diff --git a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java b/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
index 5ee7c8c..15fe417 100644
--- a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
+++ b/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
@@ -102,14 +102,14 @@ public class AutoShootCommandChassisTurret extends Command{
 
         // No april tag in camera view. Rotate towards our theoretical closest tag
         if(!LimelightHelpers.getTV(Constants.CameraConstanst.BACK_CAMERA_NAME)){ 
-            Logger.recordOutput("AutoAlignState", "Look for tag");
+            Logger.recordOutput("AutoAlignState-Tracking", "Deadreckoning");
 
             Pose3d botPose = driveSubsystem.getBotPose();
-            //driveSubsystem.rotateChassis(deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians())); // May need to flip this
+            driveSubsystem.rotateChassis(deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians())); // May need to flip this
         }
         else // We have an april tag, center it to the camera frame
         {
-            Logger.recordOutput("AutoAlignState", "Center on tag");
+            Logger.recordOutput("AutoAlignState-Tracking", "Camera");
             // [tx, ty, tz, pitch, yaw, roll]
             double[] targetsPose = LimelightHelpers.getTargetPose_CameraSpace(Constants.CameraConstanst.BACK_CAMERA_NAME);
             if(targetsPose.length >= 1){
@@ -119,8 +119,10 @@ public class AutoShootCommandChassisTurret extends Command{
 
         // If robot is centered on HUB and shooter is up to speed. Run the kicker
         if(turretSubsystem.isLauncherUpToSpeed() && cameraAutoCenterController.atSetpoint()){
-            Logger.recordOutput("AutoAlignState", "FIRE!");
+            Logger.recordOutput("AutoAlignState-Shoot", "FIRE!");
             hopperSubsystem.feedKicker();
+        }else{
+            Logger.recordOutput("AutoAlignState-Shoot", "Waiting");
         }
     }
 
diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 1f709e1..9a2838e 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -99,12 +99,18 @@ public class TurretSubsystem extends TestableSubsystem {
   }
 
   public void setLauncher(double speed) {
+    if(speed == 0)
+    {
+        launcherMotor.stopMotor();
+        return;
+    }
     launcherControler.setSetpoint(speed, ControlType.kVelocity, ClosedLoopSlot.kSlot0);
-    // launcherMotor.set(speed/1000);
   }
 
   public boolean isLauncherUpToSpeed() {
-    return true;
+    // Valid if velcity is within 10% of setpoint.
+    // May need to lower this
+    return Math.abs(launcherControler.getSetpoint() - launcherMotor.getEncoder().getVelocity()) >= launcherControler.getSetpoint() * 0.1;
   }
 
   public void turretControl(double position)