diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index a0cef9f..1b9b7a8 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -100,7 +100,7 @@ public final class Constants {
     public static final int DEGREES_PER_ROT = 0; //""//
     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; //""//
     
    
     /* Turret Constants */
diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
index f2809c2..005abdc 100644
--- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java
+++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
@@ -5,21 +5,17 @@
 package frc4388.robot.subsystems;
 
 import java.util.Base64.Encoder;
-
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
 import edu.wpi.first.wpilibj.smartdashboard.*;
 import edu.wpi.first.math.controller.BangBangController;
-import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.ShooterConstants;
 import frc4388.utility.ShooterTables;
 import frc4388.utility.Gains;
 import frc4388.utility.controller.IHandController;
-import com.revrobotics.RelativeEncoder;
-import com.revrobotics.*;
 
 public class BoomBoom extends SubsystemBase {
 public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID);
@@ -40,8 +36,6 @@ public Turret m_turretSubsystem;
 
 
 
-SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later
-
 
 
 /*
@@ -51,15 +45,11 @@ public BoomBoom(){
 //Testing purposes resetting gyros
 //resetGryoAngleADj();
 //shooterTrims = new Trims(0,0);
-feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration);
-
-
 }
   /** Creates a new BoomBoom. */
   public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
   m_shooterFalconLeft = shooterFalconLeft;
   m_shooterFalconRight = shooterFalconRight;
-  
     int closedLoopTimeMs = 1;
       //LEFT FALCON
       m_shooterFalconLeft.configFactoryDefault();
@@ -72,7 +62,6 @@ feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration);
       m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
       m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
       
-      
       //RIGHT FALCON
       m_shooterFalconRight.configFactoryDefault();
       m_shooterFalconRight.setNeutralMode(NeutralMode.Coast);
@@ -139,8 +128,7 @@ public void setShooterGains() {
     //Controls a motor with the output of the BangBang controller
     //Controls a motor with the output of the BangBang conroller and a feedforward
     //Shrinks the feedforward slightly to avoid over speeding the shooter
-    m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel));
-  
+    m_shooterFalconLeft.set(controller.calculate(Encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel));
   
   }
 }