
-    public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
+    public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.1, 0.0, 0.1, 0.0, 0, 0.6);
+    public static final double SHOOTER_TURRET_MIN = -0.6;
       //Gains for hood
     public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7);
-    public static final double SHOOTER_TURRET_MIN = -1.0;
     public static final double TURRET_FORWARD_LIMIT = 17.0; // TODO: find
     public static final double TURRET_REVERSE_LIMIT = -105.0; // TODO: find
       //Shooter gains for actual Drum
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 8667896..de36846 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -176,7 +176,7 @@ public class RobotContainer {
         new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), 
         m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
     m_robotHood.setDefaultCommand(
-       new RunCommand(() -> m_robotHood.runHood(getOperatorController().getLeftY()), m_robotHood));
+       new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood));
     // m_robotTurret.setDefaultCommand(
     //     new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
 
@@ -260,9 +260,6 @@ public class RobotContainer {
       
     new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
         .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(10000)))
-        // .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.6)))
-        // .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
-    //     .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-96)))
         .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)));
 
     new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
@@ -281,11 +278,14 @@ public class RobotContainer {
     //     .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
     //     .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
 
-    new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
-        .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(500), m_robotBoomBoom));
+    // new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
+    //     .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(500), m_robotBoomBoom));
 
-    new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
-        .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(-500), m_robotBoomBoom));
+    new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
+        .whileHeld(new RunCommand(() -> m_robotTurret.runshooterRotatePID(-180.0), m_robotTurret));
+
+    // new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
+    //     .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(-500), m_robotBoomBoom));
 
     // new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
     //     .whileHeld(new InstantCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index fe99959..00e141c 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -71,7 +71,8 @@ public class Turret extends SubsystemBase {
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    SmartDashboard.putNumber("Turret Angle", m_boomBoomRotateEncoder.getPosition());
+    SmartDashboard.putNumber("Turret Angle Rotations", m_boomBoomRotateEncoder.getPosition());
+    SmartDashboard.putNumber("Turret Angle Degrees", m_boomBoomRotateEncoder.getPosition() * ShooterConstants.DEGREES_PER_ROT);
   }
 
   /**