diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 5e0a84d..62793ce 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -54,7 +54,7 @@ public void robotInit() {
       default:
         Logger.recordMetadata("GitDirty", "Unknown");
         break;
-      }
+    }
 
     // Set up data receivers & replay source
     switch (Constants.currentMode) {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 539bed7..4ee60d8 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -35,6 +35,8 @@
 import frc.robot.subsystems.pivot.PivotIO;
 import frc.robot.subsystems.pivot.PivotIOReal;
 import frc.robot.subsystems.pivot.PivotIOSim;
+import frc.robot.subsystems.shooter.Shooter;
+import frc.robot.subsystems.shooter.ShooterIOReal;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 
 /**
@@ -48,6 +50,7 @@ public class RobotContainer {
   private final Drive drive;
   private final Intake intake;
   private final Pivot pivot;
+  private final Shooter shooter;
 
   // Controller
   private final CommandXboxController controller = new CommandXboxController(0);
@@ -69,6 +72,7 @@ public RobotContainer() {
                 new ModuleIOTalonFX(3));
         intake = Intake.initialize(new IntakeIOReal());
         pivot = Pivot.initialize(new PivotIOReal());
+        shooter = Shooter.initialize(new ShooterIOReal());
         break;
 
       case SIM:
@@ -82,7 +86,7 @@ public RobotContainer() {
                 new ModuleIOSim());
         intake = Intake.initialize(new IntakeIOSim());
         pivot = Pivot.initialize(new PivotIOSim());
-
+        shooter = Shooter.initialize(new ShooterIOReal());
         break;
 
       default:
@@ -96,6 +100,7 @@ public RobotContainer() {
                 new ModuleIO() {});
         intake = Intake.initialize(new IntakeIO() {});
         pivot = Pivot.initialize(new PivotIO() {});
+        shooter = Shooter.initialize(new ShooterIOReal());
         // change?
         break;
     }
@@ -132,23 +137,33 @@ private void configureButtonBindings() {
             () -> -controller.getLeftX(),
             () -> -controller.getRightX()));
 
-    controller.rightBumper()
-      .onTrue(Commands.run(() -> intake.setIntakeSpeed(0.75)))
-      .onFalse(Commands.run(() -> intake.setIntakeSpeed(0)));
-
-    controller.leftBumper()
-      .onTrue(Commands.run(() -> intake.setIntakeSpeed(-0.75)))
-      .onFalse(Commands.run(() -> intake.setIntakeSpeed(0)));
-
-    // controller
-    //     .leftBumper()
-    //     .whileTrue(Commands.startEnd(() -> pivot.runVoltage(3), () -> pivot.runVoltage(0),
-    // pivot));
-
-    // controller
-    //     .rightBumper()
-    //     .whileTrue(Commands.startEnd(() -> pivot.runVoltage(-3), () -> pivot.runVoltage(0),
-    // pivot));
+    controller
+        .rightTrigger()
+        .onTrue(Commands.run(() -> intake.setIntakeSpeed(0.75)))
+        .onFalse(Commands.run(() -> intake.setIntakeSpeed(0)));
+
+    controller
+        .leftTrigger()
+        .onTrue(Commands.run(() -> intake.setIntakeSpeed(-0.75)))
+        .onFalse(Commands.run(() -> intake.setIntakeSpeed(0)));
+
+    controller
+        .leftBumper()
+        .whileTrue(Commands.startEnd(() -> pivot.runVoltage(3), () -> pivot.runVoltage(0), pivot));
+    controller
+        .povUp()
+        .whileTrue(
+            Commands.startEnd(() -> shooter.setVoltage(6), () -> shooter.setVoltage(0), pivot));
+    // controller.leftBumper()
+    //   .onTrue(Commands.runOnce(() -> pivot.runVoltage(3)))
+    //   .onFalse(Commands.runOnce(() ->pivot.runVoltage(0), pivot));
+    // controller.rightBumper()
+    //   .onTrue(Commands.runOnce(() -> pivot.runVoltage(3)))
+    //   .onFalse(Commands.runOnce(() ->pivot.runVoltage(0), pivot));
+
+    controller
+        .rightBumper()
+        .whileTrue(Commands.startEnd(() -> pivot.runVoltage(-3), () -> pivot.runVoltage(0), pivot));
 
     controller.a().whileTrue(Commands.runOnce(() -> drive.zeroHeading(), drive));
   }
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index b05ab38..ef904d0 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -24,6 +24,10 @@ private Shooter(ShooterIO shooterIO) {
     io.updateInputs(inputs);
   }
 
+  public void setVoltage(double voltage) {
+    io.setVoltage(voltage);
+  }
+
   @Override
   public void periodic() {
     io.updateInputs(inputs);
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
index fe15e61..d6dc2cc 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -14,5 +14,7 @@ public default void spinForwards() {}
 
   public default void spinBackwards() {}
 
+  public default void setVoltage(double voltage) {}
+
   public default void updateInputs(ShooterIOInputs inputs) {}
 }
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
index 2c110f0..88b5e8c 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
@@ -6,14 +6,19 @@
 
 public class ShooterIOReal implements ShooterIO {
   private CANSparkFlex leftShooterMotor =
-      new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate
+      new CANSparkFlex(3, MotorType.kBrushless); // Can IDs not accurate
   private CANSparkFlex rightShooterMotor =
-      new CANSparkFlex(1, MotorType.kBrushless); // Can IDs not accurate
+      new CANSparkFlex(12, MotorType.kBrushless); // Can IDs not accurate
   private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder();
   private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder();
 
   public ShooterIOReal() {
-    rightShooterMotor.follow(leftShooterMotor, true);
+    rightShooterMotor.restoreFactoryDefaults();
+    leftShooterMotor.restoreFactoryDefaults();
+    leftShooterMotor.follow(rightShooterMotor, true);
+
+    rightShooterMotor.setSmartCurrentLimit(40);
+    leftShooterMotor.setSmartCurrentLimit(40);
 
     rightShooterMotor.burnFlash();
     leftShooterMotor.burnFlash();
@@ -21,12 +26,17 @@ public ShooterIOReal() {
 
   @Override
   public void spinForwards() {
-    leftShooterMotor.set(1.0);
+    rightShooterMotor.set(1.0);
+  }
+
+  @Override
+  public void setVoltage(double voltage) {
+    rightShooterMotor.setVoltage(voltage);
   }
 
   @Override
   public void spinBackwards() {
-    leftShooterMotor.set(-1.0);
+    rightShooterMotor.set(-1.0);
   }
 
   public double getLeftvelocity() {