diff --git a/lib/RoboLib b/lib/RoboLib
index 8eb0a76..aad75b9 160000
--- a/lib/RoboLib
+++ b/lib/RoboLib
@@ -1 +1 @@
-Subproject commit 8eb0a76b2646235f173cd524fbf7462256ab1696
+Subproject commit aad75b9b559825aaf60ad5bb550bf8263d3d203d
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index a22dac4..0737efd 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.Angle;
 
 import com.ctre.phoenix6.signals.InvertedValue;
@@ -107,10 +108,10 @@ public final class Constants {
     public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(1);
     public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90);
     public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0);
-    public static final Angle DEFLECTOR_STORED_ANGLE = edu.wpi.first.units.Units.Degrees.of(0);
-    public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(100);
-    public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(200);
-    public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(300);
+    public static final double DEFLECTOR_STORED_ANGLE = 0;
+    public static final double DEFLECTOR_SET_ANGLE1 = 100;
+    public static final double DEFLECTOR_SET_ANGLE2 = 200;
+    public static final double DEFLECTOR_SET_ANGLE3 = 300;
     public static final double DEFLECTOR_SERVO_RATIO = 1.0;
   }
   
diff --git a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java b/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
index 6ea77df..3b4d2d7 100644
--- a/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
+++ b/src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java
@@ -61,6 +61,7 @@ public class AutoShootCommandChassisTurret extends Command{
 
         turretSubsystem.setLauncher(2500);
         hopperSubsystem.spindexerOn();
+        autoCenterController.calculate(-100);
 
         // Change to HUB tracking pipeline
         LimelightHelpers.setPipelineIndex(Constants.CameraConstanst.BACK_CAMERA_NAME, Constants.CameraConstanst.BACK_HUB_TRACKING_2D_PIPELINE_NUMBER);
@@ -83,7 +84,7 @@ public class AutoShootCommandChassisTurret extends Command{
             Pose3d closest = botPose.nearest(tagPoses);
             Logger.recordOutput("AutoAlign-ClosestAprilTagPose", closest);
             Transform3d delta = botPose.minus(closest);
-            driveSubsystem.rotateChassis(delta.getRotation().getAngle() > 0 ? chassisRotateSpeed : -chassisRotateSpeed); // May need to flip this
+            driveSubsystem.rotateChassis(delta.getRotation().getAngle() > 0 ? -chassisRotateSpeed : chassisRotateSpeed); // May need to flip this
         }
         else // We have an april tag, center it to the camera frame
         {
diff --git a/src/main/java/frc/robot/commands/SetDeflectorCommand.java b/src/main/java/frc/robot/commands/SetDeflectorCommand.java
index a670ed0..6a46473 100644
--- a/src/main/java/frc/robot/commands/SetDeflectorCommand.java
+++ b/src/main/java/frc/robot/commands/SetDeflectorCommand.java
@@ -5,15 +5,14 @@
 package frc.robot.commands;
 
 import frc.robot.subsystems.TurretSubsystem;
-import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.wpilibj2.command.Command;
 
 /** An example command that uses an example subsystem. **/
 public class SetDeflectorCommand extends Command {
   private final TurretSubsystem m_subsystem;
-  private Angle deployAngle;
+  private double deployAngle;
 
-  public SetDeflectorCommand(TurretSubsystem subsystem, Angle deployAngle) {
+  public SetDeflectorCommand(TurretSubsystem subsystem, double deployAngle) {
     m_subsystem = subsystem;
     this.deployAngle = deployAngle;
   }
diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 6e93d9f..6198ada 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -81,7 +81,7 @@ public class TurretSubsystem extends TestableSubsystem {
     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).outputRange(0, 5000);
+    config.closedLoop.p(1).i(0).d(0.1);
     config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
     launcherMotor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
     launcherControler = launcherMotor.getClosedLoopController();
@@ -105,10 +105,11 @@ public class TurretSubsystem extends TestableSubsystem {
       turretMotor.setControl(new PositionVoltage(position));
   }
 
-  public void setTargetElevation(Angle elev)
+  public void setTargetElevation(double elev)
   {
-    double angle = elev.in(Units.Degrees);
-    hood.setAngle(300/angle);
+    double pos = Math.abs((elev - 300)/300);
+    Logger.recordOutput("ShooterHood-Angle", pos);
+    hood.set(pos);
   }
 
   public Command revSpeedCommand()
@@ -147,6 +148,7 @@ public class TurretSubsystem extends TestableSubsystem {
 
   @Override
   public void periodic() {
+
     // This method will be called once per scheduler run
     switch (currentState) {
       case HOMING: