diff --git a/src/main/java/frc4388/robot/commands/HoodAdjustPID.java b/src/main/java/frc4388/robot/commands/HoodAdjustPID.java
index 2815dd5..f08db0d 100644
--- a/src/main/java/frc4388/robot/commands/HoodAdjustPID.java
+++ b/src/main/java/frc4388/robot/commands/HoodAdjustPID.java
@@ -13,7 +13,8 @@ import frc4388.robot.subsystems.Shooter;
 public class HoodAdjustPID extends CommandBase {
   Shooter m_shooter;
   /**
-   * Creates a new HoodAdjustPID.
+   * Adjusts the hood based on the limelight target angle
+   * @param shooterSub The Shooter subsystem
    */
   public HoodAdjustPID(Shooter shooterSub) {
     m_shooter = shooterSub;
diff --git a/src/main/java/frc4388/robot/commands/ShootFireGroup.java b/src/main/java/frc4388/robot/commands/ShootFireGroup.java
index d0e0ab6..03371d7 100644
--- a/src/main/java/frc4388/robot/commands/ShootFireGroup.java
+++ b/src/main/java/frc4388/robot/commands/ShootFireGroup.java
@@ -18,16 +18,17 @@ import frc4388.robot.subsystems.Storage;
 // https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
 public class ShootFireGroup extends ParallelRaceGroup {
   /**
-   * Creates a new ShootFireGroup.
+   * Fires the shooter
+   * @param m_shooter The Shooter subsytem
+   * @param m_shooterAim The ShooterAim subsystem
+   * @param m_storage The Storage subsytem
    */
   public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
-
-    // Add your commands in the super() call, e.g.
-    // super(new FooCommand(), new BarCommand());
     super(
       new ShooterVelocityControlPID(m_shooter, m_shooter.addFireVel()),
-      new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
-      new TrackTarget(m_shooter, m_shooterAim)
+      new HoodAdjustPID(m_shooter),
+      new TrackTarget(m_shooter, m_shooterAim),
+      new StorageRun(m_storage)
       );
   }
 }
diff --git a/src/main/java/frc4388/robot/commands/ShootFullGroup.java b/src/main/java/frc4388/robot/commands/ShootFullGroup.java
index 9da770d..63bc7ec 100644
--- a/src/main/java/frc4388/robot/commands/ShootFullGroup.java
+++ b/src/main/java/frc4388/robot/commands/ShootFullGroup.java
@@ -17,12 +17,15 @@ import frc4388.robot.subsystems.Storage;
 // https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
 public class ShootFullGroup extends SequentialCommandGroup {
   /**
-   * Creates a new ShootFullGroup.
+   * Preps and Fires the Shooter
+   * @param m_shooter The Shooter subsytem
+   * @param m_shooterAim The ShooterAim subsystem
+   * @param m_storage The Storage subsytem
    */
   public ShootFullGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
     super(
       new ShootPrepGroup(m_shooter, m_shooterAim, m_storage), 
-      new ShootFireGroup()
+      new ShootFireGroup(m_shooter, m_shooterAim, m_storage)
     );
   }
 }
diff --git a/src/main/java/frc4388/robot/commands/ShootPrepGroup.java b/src/main/java/frc4388/robot/commands/ShootPrepGroup.java
index 1b17fda..ffbc2b5 100644
--- a/src/main/java/frc4388/robot/commands/ShootPrepGroup.java
+++ b/src/main/java/frc4388/robot/commands/ShootPrepGroup.java
@@ -19,6 +19,9 @@ import frc4388.robot.subsystems.Storage;
 public class ShootPrepGroup extends ParallelCommandGroup {
   /**
    * Preps the Shooter to be fired
+   * @param m_shooter The Shooter subsytem
+   * @param m_shooterAim The ShooterAim subsystem
+   * @param m_storage The Storage subsytem
    */
   public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
     super(
diff --git a/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java b/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
index f4aeae8..4da0fe3 100644
--- a/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
+++ b/src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
@@ -16,6 +16,8 @@ public class ShooterVelocityControlPID extends CommandBase {
   double m_actualVel;
   /**
    * Creates a new ShooterVelocityControlPID.
+   * @param subsystem The Shooter subsytem
+   * @param targetVel The target velocity
    */
   public ShooterVelocityControlPID(Shooter subsystem, double targetVel) {
     // Use addRequirements() here to declare subsystem dependencies.
diff --git a/src/main/java/frc4388/robot/commands/StorageRun.java b/src/main/java/frc4388/robot/commands/StorageRun.java
new file mode 100644
index 0000000..5b56b52
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/StorageRun.java
@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.StorageConstants;
+import frc4388.robot.subsystems.Storage;
+
+public class StorageRun extends CommandBase {
+  Storage m_storage;
+  /**
+   * Runs the Storage at a speed
+   * @param storageSub The Storage subsytem
+   */
+  public StorageRun(Storage storageSub) {
+    m_storage = storageSub;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_storage.runStorage(StorageConstants.STORAGE_SPEED);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}