goto 0 methods for hood + turret

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);
   }
 

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();
   }