diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 1ba7be0..3612c9d 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -40,6 +40,8 @@ import frc4388.robot.commands.drive.TurnDegrees;
 import frc4388.robot.commands.intake.RunIntakeWithTriggers;
 import frc4388.robot.commands.shooter.CalibrateShooter;
 import frc4388.robot.commands.shooter.ShootPrepGroup;
+import frc4388.robot.commands.shooter.ShooterGoalPosition;
+import frc4388.robot.commands.shooter.ShooterTrenchPosition;
 import frc4388.robot.commands.shooter.TrackTarget;
 import frc4388.robot.commands.shooter.TrimShooter;
 import frc4388.robot.commands.storage.ManageStorage;
@@ -262,13 +264,17 @@ public class RobotContainer {
 
         // Goal Shooter Position
         new JoystickButton(getButtonFox(), ButtonFox.LEFT_BUTTON)
-            .whileHeld(new PlaySongDrive(m_robotDrive))
-            .whenReleased(new InterruptSubystem(m_robotDrive));
+            .whileHeld(new ShooterGoalPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
+            .whenReleased(new InterruptSubystem(m_robotShooter))
+            .whenReleased(new InterruptSubystem(m_robotShooterHood))
+            .whenReleased(new InterruptSubystem(m_robotShooterAim));
 
         // Trench Shooter Position
         new JoystickButton(getButtonFox(), ButtonFox.RIGHT_BUTTON)
-            .whileHeld(new PlaySongDrive(m_robotDrive))
-            .whenReleased(new InterruptSubystem(m_robotDrive));
+            .whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
+            .whenReleased(new InterruptSubystem(m_robotShooter))
+            .whenReleased(new InterruptSubystem(m_robotShooterHood))
+            .whenReleased(new InterruptSubystem(m_robotShooterAim));
     }
 
     /**
diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java b/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java
index acf2366..b750c66 100644
--- a/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java
+++ b/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java
@@ -8,13 +8,22 @@
 package frc4388.robot.commands.shooter;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.ShooterAim;
+import frc4388.robot.subsystems.ShooterHood;
 
 public class ShooterGoalPosition extends CommandBase {
+  Shooter m_shooter;
+  ShooterHood m_hood;
+  ShooterAim m_aim;
   /**
    * Creates a new ShooterGoalPosition.
    */
-  public ShooterGoalPosition() {
-    // Use addRequirements() here to declare subsystem dependencies.
+  public ShooterGoalPosition(Shooter shooterSub, ShooterHood hoodSub, ShooterAim aimSub) {
+    m_shooter = shooterSub;
+    m_hood = hoodSub;
+    m_aim = aimSub;
+    addRequirements(m_shooter,m_hood,m_aim);
   }
 
   // Called when the command is initially scheduled.
@@ -25,6 +34,9 @@ public class ShooterGoalPosition extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    m_shooter.runDrumShooterVelocityPID(5000);
+    m_hood.runAngleAdjustPID(3);
+    m_aim.runshooterRotatePID(-26.5);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java b/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
index f5408f2..ba452b7 100644
--- a/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
+++ b/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
@@ -8,13 +8,22 @@
 package frc4388.robot.commands.shooter;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.ShooterAim;
+import frc4388.robot.subsystems.ShooterHood;
 
 public class ShooterTrenchPosition extends CommandBase {
+  Shooter m_shooter;
+  ShooterHood m_hood;
+  ShooterAim m_aim;
   /**
    * Creates a new ShooterTrenchPosition.
    */
-  public ShooterTrenchPosition() {
-    // Use addRequirements() here to declare subsystem dependencies.
+  public ShooterTrenchPosition(Shooter shooterSub, ShooterHood hoodSub, ShooterAim aimSub) {
+    m_shooter = shooterSub;
+    m_hood = hoodSub;
+    m_aim = aimSub;
+    addRequirements(m_shooter,m_hood,m_aim);
   }
 
   // Called when the command is initially scheduled.
@@ -25,6 +34,9 @@ public class ShooterTrenchPosition extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    m_shooter.runDrumShooterVelocityPID(5000);
+    m_hood.runAngleAdjustPID(3);
+    m_aim.runshooterRotatePID(-26.5);
   }
 
   // Called once the command ends or is interrupted.