diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 096f898..3da8fc8 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -138,12 +138,16 @@ public final class Constants {
         public static final int TURRET_LEFT_SOFT_LIMIT = -55;
         public static final double TURRET_SPEED_MULTIPLIER = 0.3;
         public static final double TURRET_CALIBRATE_SPEED = 0.075;
+        public static final double TURRET_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
+        public static final double TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find
 
         public static final int HOOD_UP_SOFT_LIMIT = 33;
         public static final int HOOD_DOWN_SOFT_LIMIT = 3;
         public static final double HOOD_CONVERT_SLOPE = 0.47;
         public static final double HOOD_CONVERT_B = 40.5;
         public static final double HOOD_CALIBRATE_SPEED = 0.2;
+        public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
+        public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find
 
         public static final double DRUM_RAMP_LIMIT = 1000;
         public static final double DRUM_VELOCITY_BOUND = 300;
diff --git a/src/main/java/frc4388/robot/subsystems/ShooterAim.java b/src/main/java/frc4388/robot/subsystems/ShooterAim.java
index 3709d90..ae3f5c5 100644
--- a/src/main/java/frc4388/robot/subsystems/ShooterAim.java
+++ b/src/main/java/frc4388/robot/subsystems/ShooterAim.java
@@ -69,40 +69,6 @@ public class ShooterAim extends SubsystemBase {
     SmartDashboard.putData("Turret Angle", m_turretGyro);
   }
 
-  public GyroBase getGyroInterface() {
-    return new GyroBase(){
-    
-      @Override
-      public void close() throws Exception {
-        // TODO Auto-generated method stub
-        
-      }
-    
-      @Override
-      public void reset() {
-        // TODO Auto-generated method stub
-        
-      }
-    
-      @Override
-      public double getRate() {
-        // TODO Auto-generated method stub
-        return 0;
-      }
-    
-      @Override
-      public double getAngle() {
-        // TODO Auto-generated method stub
-        return getShooterRotatePosition();
-      }
-    
-      @Override
-      public void calibrate() {
-        // TODO Auto-generated method stub
-        
-      }
-    };
-  }
   /**
    * Passes subsystem needed.
    * @param subsystem Subsystem needed.
@@ -140,6 +106,46 @@ public class ShooterAim extends SubsystemBase {
 
   public double getShooterRotatePosition()
   {
-    return m_shooterRotateMotor.getEncoder().getPosition();
+    return m_shooterRotateEncoder.getPosition();
+  }
+
+  public double getShooterRotatePositionDegrees()
+  {
+    return (m_shooterRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.TURRET_MOTOR_ROTS_PER_ROT;
+  }
+
+  public GyroBase getGyroInterface() {
+    return new GyroBase(){
+    
+      @Override
+      public void close() throws Exception {
+        // TODO Auto-generated method stub
+        
+      }
+    
+      @Override
+      public void reset() {
+        // TODO Auto-generated method stub
+        
+      }
+    
+      @Override
+      public double getRate() {
+        // TODO Auto-generated method stub
+        return 0;
+      }
+    
+      @Override
+      public double getAngle() {
+        // TODO Auto-generated method stub
+        return getShooterRotatePositionDegrees();
+      }
+    
+      @Override
+      public void calibrate() {
+        // TODO Auto-generated method stub
+        
+      }
+    };
   }
 }
diff --git a/src/main/java/frc4388/robot/subsystems/ShooterHood.java b/src/main/java/frc4388/robot/subsystems/ShooterHood.java
index 1cb3b9b..5cd3ac3 100644
--- a/src/main/java/frc4388/robot/subsystems/ShooterHood.java
+++ b/src/main/java/frc4388/robot/subsystems/ShooterHood.java
@@ -59,7 +59,7 @@ public class ShooterHood extends SubsystemBase {
     // This method will be called once per scheduler run
     SmartDashboard.putNumber("Fire Angle CSV", m_fireAngle);
 
-    SmartDashboard.putNumber("Hood Angle Raw", getAnglePosition());
+    SmartDashboard.putNumber("Hood Angle Raw", getAnglePositionDegrees());
   }
 
   /**
@@ -95,4 +95,8 @@ public class ShooterHood extends SubsystemBase {
   public double getAnglePosition(){
     return m_angleEncoder.getPosition();
   }
+
+  public double getAnglePositionDegrees(){
+    return (m_angleEncoder.getPosition() - ShooterConstants.HOOD_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.HOOD_MOTOR_ROTS_PER_ROT;
+  }
 }