diff --git a/src/main/deploy/pathplanner/autos/Hub to Shoot.auto b/src/main/deploy/pathplanner/autos/1. Hub to Shoot.auto
similarity index 59%
rename from src/main/deploy/pathplanner/autos/Hub to Shoot.auto
rename to src/main/deploy/pathplanner/autos/1. Hub to Shoot.auto
index 236077b..5877b05 100644
--- a/src/main/deploy/pathplanner/autos/Hub to Shoot.auto	
+++ b/src/main/deploy/pathplanner/autos/1. Hub to Shoot.auto	
@@ -7,30 +7,24 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Hub to Depot"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Depot to Shooting Point"
+            "pathName": "1.1 Hub to Shoot Path"
           }
         },
         {
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 10.0
-                }
-              },
               {
                 "type": "named",
                 "data": {
                   "name": "ChassisAlignShoot"
                 }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 10.0
+                }
               }
             ]
           }
@@ -38,7 +32,32 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Shooting Point to Depot"
+            "pathName": "1.2 Shoot to Depot Path"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1.3 Depot to Shoot Path"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "ChassisAlignShoot"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 10.0
+                }
+              }
+            ]
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/9. Chaos Monkey.auto
similarity index 88%
rename from src/main/deploy/pathplanner/autos/New Auto.auto
rename to src/main/deploy/pathplanner/autos/9. Chaos Monkey.auto
index b82dda5..465748a 100644
--- a/src/main/deploy/pathplanner/autos/New Auto.auto	
+++ b/src/main/deploy/pathplanner/autos/9. Chaos Monkey.auto	
@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "New Path"
+            "pathName": "9.1 Chaos Monkey Path"
           }
         },
         {
diff --git a/src/main/deploy/pathplanner/autos/Chaos Monkey.auto b/src/main/deploy/pathplanner/autos/Chaos Monkey.auto
deleted file mode 100644
index 4796d1c..0000000
--- a/src/main/deploy/pathplanner/autos/Chaos Monkey.auto	
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Chaos Monkey Path"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Hub to Depot.auto b/src/main/deploy/pathplanner/autos/Hub to Depot.auto
deleted file mode 100644
index baf27d1..0000000
--- a/src/main/deploy/pathplanner/autos/Hub to Depot.auto	
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Hub to Depot"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Test.auto b/src/main/deploy/pathplanner/autos/Test.auto
deleted file mode 100644
index b3197af..0000000
--- a/src/main/deploy/pathplanner/autos/Test.auto
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Test Path"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Hub to Depot.path b/src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path
similarity index 71%
rename from src/main/deploy/pathplanner/paths/Hub to Depot.path
rename to src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path
index 2c8714f..37590bd 100644
--- a/src/main/deploy/pathplanner/paths/Hub to Depot.path	
+++ b/src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.5383012048192777,
-        "y": 3.9038674698795175
+        "x": 3.5,
+        "y": 4.0
       },
       "prevControl": null,
       "nextControl": {
-        "x": 0.8527779926060135,
-        "y": 6.111286763858336
+        "x": 3.0,
+        "y": 4.0
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.0,
-        "y": 6.0
+        "x": 2.0,
+        "y": 4.0
       },
       "prevControl": {
-        "x": 2.6290964074675798,
-        "y": 4.671725238604007
+        "x": 2.5,
+        "y": 4.0
       },
       "nextControl": null,
       "isLocked": false,
@@ -48,7 +48,11 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
+<<<<<<< HEAD:src/main/deploy/pathplanner/paths/Hub to Depot.path
     "rotation": -179.99999999992184
+=======
+    "rotation": -179.69626968995792
+>>>>>>> c2fa27aa5cc22124b930645e802b8176658edb7a:src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path
   },
   "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Test Path.path b/src/main/deploy/pathplanner/paths/1.2 Shoot to Depot Path.path
similarity index 76%
rename from src/main/deploy/pathplanner/paths/Test Path.path
rename to src/main/deploy/pathplanner/paths/1.2 Shoot to Depot Path.path
index 9c7cd5b..55c2201 100644
--- a/src/main/deploy/pathplanner/paths/Test Path.path	
+++ b/src/main/deploy/pathplanner/paths/1.2 Shoot to Depot Path.path	
@@ -4,24 +4,24 @@
     {
       "anchor": {
         "x": 2.0,
-        "y": 3.892939759036145
+        "y": 4.0
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.999999999999999,
-        "y": 3.892939759036145
+        "x": 2.2144854970378125,
+        "y": 3.8554998234204434
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.0,
-        "y": 3.892939759036145
+        "x": 1.0,
+        "y": 6.0
       },
       "prevControl": {
-        "x": 2.0,
-        "y": 3.892939759036145
+        "x": 1.2166471375173105,
+        "y": 5.875244167248359
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": -178.09121133641756
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 1.0511807495437313
+    "rotation": 0.4910281334858283
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/1.3 Depot to Shoot Path.path
similarity index 74%
rename from src/main/deploy/pathplanner/paths/New Path.path
rename to src/main/deploy/pathplanner/paths/1.3 Depot to Shoot Path.path
index eac90bb..11dd115 100644
--- a/src/main/deploy/pathplanner/paths/New Path.path	
