diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 4853c5c..ebe5ea0 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -48,13 +48,13 @@ public static final class CANIds {
 
     // Intake CAN IDs
 
-    public static final int kIntakeCanID = 8;
-    public static final int kIntakeTurnPitchCanID = 10;
+    public static final int kIntakeCanID = 12;
+    public static final int kIntakeTurnPitchCanID = 61;
 
     // Shooter IDs
-    public static final int kShooterAngleMotorCanId = 29;
-    public static final int kShooterLeftMotorCanId = 59;
-    public static final int kShooterRightMotorCanId = 62;
+    public static final int kShooterAngleMotorCanId = 10;
+    public static final int kShooterLeftMotorCanId = 62;
+    public static final int kShooterRightMotorCanId = 59;
 
     //
   }
@@ -164,9 +164,9 @@ public static final class TransferConstants {
 
     public static final class ShooterConstants {
 
-      public static final double shooterTopP = 0;
-      public static final double shooterTopI = 0;
-      public static final double shooterTopD = 0;
+      public static final double shooterAngleP = 0;
+      public static final double shooterAngleI = 0;
+      public static final double shooterAngleD = 0.001;
 
     }
 
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 1ed1996..0b2a71d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -41,7 +41,6 @@ public class RobotContainer {
   // Secondary controller
   CommandXboxController secondaryController = new CommandXboxController(OIConstants.kSecondaryControllerPort);
 
-
   SendableChooser<SequentialCommandGroup> autoSelector = new SendableChooser<>();
 
   /**
@@ -50,21 +49,23 @@ public class RobotContainer {
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
-    
+
     // Configure Oblog logger
     Logger.configureLoggingAndConfig(this, true);
 
     // Auton selector config
-   //  autoSelector.setDefaultOption("Test", new Test4And1Auto());
+    // autoSelector.setDefaultOption("Test", new Test4And1Auto());
 
     autoSelector.addOption("No auto", null);
 
     // Configure default commands
 
-    /*◇─◇──◇─◇
-     Drivetrain
-    ◇─◇──◇─◇*/
-    
+    /*
+     * ◇─◇──◇─◇
+     * Drivetrain
+     * ◇─◇──◇─◇
+     */
+
     robotDrive.setDefaultCommand(
         // The left stick controls translation of the robot.
         // Turning is controlled by the X axis of the right stick.
@@ -76,14 +77,14 @@ public RobotContainer() {
                 true, true),
             robotDrive));
 
-    /*◇─◇──◇─◇
-      Elevator
-    ◇─◇──◇─◇*/
+    /*
+     * ◇─◇──◇─◇
+     * Elevator
+     * ◇─◇──◇─◇
+     */
 
-    
   }
 
-
   /**
    * Use this method to define your button->command mappings. Buttons can be
    * created by
@@ -95,43 +96,67 @@ public RobotContainer() {
    */
   private void configureButtonBindings() {
 
-    /*◇─◇──◇─◇
-     Drivetrain
-    ◇─◇──◇─◇*/
+    /*
+     * ◇─◇──◇─◇
+     * Drivetrain
+     * ◇─◇──◇─◇
+     */
 
     driverController.x()
         .whileTrue(new RunCommand(
             () -> robotDrive.setX(),
             robotDrive));
 
-    driverController.start().onTrue(new InstantCommand(()->robotDrive.zeroHeading()));
+    driverController.start().onTrue(new InstantCommand(() -> robotDrive.zeroHeading()));
 
