diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 0b55c20..e64241f 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -322,7 +322,7 @@ public class RobotContainer {
         .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));*/
       
       new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
-          .whileHeld(new RunCommand(() -> m_robotTurret.runshooterRotatePID(-44 * ShooterConstants.TURRET_DEGREES_PER_ROT), m_robotTurret));
+          .whileHeld(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-44 * ShooterConstants.TURRET_DEGREES_PER_ROT), m_robotTurret));
 
        //B > Shoot with Lime
     new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java
index 4cdce03..9523577 100644
--- a/src/main/java/frc4388/robot/commands/AimToCenter.java
+++ b/src/main/java/frc4388/robot/commands/AimToCenter.java
@@ -43,7 +43,7 @@ public class AimToCenter extends CommandBase {
   @Override
   public void execute() {
     m_targetAngle = angleToCenter(x, y, m_drive.getRegGyro().getDegrees());
-    m_turret.runshooterRotatePID(m_targetAngle);
+    m_turret.runShooterRotatePID(m_targetAngle);
 
     // Check if limelight is within range (comment out to disable vision odo)
     if (Math.abs(m_turret.getBoomBoomAngleDegrees() - m_targetAngle) < VisionConstants.RANGE){
diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java
index 9ab9a1f..904eb26 100644
--- a/src/main/java/frc4388/robot/subsystems/Hood.java
+++ b/src/main/java/frc4388/robot/subsystems/Hood.java
@@ -90,7 +90,14 @@ public class Hood extends SubsystemBase {
     m_angleAdjusterMotor.set(input);
   }
 
-  public void resetGyroAngleAdj(){
+  /**
+   * Run a PID to go to the zero position.
+   */
+  public void gotoZero() {
+    runAngleAdjustPID(0);
+  }
+
+  public void resetGyroAngleAdj() {
     m_angleEncoder.setPosition(0);
   }
 
diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index cf10e17..403b8c4 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -93,7 +93,7 @@ public class Turret extends SubsystemBase {
     m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER);
   }
 
-  public void runshooterRotatePID(double targetAngle) {
+  public void runShooterRotatePID(double targetAngle) {
     targetAngle = targetAngle / ShooterConstants.TURRET_DEGREES_PER_ROT;
     m_boomBoomRotatePIDController.setReference(targetAngle, ControlType.kPosition);
   }
@@ -102,6 +102,13 @@ public class Turret extends SubsystemBase {
     m_boomBoomRotateEncoder.setPosition(0);
   }
 
+  /**
+   * Run a PID to go to the zero position.
+   */
+  public void gotoZero() {
+    runShooterRotatePID(0);
+  }
+
   public double getboomBoomRotatePosition() {
     return m_boomBoomRotateEncoder.getPosition();
   }