diff --git a/src/main/java/org/usfirst/frc4904/robot/Robot.java b/src/main/java/org/usfirst/frc4904/robot/Robot.java
index 7d19bf5..5964eae 100644
--- a/src/main/java/org/usfirst/frc4904/robot/Robot.java
+++ b/src/main/java/org/usfirst/frc4904/robot/Robot.java
@@ -54,7 +54,7 @@ public void teleopExecute() {
         if (zgain != 0) {
             new TurretMotorConstant(Math.pow(Math.abs(zgain), 0.8) * -0.1 * Math.signum(zgain)).schedule();
         }
-
+        
         // if (RobotMap.HumanInput.Operator.joystick.getAxis(3) < -0.95) {
         //     new ClimberDown().schedule();
         // } else if (RobotMap.HumanInput.Operator.joystick.getAxis(3) > 0.95) {
diff --git a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
index b0d55e0..8a00e1a 100644
--- a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
+++ b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
@@ -11,6 +11,7 @@
 
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 
+import org.usfirst.frc4904.robot.commands.shooter.SetDefaultShooterVelocity;
 import org.usfirst.frc4904.robot.commands.shooter.ShooterBrake;
 import org.usfirst.frc4904.robot.humaninterface.drivers.NathanGain;
 import org.usfirst.frc4904.robot.subsystems.Indexer;
@@ -76,6 +77,8 @@ public static class CANMotor {
             public static final int CLIMBER_MOTOR = 9; // TODO: set port
 
             public static final int SHOOTER_MOTOR = 8; // TODO: set port
+
+            
         }
 
         public static class PWM {
@@ -186,6 +189,8 @@ public static class Component {
         public static Motor climberMotor;
         public static Climber climber;
         public static Shooter shooter;
+
+        public static VelocitySensorMotor shooterVSM;
     }
 
     public static class NetworkTables {
@@ -242,10 +247,11 @@ public RobotMap() {
 
         Component.shooterTalon = new CANTalonFX(Port.CANMotor.SHOOTER_MOTOR);
         Component.shooterMotor = new Motor("ShooterMotor", true, Component.shooterTalon);
+        Component.shooterEncoder = new CANTalonEncoder(Component.shooterTalon);
         // Component.shooterEncoder = new CANTalonEncoder(Component.shooterTalon);
         // Component.shooterPID = new CustomPIDController(PID.Shooter.P, PID.Shooter.I, PID.Shooter.D, PID.Shooter.F, Component.shooterEncoder);
-        // VelocitySensorMotor shooterVSM = new VelocitySensorMotor("Turret", Component.shooterPID, Component.shooterTalon); //TODO: cringe (zach)
-        // Component.shooter = new Shooter(shooterVSM, Component.shooterEncoder);
+        Component.shooterVSM = new VelocitySensorMotor("Turret", Component.shooterPID, Component.shooterTalon); //TODO: cringe (zach)
+        Component.shooter = new Shooter(Component.shooterVSM, Component.shooterEncoder, new SetDefaultShooterVelocity(Component.shooterVSM));
 
         // Component.shifter = new SolenoidShifters(Port.Pneumatics.SHIFTER.buildDoubleSolenoid());
         
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/shooter/GetShooterVelocity.java b/src/main/java/org/usfirst/frc4904/robot/commands/shooter/GetShooterVelocity.java
new file mode 100644
index 0000000..3e37132
--- /dev/null
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/shooter/GetShooterVelocity.java
@@ -0,0 +1,18 @@
+package org.usfirst.frc4904.robot.commands.shooter;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.LogKitten;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+public class GetShooterVelocity extends CommandBase {
+    @Override
+    public void initialize() {
+        super.initialize();
+    }
+
+    public void getRate() {
+        double rate = RobotMap.Component.shooterEncoder.getRate();
+        LogKitten.wtf(rate);
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/shooter/SetDefaultShooterVelocity.java b/src/main/java/org/usfirst/frc4904/robot/commands/shooter/SetDefaultShooterVelocity.java
new file mode 100644
index 0000000..f9812a1
--- /dev/null
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/shooter/SetDefaultShooterVelocity.java
@@ -0,0 +1,14 @@
+package org.usfirst.frc4904.robot.commands.shooter;
+
+import org.usfirst.frc4904.robot.Robot;
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.robot.RobotMap.Component;
+import org.usfirst.frc4904.standard.commands.motor.MotorVelocitySet;
+import org.usfirst.frc4904.standard.subsystems.motor.VelocitySensorMotor;
+
+
+public class SetDefaultShooterVelocity extends MotorVelocitySet {
+    public SetDefaultShooterVelocity(VelocitySensorMotor motor) {
+        super(motor, 0.2);
+    }
+}
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/shooter/ShooterSetSpeed.java b/src/main/java/org/usfirst/frc4904/robot/commands/shooter/ShooterSetSpeed.java
index 107988d..d106082 100644
--- a/src/main/java/org/usfirst/frc4904/robot/commands/shooter/ShooterSetSpeed.java
+++ b/src/main/java/org/usfirst/frc4904/robot/commands/shooter/ShooterSetSpeed.java
@@ -14,6 +14,6 @@ public class ShooterSetSpeed extends MotorVelocitySet {
    */
 
