diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 4c96e86..f4f8574 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -53,6 +53,7 @@ public final class Constants {
         public static final double TICKS_PER_MOTOR_REV = 2048;
         public static final double MOTOR_TO_WHEEL_GEAR_RATIO = 12.5;
         public static final double WHEEL_DIAMETER_INCHES = 6;
+        public static final double TICKS_PER_GYRO_REV = 8192;
         
         /* Ratio Calculation */
         public static final double TICK_TIME_TO_SECONDS = 0.1;
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 8c9e346..e1dd0ee 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -329,12 +329,13 @@ public class Drive extends SubsystemBase {
     talon.set(TalonFXControlMode.MotionMagic, targetPos);
   }
 
+  /**
+   * Runs a Turning PID to rotate a to a target angle
+   * @param targetAngle target angle in degrees
+   */
   public void runTurningPID(double targetAngle){
-    //m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
-    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
-    m_rightFrontMotor.set(TalonFXControlMode.Velocity, 0, DemandType.AuxPID, targetAngle);
-    //m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
-    //m_rightFrontMotor.set(DemandType.AuxPID, 0);
+    double targetGyro = (targetAngle/360)*DriveConstants.TICKS_PER_GYRO_REV;
+    runVelocityPID(0, targetGyro);
   }
 
   public double getGyroYaw() {