+++ b/src/main/deploy/pathplanner/paths/1.3 Depot to Shoot Path.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.2106987951807227,
-        "y": 3.892939759036145
+        "x": 1.0,
+        "y": 6.0
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.210698795180722,
-        "y": 3.892939759036145
+        "x": 1.453699105174549,
+        "y": 6.084627986890304
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.904493975903614,
-        "y": 3.892939759036145
+        "x": 2.0,
+        "y": 4.0
       },
       "prevControl": {
-        "x": 1.904493975903614,
-        "y": 3.892939759036145
+        "x": 2.266577414275921,
+        "y": 3.829411518660614
       },
       "nextControl": null,
       "isLocked": false,
@@ -48,7 +48,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 1.0511807495437313
+    "rotation": -179.69626968995792
   },
   "useDefaultConstraints": false
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Chaos Monkey Path.path b/src/main/deploy/pathplanner/paths/9.1 Chaos Monkey Path.path
similarity index 62%
rename from src/main/deploy/pathplanner/paths/Chaos Monkey Path.path
rename to src/main/deploy/pathplanner/paths/9.1 Chaos Monkey Path.path
index 08bc439..b209333 100644
--- a/src/main/deploy/pathplanner/paths/Chaos Monkey Path.path	
+++ b/src/main/deploy/pathplanner/paths/9.1 Chaos Monkey Path.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.5,
-        "y": 7.5
+        "x": 3.5184925161825644,
+        "y": 7.5345006466771025
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.5000000000000007,
-        "y": 7.5
+        "x": 4.489963675146704,
+        "y": 7.219438447522688
       },
       "isLocked": false,
       "linkedName": null
@@ -17,15 +17,15 @@
     {
       "anchor": {
         "x": 7.6,
-        "y": 6.81063855421925
+        "y": 6.812200117368956
       },
       "prevControl": {
-        "x": 7.498127631539383,
-        "y": 7.805436031369352
+        "x": 7.532870181778978,
+        "y": 7.8099443669167
       },
       "nextControl": {
-        "x": 7.745476905739448,
-        "y": 5.390036864084266
+        "x": 7.650893142287796,
+        "y": 6.055780073270545
       },
       "isLocked": false,
       "linkedName": null
@@ -33,15 +33,15 @@
     {
       "anchor": {
         "x": 7.6,
-        "y": 0.9424578313276835
+        "y": 0.9617601315610045
       },
       "prevControl": {
-        "x": 7.647828711717099,
-        "y": 1.4502101472608384
+        "x": 7.654625343431328,
+        "y": 1.468826273060325
       },
       "nextControl": {
-        "x": 7.526915662650708,
-        "y": 0.16659036144816464
+        "x": 7.527819365080411,
+        "y": 0.2917349428743933
       },
       "isLocked": false,
       "linkedName": null
@@ -52,15 +52,24 @@
         "y": 0.6692650602433468
       },
       "prevControl": {
-        "x": 0.19442168674709331,
-        "y": 0.8331807228939487
+        "x": 1.096874747061515,
+        "y": 0.6440356562159093
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.2332261810856255,
+      "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 1.7516108262639798,
+      "rotationDegrees": 0.0
+    }
+  ],
   "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [
@@ -81,13 +90,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": -1.2282908533168926
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": -0.1533900770684255
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Depot to Shooting Point.path b/src/main/deploy/pathplanner/paths/Depot to Shooting Point.path
deleted file mode 100644
index 6087546..0000000
--- a/src/main/deploy/pathplanner/paths/Depot to Shooting Point.path	
+++ /dev/null
@@ -1,54 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 15.5,
-        "y": 2.0
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 15.387524472828067,
-        "y": 2.4871850323926177
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 14.5,
-        "y": 4.0
-      },
-      "prevControl": {
-        "x": 14.699374534462622,
-        "y": 3.5414699628074375
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "pointTowardsZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 0.0
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 0.0
-  },
-  "useDefaultConstraints": true
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Shooting Point to Depot.path b/src/main/deploy/pathplanner/paths/Shooting Point to Depot.path
deleted file mode 100644
index 9a62b19..0000000
--- a/src/main/deploy/pathplanner/paths/Shooting Point to Depot.path	
+++ /dev/null
@@ -1,54 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 14.5,
-        "y": 4.0
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 14.387524472828067,
-        "y": 4.487185032392618
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 15.5,
-        "y": 2.0
-      },
-      "prevControl": {
-        "x": 15.699374534462622,
-        "y": 1.5414699628074375
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "pointTowardsZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 0.0
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 0.0
-  },
-  "useDefaultConstraints": true
-}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index affa113..d6d68cd 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants.OperatorConstants;
 import frc.robot.commands.AutoShootCommandChassisTurret;
 import frc.robot.commands.AutoShootCommandChassisTurretPathPlanner;
+import frc.robot.commands.AutoTurretCommand;
 import frc.robot.commands.RelayCommand;
 import frc.robot.commands.SetDeflectorCommand;
 import frc.robot.commands.ZoneCheck;
@@ -56,6 +57,7 @@ public class RobotContainer {
 
         NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
 
+        turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
     }
 
     /**
diff --git a/src/main/java/frc/robot/commands/AutoTurretCommand.java b/src/main/java/frc/robot/commands/AutoTurretCommand.java
index f4498b0..3054f32 100644
--- a/src/main/java/frc/robot/commands/AutoTurretCommand.java
+++ b/src/main/java/frc/robot/commands/AutoTurretCommand.java
@@ -68,10 +68,10 @@ public class AutoTurretCommand extends Command {
         Translation2d targetTranslation = scoringHubPose.getTranslation().toTranslation2d().minus(turretPose.getTranslation().toTranslation2d());
         Logger.recordOutput("AutoTurret-Translation", targetTranslation);
 
-
         if(turretSubsystem.isTurretReady()){
-            // turretSubsystem.setTurretFieldRelative(botPose.getRotation().toRotation2d().minus(targetTranslation.getAngle()).plus(Rotation2d.k180deg).getMeasure());
-            // turretSubsystem.setTurretRotation(Angle.ofRelativeUnits(-180, Units.Degrees));
+            turretSubsystem.setTurretFieldRelative(botPose, targetTranslation.getAngle().getRotations());
+            // turretSubsystem.setTurretRobotRelative(0.25);
+            // turretSubsystem.setTurretMotorRotation(0);
         }
 
     }
diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 9b5e753..3970ecb 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -34,6 +34,9 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.config.SparkMaxConfig;
 
 import frc.robot.Constants;
+import frc.robot.Robot;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.units.AngleUnit;
 import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.Angle;
@@ -58,6 +61,9 @@ public class TurretSubsystem extends TestableSubsystem {
   private StatusSignal<Angle> turretMotorPosition;
   private StatusSignal<ForwardLimitValue> turretMotorForwardLimit;
   private StatusSignal<ReverseLimitValue> turretMotorReverseLimit;
+  private double forwardLimit = 0;
+  private double reverseLimit = 0;
+
   private SparkMax launcherMotor;
   private SparkClosedLoopController launcherControler;
 
@@ -192,20 +198,23 @@ public class TurretSubsystem extends TestableSubsystem {
       { // Turret has tripped the switch
         turretMotor.stopMotor();
         turretOffsetInRotations = (turretMotorPosition.refresh().getValueAsDouble() - 1.323);
+        if(!Robot.isReal()){
+          turretOffsetInRotations = 1.5; // Flip turret around
+        }
         turretState = TurretState.READY;
-        // Angle forwardLimit = Angle.ofRelativeUnits(-90, Units.Degrees).times(Constants.ShooterConstants.TURRET_GEAR_RATIO).plus(turretOffset);
-        // Angle reverseLimit = Angle.ofRelativeUnits(90, Units.Degrees).times(Constants.ShooterConstants.TURRET_GEAR_RATIO).minus(turretOffset);
-        // Logger.recordOutput("TurretSubsystem-TurretForwardLimit", forwardLimit);
-        // Logger.recordOutput("TurretSubsystem-TurretReverseLimit", reverseLimit);
+        forwardLimit = (1.5 + turretOffsetInRotations);
+        reverseLimit = (-1.5 + turretOffsetInRotations);
+        Logger.recordOutput("TurretSubsystem-TurretForwardLimit", forwardLimit);
+        Logger.recordOutput("TurretSubsystem-TurretReverseLimit", reverseLimit);
         turretMotor.getConfigurator().apply(
           new SoftwareLimitSwitchConfigs()
-            // .withForwardSoftLimitEnable(true)
-            // .withForwardSoftLimitThreshold(forwardLimit)
-            // .withReverseSoftLimitEnable(true)
-            // .withReverseSoftLimitThreshold(reverseLimit)
+            .withForwardSoftLimitEnable(true)
+            .withForwardSoftLimitThreshold(forwardLimit)
+            .withReverseSoftLimitEnable(true)
+            .withReverseSoftLimitThreshold(reverseLimit)
         );
-        // setTurretRobotRelative(Angle.ofRelativeUnits(0, Units.Degrees));
-        setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY
+        setTurretRobotRelative(0);
+        // setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY
       }
     }
 
