diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index e05af11..1617d2b 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -66,24 +66,31 @@ public final class Constants {
     }
     
     public static final class IntakeConstants {
-        public static final int INTAKE_SPARK_ID = 9;
-        public static final int EXTENDER_SPARK_ID = 10;
+        public static final int INTAKE_SPARK_ID = -9;
+        public static final int EXTENDER_SPARK_ID = -10;
     }
   
     public static final class ShooterConstants {
+        /* Motor IDs */
         public static final int SHOOTER_FALCON_ID = 8;
+        public static final int SHOOTER_ANGLE_ADJUST_ID = 9;
+        public static final int SHOOTER_ROTATE_ID = 10;
 
         /* PID Constants Shooter */
         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;
     }
     
     public static final class ClimberConstants {
-        public static final int CLIMBER_SPARK_ID = 10;
+        public static final int CLIMBER_SPARK_ID = -1;
     }
   
     public static final class LevelerConstants {
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index a431921..e678e1a 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -72,11 +72,11 @@ public class RobotContainer {
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
         // runs the drum shooter in idle mode
-        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
+    //    m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
         // drives the leveler with an axis input from the driver controller
-        m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
+    //    m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
         // runs storage motor at 50 percent
-        m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
+    //    m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
     }
 
     /**
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index f8649ae..16b6045 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -10,24 +10,41 @@ package frc4388.robot.subsystems;
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import com.revrobotics.CANEncoder;
+import com.revrobotics.CANPIDController;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.ControlType;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Gains;
-import frc4388.robot.Constants.DriveConstants;
 import frc4388.robot.Constants.ShooterConstants;
 
 public class Shooter extends SubsystemBase {
 
   public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
+  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();
+  CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
+
+  CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
+  CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
 
   double velP;
   /**
    * Creates a new Shooter subsystem.
    */
   public Shooter() {
+    //Testing purposes reseting gyros
+    resetGyroAngleAdj();
+    resetGyroShooterRotate();
+
     m_shooterFalcon.configFactoryDefault();
 
     m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
@@ -86,4 +103,50 @@ public class Shooter extends SubsystemBase {
       m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
     }
   }
+
+  /* Angle Adjustment PID Control */
+  public void runAngleAdjustPID(double targetAngle)
+  {
+    // Set PID Coefficients
+    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;
+
+    m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
+  }
+
+  /* Rotate Shooter PID Control */
+  public void runshooterRotatePID(double targetAngle)
+  {
+    // Set PID Coefficients
+    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;
+
+    m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
+  }
+
+  /* For Testing Purposes, reseting gyro for angle adjuster */
+  public void resetGyroAngleAdj()
+  {
+    m_angleEncoder.setPosition(0);
+  }
+
+  /* For Testing Purposes, reseting gyro for shooter rotation */
+  public void resetGyroShooterRotate()
+  {
+    m_shooterRotateEncoder.setPosition(0);
+  }
 }
\ No newline at end of file