diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index d6c8a4d..1c6f0d8 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -137,9 +137,11 @@ public class RobotContainer {
 
         /* TEST shooter rotate PIDs */
         new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
-            .whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(1, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
+            .whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(360, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
         new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
             .whileHeld(new RunCommand(() -> m_robotShooter.runshooterRotatePID(360, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
+        new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
+            .whileHeld(new RunCommand(() -> m_robotShooter.runshooterRotatePID(720, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
         /* TEST for both commands above */
     }
       
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index 7d2b87f..527bfa4 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -41,6 +41,10 @@ public class Shooter extends SubsystemBase {
    * Creates a new Shooter subsystem.
    */
   public Shooter() {
+    //Testing purposes reseting gyros
+    resetGyroAngleAdj();
+    resetGyroShooterRotate();
+
     m_shooterFalcon.configFactoryDefault();
 
     m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
@@ -134,4 +138,16 @@ public class Shooter extends SubsystemBase {
 
     m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
   }
+
+  /* For Testing Purposes, reseting gyro for angle adjuster */
+  public void resetGyroAngleAdj()
+  {
+    m_angleEncoder.setPosition(0);
+  }
+
+  /* For Testing Purposes, reseting gyro for shooter rotation */
+  public void resetGyroShooterRotate()
+  {
+    m_shooterRotateEncoder.setPosition(0);
+  }
 }
\ No newline at end of file