diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 08a5321..ceea2c7 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -216,7 +216,7 @@ public class RobotContainer {
             //.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
             //.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
             //.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
-            .whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))
+            .whileHeld(new TrackTarget(m_robotShooter, m_robotShooterAim))
             .whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30)));
         //Prepares storage for intaking
         //new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
@@ -229,12 +229,8 @@ public class RobotContainer {
         //Run drum
         new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
             //.whenPressed(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage));
-            .whenPressed(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
-            //.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
-
-        //Trims shooter
-        new JoystickButton(getOperatorJoystick(), XboxController.TOP_BOTTOM_DPAD_AXIS)
-            .whenPressed(new TrimShooter(m_robotShooter));
+            .whenPressed(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)))
+            .whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
 
         //Calibrates turret and hood
         new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
diff --git a/src/main/java/frc4388/robot/commands/HoldTarget.java b/src/main/java/frc4388/robot/commands/HoldTarget.java
index fa39663..0bb327c 100644
--- a/src/main/java/frc4388/robot/commands/HoldTarget.java
+++ b/src/main/java/frc4388/robot/commands/HoldTarget.java
@@ -80,7 +80,7 @@ public class HoldTarget extends CommandBase {
       } else if (turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE) {
         turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;
       }
-      m_shooterAim.runShooterWithInput(-turnAmount - m_shooter.shooterTrims.m_turretTrim);
+      m_shooterAim.runShooterWithInput(-turnAmount);// - m_shooter.shooterTrims.m_turretTrim);
 
       // Finding Distance
       distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
diff --git a/src/main/java/frc4388/robot/commands/HoodPositionPID.java b/src/main/java/frc4388/robot/commands/HoodPositionPID.java
index b48a3c4..1ab2f43 100644
--- a/src/main/java/frc4388/robot/commands/HoodPositionPID.java
+++ b/src/main/java/frc4388/robot/commands/HoodPositionPID.java
@@ -31,9 +31,9 @@ public class HoodPositionPID extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    /*double slope = ShooterConstants.HOOD_CONVERT_SLOPE;
+    double slope = ShooterConstants.HOOD_CONVERT_SLOPE;
     double b = ShooterConstants.HOOD_CONVERT_B;
-    firingAngle = (-slope*m_shooter.addFireAngle())+b;*/
+    firingAngle = (-slope*m_shooter.addFireAngle())+b;
     SmartDashboard.putNumber("Shoot Angle From Equation", m_shooter.addFireAngle());
     SmartDashboard.putNumber("Fire Angle", firingAngle);
     m_shooter.runAngleAdjustPID(firingAngle);
diff --git a/src/main/java/frc4388/robot/commands/TrackTarget.java b/src/main/java/frc4388/robot/commands/TrackTarget.java
index 197dc72..2236913 100644
--- a/src/main/java/frc4388/robot/commands/TrackTarget.java
+++ b/src/main/java/frc4388/robot/commands/TrackTarget.java
@@ -82,25 +82,23 @@ public class TrackTarget extends CommandBase {
       } else if (turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE) {
         turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;
       }
-      m_shooterAim.runShooterWithInput(-turnAmount - m_shooter.shooterTrims.m_turretTrim);
+      m_shooterAim.runShooterWithInput(-turnAmount);// - m_shooter.shooterTrims.m_turretTrim);
 
       // Finding Distance
       distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
       SmartDashboard.putNumber("Distance to Target", distance);
 
         //START Equation Code
-        /*
       double yVel = Math.sqrt(2 * VisionConstants.GRAV * VisionConstants.TARGET_HEIGHT);
       double xVel = (distance * VisionConstants.GRAV) / (yVel);
 
-      fireVel = Math.sqrt((Math.pow(xVel, 2))+(Math.pow(yVel,2)));
+      //fireVel = Math.sqrt((Math.pow(xVel, 2))+(Math.pow(yVel,2)));
       fireAngle = Math.atan(yVel/xVel) * (180/Math.PI);
-      */
         //END Equation Code
 
         //START CSV Code
       fireVel = m_shooter.m_shooterTable.getVelocity(distance);
-      fireAngle = m_shooter.m_shooterTable.getHood(distance); //Note: Ensure to follow because units are different
+      //fireAngle = m_shooter.m_shooterTable.getHood(distance); //Note: Ensure to follow because units are different
       //fireAngle = 33;
         //END CSV Code
 
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index ae10d75..63ce02d 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -164,11 +164,10 @@ public class Shooter extends SubsystemBase {
 
   /**
    * Runs drum shooter velocity PID.
-   * @param falcon Motor to use
    * @param targetVel Target velocity to run motor at
    */
   public void runDrumShooterVelocityPID(double targetVel) {
-    System.out.println("dddddddddddddddddddddddd" + targetVel);
+    System.out.println("Target Velocity" + targetVel);
     m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
   }