diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
index 5196589..b570aba 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
@@ -12,9 +12,8 @@ import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-//import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-//import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
 import java.util.ArrayList;
@@ -37,8 +36,8 @@ public class TeleopV2 extends LinearOpMode {
     List<Boolean> s1 = new ArrayList<>();
     List<Boolean> s2 = new ArrayList<>();
     List<Boolean> s3 = new ArrayList<>();
-    double desiredTurretAngle = 180;
-//    MecanumDrive drive = new MecanumDrive(hardwareMap, teleStart);
+    public static double desiredTurretAngle = 180;
+    MecanumDrive drive;
     private double lastEncoderRevolutions = 0.0;
     private double lastTimeStamp = 0.0;
     private double velo1, velo;
@@ -59,7 +58,7 @@ public class TeleopV2 extends LinearOpMode {
                 telemetry, FtcDashboard.getInstance().getTelemetry()
         );
 
-//        drive = new MecanumDrive(hardwareMap, teleStart);
+        drive = new MecanumDrive(hardwareMap, teleStart);
 
         waitForStart();
         if (isStopRequested()) return;
@@ -129,6 +128,8 @@ public class TeleopV2 extends LinearOpMode {
 
                 if (gP >= 0.43) {
                     s1.add(true);
+                } else {
+                    s1.add(false);
                 }
             }
 
@@ -144,6 +145,8 @@ public class TeleopV2 extends LinearOpMode {
 
                 if (gP >= 0.43) {
                     s2.add(true);
+                } else {
+                    s2.add(false);
                 }
             }
 
@@ -159,6 +162,8 @@ public class TeleopV2 extends LinearOpMode {
 
                 if (gP >= 0.43) {
                     s3.add(true);
+                } else {
+                    s3.add(false);
                 }
             }
 
@@ -166,16 +171,14 @@ public class TeleopV2 extends LinearOpMode {
             boolean green2 = false;
             boolean green3 = false;
 
-
-
             if (!s1.isEmpty()) {
-                 green1 = s1.get(s1.size() - 1);
+                green1 = s1.get(s1.size() - 1);
             }
             if (!s2.isEmpty()) {
-                 green2 = s2.get(s2.size() - 1);
+                green2 = s2.get(s2.size() - 1);
             }
             if (!s3.isEmpty()) {
-                 green3 = s3.get(s3.size() - 1);
+                green3 = s3.get(s3.size() - 1);
             }
 
             //SHOOTER:
@@ -240,31 +243,30 @@ public class TeleopV2 extends LinearOpMode {
 
             //TURRET:
 
-//            double offset = desiredTurretAngle - Math.toDegrees(drive.localizer.getPose().heading.toDouble());
-//
-//            if (offset < -90) {
-//                offset+=360;
-//            }
-//
-//            double pos = 0.3;
-//
-//            pos += offset * (0.9/360);
-//
-//            if (pos < 0.02){
-//                pos = 0.02;
-//            } else if (pos > 0.91) {
-//                pos = 0.91;
-//            }
-//
-//            robot.turr1.setPosition(pos);
-//            robot.turr2.setPosition(1-pos);
-//
+            double offset;
 
+            offset = desiredTurretAngle - Math.toDegrees(drive.localizer.getPose().heading.toDouble());
 
+            if (offset > 90) {
+                offset -= 360;
+            }
+
+            double pos = 0.3;
+
+            pos -= offset * (0.9 / 360);
+
+            if (pos < 0.02) {
+                pos = 0.02;
+            } else if (pos > 0.91) {
+                pos = 0.91;
+            }
+
+            robot.turr1.setPosition(pos);
+            robot.turr2.setPosition(1 - pos);
 
             //MISC:
 
-//            drive.updatePoseEstimate();
+            drive.updatePoseEstimate();
 
             for (LynxModule hub : allHubs) {
                 hub.clearBulkCache();
@@ -273,9 +275,9 @@ public class TeleopV2 extends LinearOpMode {
             TELE.addData("Spin1Green", green1);
             TELE.addData("Spin2Green", green2);
             TELE.addData("Spin3Green", green3);
-//
-//            TELE.addData("pose", drive.localizer.getPose());
-//            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
+
+            TELE.addData("pose", drive.localizer.getPose());
+            TELE.addData("heading", drive.localizer.getPose().heading.toDouble());
 
             TELE.update();
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
index da51023..12b9a89 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
@@ -105,6 +105,8 @@ public class Robot {
 
         shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
 
+        shooterEncoder = shooter1;
+
         hood = hardwareMap.get(Servo.class, "hood");
 
         hoodPos = hardwareMap.get(AnalogInput.class, "hoodPos");