   public ShooterSetSpeed(double velocity) {
-    super(RobotMap.Component.shooter.shooterMotor, velocity);
+    super(RobotMap.Component.shooterVSM, velocity);
   }
 }
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/frc4904/robot/humaninterface/drivers/NathanGain.java b/src/main/java/org/usfirst/frc4904/robot/humaninterface/drivers/NathanGain.java
index 490d366..0e7a246 100644
--- a/src/main/java/org/usfirst/frc4904/robot/humaninterface/drivers/NathanGain.java
+++ b/src/main/java/org/usfirst/frc4904/robot/humaninterface/drivers/NathanGain.java
@@ -10,8 +10,10 @@
 import org.usfirst.frc4904.robot.commands.indexerIntakeTurret.StoreBall;
 import org.usfirst.frc4904.robot.commands.intake.ExtendIntake;
 import org.usfirst.frc4904.robot.commands.intake.RetractIntake;
+import org.usfirst.frc4904.robot.commands.shooter.GetShooterVelocity;
 import org.usfirst.frc4904.robot.commands.shooter.ShooterSetSpeed;
 import org.usfirst.frc4904.robot.commands.turret.TurnTurret;
+import org.usfirst.frc4904.robot.subsystems.Shooter;
 import org.usfirst.frc4904.standard.LogKitten;
 import org.usfirst.frc4904.standard.commands.RunFor;
 import org.usfirst.frc4904.standard.commands.chassis.ChassisShift;
@@ -51,7 +53,14 @@ public void bindCommands() {
 		RobotMap.HumanInput.Driver.xbox.a.whenPressed(new RunFor(new StoreBall(), 3.0));
 		RobotMap.HumanInput.Driver.xbox.rb.whenPressed(new ExtendIntake());
 		RobotMap.HumanInput.Driver.xbox.lb.whenPressed(new RetractIntake());
+<<<<<<< HEAD
+		// RobotMap.HumanInput.Driver.xbox.x.whenPressed(new RunFor(new BallReject(), 3.0));
+		RobotMap.HumanInput.Driver.xbox.x.whenPressed(new ShooterSetSpeed(Shooter.SHOOT_VELOCITY));
+=======
 		RobotMap.HumanInput.Driver.xbox.x.whenPressed(new RunFor(new BallReject(), 3.0));
+		RobotMap.HumanInput.Driver.xbox.x.whenPressed(new ShooterSetSpeed());
+>>>>>>> 67fc2e7589a82473e0e196146f08b029f58e2334
+		RobotMap.HumanInput.Driver.xbox.b.whenPressed(new GetShooterVelocity());
 		// RobotMap.HumanInput.Driver.xbox.x.whenPressed(new MotorBrake(RobotMap.Component.shooterTalon));
 
 		// RobotMap.HumanInput.Driver.xbox.dPad.up.whenPressed(new TurnTurret(Math.PI / 2, RobotMap.Component.turret));
@@ -85,4 +94,5 @@ public double getTurnSpeed() {
 		return turnSpeed + precisionTurnSpeed + operatorControlTurnSpeed;
 		// return turnSpeed;
 	}
-}
\ No newline at end of file
+
+}
diff --git a/src/main/java/org/usfirst/frc4904/robot/subsystems/Shooter.java b/src/main/java/org/usfirst/frc4904/robot/subsystems/Shooter.java
index a1c39ae..aa51863 100644
--- a/src/main/java/org/usfirst/frc4904/robot/subsystems/Shooter.java
+++ b/src/main/java/org/usfirst/frc4904/robot/subsystems/Shooter.java
@@ -5,12 +5,14 @@
 
 package org.usfirst.frc4904.robot.subsystems;
 
+import org.usfirst.frc4904.standard.commands.Noop;
 import org.usfirst.frc4904.standard.custom.motioncontrollers.CANTalonFX;
 import org.usfirst.frc4904.standard.custom.sensors.CANTalonEncoder;
 import org.usfirst.frc4904.standard.subsystems.motor.Motor;
 import org.usfirst.frc4904.standard.subsystems.motor.PositionSensorMotor;
 import org.usfirst.frc4904.standard.subsystems.motor.VelocitySensorMotor;
 
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Shooter extends SubsystemBase {
@@ -18,11 +20,16 @@ public class Shooter extends SubsystemBase {
     public VelocitySensorMotor shooterMotor;
     public CANTalonEncoder shooterEncoder;
 
-    public Shooter(VelocitySensorMotor shooterMotor, CANTalonEncoder shooterEncoder) {
+    public Shooter(VelocitySensorMotor shooterMotor, CANTalonEncoder shooterEncoder, Command defaultCommand) {
         super();
+        super.setDefaultCommand(defaultCommand);
         this.shooterMotor = shooterMotor;
         this.shooterEncoder = shooterEncoder;
     }
 
+    public Shooter(VelocitySensorMotor shooterMotor, CANTalonEncoder shooterEncoder) {
+        this(shooterMotor, shooterEncoder, new Noop());
+    }
+
 
 }