diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 97d4f30..12e8dd0 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -71,7 +71,10 @@ public final class Constants {
     }
   
     public static final class ShooterConstants {
+        /* Motor IDs */
         public static final int SHOOTER_FALCON_ID = 8;
+        public static final int SHOOTER_ANGLE_ADJUST_ID = -1;
+        public static final int SHOOTER_ROTATE_ID = -2;
 
         /* PID Constants Shooter */
         public static final int SHOOTER_SLOT_IDX = 0;
@@ -80,6 +83,8 @@ public final class Constants {
         public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
         
         public static final double ENCODER_TICKS_PER_REV = 2048;
+        public static final double NEO_UNITS_PER_REV = 42;
+        public static final double DEGREES_PER_ROT = 360;
     }
     
     public static final class ClimberConstants {
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 37a847d..6f6e29f 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -134,6 +134,13 @@ public class RobotContainer {
         // interrupts any running command
         new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
             .whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
+
+        /* TEST shooter rotate PIDs */
+        new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+            .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)));
+        /* 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 169e36f..7d2b87f 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -10,19 +10,32 @@ package frc4388.robot.subsystems;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import com.revrobotics.CANEncoder;
+import com.revrobotics.CANPIDController;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.ControlType;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Gains;
-import frc4388.robot.Constants.DriveConstants;
 import frc4388.robot.Constants.ShooterConstants;
 
 public class Shooter extends SubsystemBase {
 
   public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
+  public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
+  public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
 
   public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
 
+  // Configure PID Controllers
+  CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
+  CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
+
+  CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
+  CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
+
   double velP;
   /**
    * Creates a new Shooter subsystem.
@@ -87,4 +100,38 @@ public class Shooter extends SubsystemBase {
       m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
     }
   }
+
+  /* Angle Adjustment PID Control */
+  public void runAngleAdjustPID(double targetAngle, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
+  {
+    // Set PID Coefficients
+    m_angleAdjustPIDController.setP(kP);
+    m_angleAdjustPIDController.setI(kI);
+    m_angleAdjustPIDController.setD(kD);
+    m_angleAdjustPIDController.setIZone(kIz);
+    m_angleAdjustPIDController.setFF(kF);
+    m_angleAdjustPIDController.setOutputRange(kminOutput, kmaxOutput); 
+
+    // Convert input angle in degrees to rotations of the motor
+    targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
+
+    m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
+  }
+
+  /* Rotate Shooter PID Control */
+  public void runshooterRotatePID(double targetAngle, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
+  {
+    // Set PID Coefficients
+    m_shooterRotatePIDController.setP(kP);
+    m_shooterRotatePIDController.setI(kI);
+    m_shooterRotatePIDController.setD(kD);
+    m_shooterRotatePIDController.setIZone(kIz);
+    m_shooterRotatePIDController.setFF(kF);
+    m_shooterRotatePIDController.setOutputRange(kminOutput, kmaxOutput); 
+
+    // Convert input angle in degrees to rotations of the motor
+    targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
+
+    m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
+  }
 }
\ No newline at end of file