@@ -214,10 +223,10 @@ public class TurretSubsystem extends TestableSubsystem {
       Logger.recordOutput("TurretSubsystem-TurretLimitSwitch", turretLimitSwitch.get());
       Logger.recordOutput("TurretSubsystem-Launcher Speed (RPM)", launcherMotor.getEncoder().getVelocity());
       Logger.recordOutput("TurretSubsystem-TurretState", turretState);
-      Logger.recordOutput("TurretSubsystem-TurretPosition", getTurretAngleRobotRelative());
+      Logger.recordOutput("TurretSubsystem-TurretPositionRobotRelative", getTurretAngleRobotRelative());
       Logger.recordOutput("TurretSubsystem-TurretMotorPositionWithOffset", getTurretMotorPosition());
-      Logger.recordOutput("TurretSubsystem-TurretMotorPositionRaw", turretMotorPosition.refresh().getValue().in(Units.Degrees));
-      Logger.recordOutput("TurretSubsystem-TurretRequestedPosRaw", turretControlMode.getPositionMeasure().in(Units.Degrees));
+      Logger.recordOutput("TurretSubsystem-TurretMotorPositionRaw", turretMotorPosition.refresh().getValue().in(Units.Rotations));
+      Logger.recordOutput("TurretSubsystem-TurretRequestedPosRaw", turretControlMode.getPositionMeasure().in(Units.Rotations));
       Logger.recordOutput("TurretSubsystem-TurretRequestedPos", getRequestedPosTurretRelative());
       Logger.recordOutput("TurretSubsystem-TurretOffset", turretOffsetInRotations);
       Logger.recordOutput("TurretSubsystem-TurretForwardLimitHit", turretMotorForwardLimit.refresh().getValue());
@@ -226,13 +235,21 @@ public class TurretSubsystem extends TestableSubsystem {
 
   }
 
-  public void setTurretFieldRelative(double pos)
+  public void setTurretFieldRelative(Pose3d robotPose, double pos)
   {
     if(turretState != TurretState.READY)
     {
       // Not ready to set angle
       return;
     }
+
+    double correctedPos = -pos; // Flip angle to match CCW positive. Add 0.5 to flip around
+
+    double robotRotations = robotPose.getRotation().toRotation2d().getRotations();
+
+    Angle turretAngle = Angle.ofRelativeUnits(robotRotations, Units.Rotations).plus(Angle.ofRelativeUnits(correctedPos, Units.Rotations));
+
+    setTurretMotorRotation((turretAngle.in(Units.Rotation) * Constants.ShooterConstants.TURRET_GEAR_RATIO));
   }
 
   public void setTurretRobotRelative(double pos)
@@ -243,12 +260,32 @@ public class TurretSubsystem extends TestableSubsystem {
       return;
     }
 
-    setTurretMotorRotation(pos * Constants.ShooterConstants.TURRET_GEAR_RATIO);
+    double correctedPos = -pos; // Flip angle to match CCW positive
+
+    setTurretMotorRotation(correctedPos * Constants.ShooterConstants.TURRET_GEAR_RATIO);
   }
 
   public void setTurretMotorRotation(double pos){
-    turretMotor.setControl(turretControlMode.withPosition((pos + turretOffsetInRotations)));
-    turretSim.setRawRotorPosition(pos + turretOffsetInRotations);
+    double posWithOffset = pos + turretOffsetInRotations;
+
+    Logger.recordOutput("Blah", posWithOffset);
+
+    if(Robot.isSimulation()){
+      if(posWithOffset >= forwardLimit){
+        turretSim.setForwardLimit(true);
+      } else {
+        turretSim.setForwardLimit(false);
+      }
+
+      if(posWithOffset <= reverseLimit){
+        turretSim.setReverseLimit(true);
+      } else {
+        turretSim.setReverseLimit(false);
+      }
+    }
+
+    turretMotor.setControl(turretControlMode.withPosition(posWithOffset));
+    turretSim.setRawRotorPosition(posWithOffset);
   }
 
   private double getRequestedPosTurretRelative() {