diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 847174d..ce3483d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,6 +6,7 @@ package frc.robot;
 
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants.OperatorConstants;
@@ -79,6 +80,6 @@ public class RobotContainer {
    */
   public Command getAutonomousCommand() {
     // An example command will be run in autonomous
-    return driveSubsystem.getAutoCommand();
+    return Commands.parallel(Commands.run(()-> {turretSubsystem.homeTurret();}, turretSubsystem),  driveSubsystem.getAutoCommand());
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 52f6a87..6e0e6a1 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -206,7 +206,7 @@ public class TurretSubsystem extends TestableSubsystem {
             .withReverseSoftLimitEnable(true)
             .withReverseSoftLimitThreshold(reverseLimit)
         );
-        // setTurretRotation(Angle.ofRelativeUnits(0, Units.Degrees));
+        setTurretRotation(Angle.ofRelativeUnits(180, Units.Degrees));
       }
     }