diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 62a15ef..3ee22e6 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -116,7 +116,7 @@ public final class Constants {
   
   public static class HopperConstants {
     public static final int KICKER_MOTOR_ID = 9;
-    public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive;
+    public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive;
 
     public static final int SPINDEXER_MOTOR_ID = 8;
     public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 397d7ad..5bc5953 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -63,6 +63,14 @@ public class RobotContainer {
     m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
     m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));
 
+    // m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand());
+    // m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand());
+
+
+
+    m_driverController.b().whileTrue(turretSubsystem.setShooter(1500));
+    m_driverController.x().whileTrue(turretSubsystem.setShooter(2000));
+    m_driverController.y().whileTrue(turretSubsystem.setShooter(3000));
     m_driverController.a().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
   }
 
diff --git a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java b/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
index fc9a56b..d30d6fc 100644
--- a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
+++ b/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
@@ -74,7 +74,7 @@ public class AutoShootCommandChassisTurret extends Command{
             }
         });
 
-        turretSubsystem.setLauncher(2500);
+        turretSubsystem.setLauncher(5500);
         hopperSubsystem.spindexerOn();
         cameraAutoCenterController.calculate(-100);
 
diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 87af396..1f709e1 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -20,6 +20,7 @@ import com.ctre.phoenix6.signals.InvertedValue;
 import com.revrobotics.PersistMode;
 import com.revrobotics.ResetMode;
 import com.revrobotics.spark.ClosedLoopSlot;
+import com.revrobotics.spark.FeedbackSensor;
 import com.revrobotics.spark.SparkClosedLoopController;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkBase.ControlType;
@@ -31,6 +32,7 @@ import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Servo;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 
 public class TurretSubsystem extends TestableSubsystem {
   public enum TurretState {
@@ -77,8 +79,14 @@ public class TurretSubsystem extends TestableSubsystem {
     launcherMotor = new SparkMax(Constants.ShooterConstants.LAUNCHER_MOTOR_ID, MotorType.kBrushless);
     SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO);
     config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
-    config.closedLoop.p(1).i(0).d(0.1);
-    config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
+    config.voltageCompensation(10);
+    config.closedLoop.p(0.0001).i(0).d(0.0); // I = 0.0000001
+    config.closedLoop.feedForward.kS(0.2).kV(0.002).kA(0.00);
+    // config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
+    config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);
+    config.closedLoop.positionWrappingEnabled(false);
+    // config.closedLoopRampRate(0.5);
+    // config.smartCurrentLimit(5, 50);
     launcherMotor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
     launcherControler = launcherMotor.getClosedLoopController();
 
@@ -90,10 +98,13 @@ public class TurretSubsystem extends TestableSubsystem {
     turretGoingPos = false;
   }
 
-  public void setLauncher(double speed) {launcherControler.setSetpoint(speed, ControlType.kVelocity);}
+  public void setLauncher(double speed) {
+    launcherControler.setSetpoint(speed, ControlType.kVelocity, ClosedLoopSlot.kSlot0);
+    // launcherMotor.set(speed/1000);
+  }
 
   public boolean isLauncherUpToSpeed() {
-    return launcherControler.isAtSetpoint();
+    return true;
   }
 
   public void turretControl(double position)
@@ -113,6 +124,14 @@ public class TurretSubsystem extends TestableSubsystem {
     return this.runOnce(() -> setLauncher(-.5));
   }
 
+  public Command setShooter(int speedRPM){
+    return Commands.runEnd(() -> {
+      setLauncher(speedRPM);
+    }, () -> {
+      launcherMotor.stopMotor();
+    }, this);
+  }
+
   public void startHoming()
   {
     turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
@@ -159,7 +178,8 @@ public class TurretSubsystem extends TestableSubsystem {
 
     if(LOGGING)
     {
-      Logger.recordOutput("Launcher Speed (RPM)", launcherMotor.getEncoder().getVelocity());
+      Logger.recordOutput("TurretSubsystem-Launcher Speed (RPM)", launcherMotor.getEncoder().getVelocity());
+      Logger.recordOutput("TurretSubsystem-Launcher Volatge", launcherMotor.getOutputCurrent());
     }
 
   }