+    /*
+     * ◇─◇──◇─◇
+     * ✨Shooter✨
+     * ◇─◇──◇─◇
+     */
 
-  /*◇─◇──◇─◇
-  ✨Shooter✨
-  ◇─◇──◇─◇*/
-  
-  driverController.y()
+    driverController.y()
+        .onTrue(new RunCommand(
+            () -> shooter.moveShooterAngle(0.5),
+            shooter));
+    
+    driverController.rightTrigger()
         .whileTrue(new RunCommand(
             () -> shooter.setShooterSpeed(0.5),
+            shooter))
+        .onFalse(new RunCommand(
+            () -> shooter.setShooterSpeed(0),
             shooter));
-  
-  /*◇─◇──◇─◇
-  ✨FloopIntake✨
-  ◇─◇──◇─◇*/
-  driverController.rightBumper()
+    ;
+    driverController.rightBumper()
         .whileTrue(new RunCommand(
-            () -> intake.setIntakeSpeed(0.2),
-            intake ));
-  driverController.leftBumper()
+            () -> shooter.setShooterSpeed(1),
+            shooter))
+        .onFalse(new RunCommand(
+            () -> shooter.setShooterSpeed(0),
+            shooter));
+    ;
+    
+    driverController.b()
         .whileTrue(new RunCommand(
-            () -> intake.setIntakeSpeed(-0.2),
-            intake ));
-/* 
-    secondaryController.x()
-            .onTrue(new RunCommand( () -> intake.set) )
+            () -> shooter.moveShooterAngle(-0.5),
+            shooter));
 
-   
+    /*
+     * ◇─◇──◇─◇
+     * ✨FloopIntake✨
+     * ◇─◇──◇─◇
+     */
+/* 
+    driverController.rightBumper()
+        .onTrue(new RunCommand(
+            () -> intake.setIntakeSpeed(0.2),
+            intake));
+    driverController.leftBumper()
+        .onTrue(new RunCommand(
+            () -> intake.setIntakeSpeed(-0.2),
+            intake));
             */
+
   }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
index 3ff0fa9..efe87c7 100644
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -43,7 +43,7 @@
 
 
 public class Shooter extends SubsystemBase implements Loggable{
-  private final CANSparkFlex shooterAngleMotor = new CANSparkFlex(CANIds.kShooterAngleMotorCanId, MotorType.kBrushless);
+  private final CANSparkMax shooterAngleMotor = new CANSparkMax(CANIds.kShooterAngleMotorCanId, MotorType.kBrushless);
   private final CANSparkFlex shooterLeft = new CANSparkFlex(CANIds.kShooterLeftMotorCanId, MotorType.kBrushless);
   private final CANSparkFlex shooterRight = new CANSparkFlex(CANIds.kShooterRightMotorCanId, MotorType.kBrushless);
 
@@ -51,10 +51,10 @@ public class Shooter extends SubsystemBase implements Loggable{
   private final RelativeEncoder shooterLeftEncoder = shooterAngleMotor.getEncoder();
   private final RelativeEncoder shooterRightEncoder = shooterAngleMotor.getEncoder();
   
-  private final PIDController shooterRPMController = new PIDController(
-    ShooterConstants.shooterTopP,
-    ShooterConstants.shooterTopI, 
-    ShooterConstants.shooterTopD
+  private final PIDController shooterAngleController = new PIDController(
+    ShooterConstants.shooterAngleP,
+    ShooterConstants.shooterAngleI, 
+    ShooterConstants.shooterAngleD
   );
   
   public Shooter(){
@@ -67,6 +67,8 @@ public Shooter(){
     shooterLeft.setIdleMode(IdleMode.kCoast);
     shooterRight.setIdleMode(IdleMode.kCoast);
 
+    shooterLeft.setInverted(true);
+
     shooterAngleMotor.burnFlash();
     shooterLeft.burnFlash();
     shooterRight.burnFlash();
@@ -91,12 +93,10 @@ public void setShooterSpeed(double speed){
     shooterLeft.set(speed);
     shooterRight.set(speed);
   }
-
   @Config
-  public void setRPMSetpoint(double rpm){
-    shooterRPMController.setSetpoint(rpm);
+  public void moveShooterAngle(double speed){
+    shooterAngleMotor.set(speed);
   }
-
   
    /*◇─◇──◇─◇
   ✨Commands✨