diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 2d8ad15..62e9d20 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -80,8 +80,10 @@ public final class Constants {
         public static final int SHOOTER_SLOT_IDX = 0;
         public static final int SHOOTER_PID_LOOP_IDX = 1;
         public static final int SHOOTER_TIMEOUT_MS = 30;
-        public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
+        public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
         
+        public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
+        public static final double SHOOTER_TURRET_MIN = -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;
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 1c6f0d8..cc1e52b 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -137,11 +137,14 @@ public class RobotContainer {
 
         /* TEST shooter rotate PIDs */
         new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
-            .whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(360, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
+            .whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(360)));
+
         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)));
+            .whileHeld(new RunCommand(() -> m_robotShooter.runshooterRotatePID(360)));
+
         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)));
+            .whileHeld(new RunCommand(() -> m_robotShooter.runshooterRotatePID(720)));
+            
         /* 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 527bfa4..a41a19b 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -27,7 +27,7 @@ public class Shooter extends SubsystemBase {
   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;
+  public static Gains m_shooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
 
   // Configure PID Controllers
   CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
@@ -106,15 +106,15 @@ public class Shooter extends SubsystemBase {
   }
 
   /* Angle Adjustment PID Control */
-  public void runAngleAdjustPID(double targetAngle, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
+  public void runAngleAdjustPID(double targetAngle)
   {
     // 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); 
+    m_angleAdjustPIDController.setP(m_shooterGains.m_kP);
+    m_angleAdjustPIDController.setI(m_shooterGains.m_kI);
+    m_angleAdjustPIDController.setD(m_shooterGains.m_kD);
+    m_angleAdjustPIDController.setIZone(m_shooterGains.m_kIzone);
+    m_angleAdjustPIDController.setFF(m_shooterGains.m_kF);
+    m_angleAdjustPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterGains.m_kPeakOutput); 
 
     // Convert input angle in degrees to rotations of the motor
     targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
@@ -123,15 +123,15 @@ public class Shooter extends SubsystemBase {
   }
 
   /* Rotate Shooter PID Control */
-  public void runshooterRotatePID(double targetAngle, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
+  public void runshooterRotatePID(double targetAngle)
   {
     // 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); 
+    m_shooterRotatePIDController.setP(m_shooterGains.m_kP);
+    m_shooterRotatePIDController.setI(m_shooterGains.m_kI);
+    m_shooterRotatePIDController.setD(m_shooterGains.m_kD);
+    m_shooterRotatePIDController.setFF(m_shooterGains.m_kF);
+    m_shooterRotatePIDController.setIZone(m_shooterGains.m_kIzone);
+    m_shooterRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterGains.m_kPeakOutput); 
 
     // Convert input angle in degrees to rotations of the motor
     targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;