diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index cf42547..d2ce347 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -40,7 +40,7 @@ public class RobotContainer {
 
   public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
 
-  public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
+  //public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
 
   public final TurretSubsystem turretSubsystem = new TurretSubsystem();
 
@@ -75,11 +75,11 @@ public class RobotContainer {
     m_driverController.a().onTrue(intakeSubsystem.retractCommand());
     m_driverController.b().onTrue(intakeSubsystem.reverseCommand());*/
 
-    m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand());
+    /*m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand());
     m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand());
     m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand());
 
-    intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID()));
+    intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID()));*/
   }
 
   /**
diff --git a/src/main/java/frc/robot/commands/ManualShootCommand.java b/src/main/java/frc/robot/commands/ManualShootCommand.java
index 3827b32..8a23efb 100644
--- a/src/main/java/frc/robot/commands/ManualShootCommand.java
+++ b/src/main/java/frc/robot/commands/ManualShootCommand.java
@@ -26,6 +26,7 @@ public class ManualShootCommand extends Command {
     if(m_controller.getLeftTriggerAxis()>.5 || m_controller.getRightTriggerAxis()>.5)
     {
       m_subsystem.setLauncher(1);
+      System.out.println("Test");
     }
     else
     {
diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 0b40532..eb162e0 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -33,11 +33,9 @@ public class TurretSubsystem extends TestableSubsystem {
   //private TalonFX turretMotor;
   private SparkMax launcherMotor;
   private Servo hood;
-  private CANcoder hoodEncoder;
   private Angle limitPos;
   private Angle limitNeg;
   private boolean turretGoingPos;
-  private Angle targElev;
 
   public TurretSubsystem() {
     turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.TURRET_LIMIT_CHANNEL);
@@ -50,22 +48,17 @@ public class TurretSubsystem extends TestableSubsystem {
     config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
 
     hood = new Servo(Constants.ShooterConstants.HOOD_SERVO_CHANNEL);
-    hoodEncoder = new CANcoder(Constants.ShooterConstants.HOOD_ENCODER_ID);
     currentState = TurretState.INIT;
     limitNeg = Constants.ShooterConstants.LIMIT_AXIMUTH_NEG;
     limitPos = Constants.ShooterConstants.LIMIT_AXIMUTH_POS;
     turretGoingPos = false;
-    targElev = edu.wpi.first.units.Units.Degrees.of(45);
   }
 
   public void setLauncher(double speed) {launcherMotor.set(speed);}
 
   public void setTargetElevation(Angle elev)
   {
-    if(elev.gt(Constants.ShooterConstants.LIMIT_ELEVATION_NEG) && elev.lt(Constants.ShooterConstants.LIMIT_ELEVATION_POS))
-    {
-      targElev=elev;
-    }
+    hood.setAngle(elev.in(Units.Degrees));
   }
 
   public void startHoming()
@@ -133,26 +126,6 @@ public class TurretSubsystem extends TestableSubsystem {
       //turretMotor.set(0);
     }*/
 
-    int k = 1;
-    if(Constants.ShooterConstants.HOOD_SERVO_INVERTED) {
-      k=-1;
-    }
 
-    Angle curElev = hoodEncoder.getAbsolutePosition().getValue();
-    if(targElev.minus(curElev).abs(Units.Degrees)>Constants.ShooterConstants.TARGET_ELEVATION_DIF.in(Units.Degrees))
-    {
-      if(targElev.gt(curElev))
-      {
-        hood.set(k * 0.5);
-      }
-      else
-      {
-        hood.set(k * -0.5);
-      }
-    }
-    else
-    {
-      hood.set(0);
-    }
   }
 }