diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 2bb8bb7..a0cef9f 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -101,7 +101,7 @@ public final class Constants {
     public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""//
     public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""//
       
-    }
+    
    
     /* Turret Constants */
     //ID
@@ -113,7 +113,7 @@ public final class Constants {
     public static final int SHOOTER_FALCON_BALLER_ID = 0; //unknown value, fix later//
     public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"//
   
-    public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0);//x,y,z,a,b are not actual values, fix later
+    public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0);//x,y,z,a,b are not actual values, fix later
     /* Hood Constants */
     public static final int SHOOTER_ANGLE_ADJUST_ID = 10;
     public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
index 1e51ef1..1637844 100644
--- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java
+++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
@@ -41,7 +41,7 @@ public Turret m_turretSubsystem;
 public BoomBoom(){
 //Testing purposes resetting gyros
 //resetGryoAngleADj();
-shooterTrims = new Trims(0,0);
+
 }
   /** Creates a new BoomBoom. */
   public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java
index 48a6556..de51bf0 100644
--- a/src/main/java/frc4388/robot/subsystems/Turret.java
+++ b/src/main/java/frc4388/robot/subsystems/Turret.java
@@ -4,57 +4,69 @@
 
 package frc4388.robot.subsystems;
 
+import java.lang.ModuleLayer.Controller;
+
+import javax.naming.ldap.Control;
+
+import com.ctre.phoenix.sensors.CANCoder;
+
+import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.wpilibj.drive.RobotDriveBase.MotorType;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.ShooterConstants;
 import frc4388.utility.Gains;
 
-public class Turret extends SubsystemBase {
+public class Turret<CANSparkMax, CANDigitalInput> extends SubsystemBase {
+  private static final String turretMotor = null;
   /** Creates a new Turret. */
   public BoomBoom m_boomBoomSubsystem;
   public SwerveDrive m_sDriveSubsystem;
 
-  public CAnsparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
+  public CANSparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
   public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS;
   CANDigitalInput m_boomBoomRightLimit, m_boomBoomLeftLimit;
-  public GyroBase m_turretGyro;
+  public Gyro m_turretGyro;
 
   public double m_targetDistance = 0;
 
   public boolean m_isAimReady = false;
 
-  CANPIDController m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
-  public CANEncoder m_boomBoomRotateEncoder = m_shooterRotateMotor.getEncoder();
-
-  public 
-  public CANSparkMax m_turretMotor;
-  public boolean m_isAimReady;
-  public double m_targetDistance;
+  Controller m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
+  public CANCoder m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
+  
+  
   //Variables
-  public <m_boomBoomRotateMotor> <m_boomBoomRotateMotor> Turret() {
+  public <m_boomBoomRotateMotor> Turret() {
 
+    Object IdleMode;
     m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
-
+    boolean enableLimitSwitch = true;
     m_turretGyro = getGyroInterface();
     m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
     m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
-    m_boomBoomRightLimit.enableLimitSwitch(true);
-    m_boomBoomLeftLimit.enableLimitSwitch(true);
+    m_boomBoomRightLimit.enableLimitSwitch;
+    m_boomBoomLeftLimit.enableLimitSwitch;
 
     m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
     m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
     m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT);
+    boolean setInverted = false;
+    m_boomBoomRotateMotor.setInverted;
+    Object turretMotor;
+    Object m_turretMotor = turretMotor;
+  }
 
-    m_boomBoomRotateMotor.setInverted(false);
-    m_turretMotor = turretMotor;
+  private Gyro getGyroInterface() {
+    return null;
   }
 
   @Override
   public void periodic() {
     SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition());
 
-    SmartDashboard.putData("Turret Angle", m_turretGyro);
+    SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro);
 
     SmartDashboard.putBoolean("Turret Aimed", m_isAimReady);
     // This method will be called once per scheduler run
@@ -73,7 +85,7 @@ public class Turret extends SubsystemBase {
   m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP);
   m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI);
   m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD);
-  m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF);
+  m_boomBoomRotatePIDController.setF(m_shooterTGains.m_kF);
   m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone);
   m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
 
@@ -98,7 +110,7 @@ public class Turret extends SubsystemBase {
   
   public void turnWithJoystick (double input)
   {
-    m_turretMotor.set(input);
+    turretMotor.set(input);
 
   }