diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 8d85bd5..5c9b0ff 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -41,10 +41,10 @@ public final class Constants {
         public static final double TURBO_SPEED = 1.0;
     
         public static final class DefaultSwerveRotOffsets {
-          public static final double FRONT_LEFT_ROT_OFFSET  = 0.0; //TODO: per robot swerve module offsets.
-          public static final double FRONT_RIGHT_ROT_OFFSET = 0.0; //TODO: per robot swerve module offsets.
-          public static final double BACK_LEFT_ROT_OFFSET   = 0.0; //TODO: per robot swerve module offsets.
-          public static final double BACK_RIGHT_ROT_OFFSET  = 0.0; //TODO: per robot swerve module offsets.
+          public static final double FRONT_LEFT_ROT_OFFSET  =  0.36962890625  + 0.5; //TODO: per robot swerve module offsets.
+          public static final double FRONT_RIGHT_ROT_OFFSET =  0.61474609375  + 0.5; //TODO: per robot swerve module offsets.
+          public static final double BACK_LEFT_ROT_OFFSET   = -0.227294921875 + 0.5; //TODO: per robot swerve module offsets.
+          public static final double BACK_RIGHT_ROT_OFFSET  =  0.60595703125  + 0.5; //TODO: per robot swerve module offsets.
         }
 
         public static final class IDs {
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index a3c409b..efa61b7 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -56,7 +56,7 @@ public class RobotContainer {
                                               
                                                                   m_robotMap.gyro);
 
-    private final Shooter m_robotshooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
+    private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
 
     /* Controllers */
     private final DeadbandedXboxController m_driverXbox   = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -153,7 +153,11 @@ public class RobotContainer {
             .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
           
         // ?  /* Operator Buttons */
-            
+        
+        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotShooter.spin()))
+            .onFalse(new InstantCommand(() -> m_robotShooter.stop()));
+
         // ? /* Programer Buttons (Controller 3)*/
 
         // * /* Auto Recording */
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 25bf208..7eb76d8 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -11,6 +11,7 @@ import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.Pigeon2;
 
+import frc4388.robot.Constants.ShooterConstants;
 // import edu.wpi.first.wpilibj.motorcontrol.Spark;
 // import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
@@ -55,6 +56,10 @@ public class RobotMap {
     public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
     public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
 
+    /* Shooter Subsystem */
+    public final TalonFX leftShooter = new TalonFX(ShooterConstants.LEFT_SHOOTER_ID);
+    public final TalonFX rightShooter = new TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);
+
     void configureDriveMotorControllers() {
         // initialize SwerveModules
         this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index 3ea6a09..b83a0c9 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -5,8 +5,10 @@
 package frc4388.robot.subsystems;
 
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.ShooterConstants;
 
 public class Shooter extends SubsystemBase {
   private final TalonFX leftShooter;
@@ -15,8 +17,23 @@ public class Shooter extends SubsystemBase {
   public Shooter(TalonFX leftShooterMotor, TalonFX rightShooterMotor) {
     leftShooter = leftShooterMotor;
     rightShooter = rightShooterMotor;
+
+    leftShooter.setNeutralMode(NeutralModeValue.Coast);
+    rightShooter.setNeutralMode(NeutralModeValue.Coast);
   }
 
+  public void spin(double speed) {
+    leftShooter.set(-speed);
+    rightShooter.set(-speed);
+  }
+
+  public void spin() {
+    spin(ShooterConstants.SHOOTER_SPEED);
+  }
+
+  public void stop() {
+    spin(0);
+  }
 
   @Override
   public void periodic() {