diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 29e40d7..c4e5917 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -74,7 +74,7 @@ public final class Constants {
         /* Motor IDs */
         public static final int SHOOTER_FALCON_ID = -1;
         public static final int SHOOTER_ANGLE_ADJUST_ID = -1;
-        public static final int SHOOTER_ROTATE_ID = -1;
+        public static final int SHOOTER_ROTATE_ID = 10;
 
         /* PID Constants Shooter */
         public static final int SHOOTER_SLOT_IDX = 0;
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 8338a46..50cedc1 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -83,7 +83,6 @@ public class RobotContainer {
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
         // runs the drum shooter in idle mode
 
-      
         m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooter));
         // drives the leveler with an axis input from the driver controller
     //    m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
@@ -104,9 +103,9 @@ public class RobotContainer {
 
         /* Operator Buttons */
         // activates "Lit Mode"
-        new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
-            .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
-            .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
+        //new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+        //    .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
+        //    .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
       
         new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
             .whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
@@ -154,7 +153,7 @@ public class RobotContainer {
 
         /* Storage Neo PID Test */
         new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
-            .whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(0.5, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
+            .whileHeld(new TrackTarget(m_robotShooter));
     }
       
     /**
diff --git a/src/main/java/frc4388/robot/commands/TrackTarget.java b/src/main/java/frc4388/robot/commands/TrackTarget.java
index 7772060..2853242 100644
--- a/src/main/java/frc4388/robot/commands/TrackTarget.java
+++ b/src/main/java/frc4388/robot/commands/TrackTarget.java
@@ -52,7 +52,7 @@ public class TrackTarget extends CommandBase {
     target = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0);
     xAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0);
     yAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);
-
+    
     if (target == 1.0){ //If target in view
         //Aiming Left/Right
       turnAmount = (xAngle/VisionConstants.FOV)*VisionConstants.TURN_P_VALUE;
@@ -60,7 +60,7 @@ public class TrackTarget extends CommandBase {
         //Deadzones
       else if(turnAmount > 0 && turnAmount < VisionConstants.MOTOR_DEAD_ZONE){turnAmount = VisionConstants.MOTOR_DEAD_ZONE;} 
       else if(turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE){turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;}
-      m_shooter.runShooterWithInput(turnAmount/2);
+      m_shooter.runShooterWithInput(turnAmount/5);
 
         //Finding Distance
       distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180));