diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index bcd15f8..318ac48 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -108,13 +108,8 @@ public final class Constants {
         public static final int PID_PRIMARY = 0;
 
         /* PID Gains */
-        public static final double storP = 0.1;
-        public static final double storI = 1e-4;
-        public static final double storD = 1.0;
-        public static final double storIz = 0.0;
-        public static final double storF = 0.0;
-        public static final double storkmaxOutput = 1.0;
-        public static final double storkminOutput = -1.0;
+        public static final double STORAGE_MIN_OUTPUT = -1.0;
+        public static final Gains STORAGE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
     }
   
     public static final class LEDConstants {
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 2585fbc..bf4a506 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -137,7 +137,7 @@ 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 RunCommand(() -> m_robotStorage.runStoragePositionPID(0.5)));
     }
       
     /**
diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java
index 5fbcd1c..be3f97f 100644
--- a/src/main/java/frc4388/robot/subsystems/Storage.java
+++ b/src/main/java/frc4388/robot/subsystems/Storage.java
@@ -19,7 +19,7 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
+import frc4388.robot.Gains;
 import frc4388.robot.Constants.StorageConstants;
 
 public class Storage extends SubsystemBase {
@@ -30,6 +30,8 @@ public class Storage extends SubsystemBase {
 
   CANEncoder m_encoder = m_storageMotor.getEncoder();
 
+  Gains storageGains = StorageConstants.STORAGE_GAINS;
+
   /**
    * Creates a new Storage.
    */
@@ -72,15 +74,15 @@ public class Storage extends SubsystemBase {
   }
 
   /* Storage PID Control */
-  public void runStoragePositionPID(double targetPos, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
+  public void runStoragePositionPID(double targetPos)
   {
     // Set PID Coefficients
-    m_storagePIDController.setP(kP);
-    m_storagePIDController.setI(kI);
-    m_storagePIDController.setD(kD);
-    m_storagePIDController.setIZone(kIz);
-    m_storagePIDController.setFF(kF);
-    m_storagePIDController.setOutputRange(kminOutput, kmaxOutput);
+    m_storagePIDController.setP(storageGains.m_kP);
+    m_storagePIDController.setI(storageGains.m_kI);
+    m_storagePIDController.setD(storageGains.m_kD);
+    m_storagePIDController.setIZone(storageGains.m_kIzone);
+    m_storagePIDController.setFF(storageGains.m_kF);
+    m_storagePIDController.setOutputRange(StorageConstants.STORAGE_MIN_OUTPUT, storageGains.m_kPeakOutput);
 
     m_storagePIDController.setReference(targetPos, ControlType.kPosition);
   }
@@ -94,7 +96,7 @@ public class Storage extends SubsystemBase {
    * Prepares storage for shooting
    */
   public void storageAim() {
-
+    //runStoragePositionPID(targetPos, kP, kI, kD, kIz, kF, kmaxOutput, kminOutput);
   }
     /*
     *If shooting move storage motor until top sensor is tripped