diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 8eb21c47..6befe632 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -36,10 +36,11 @@
 import frc.robot.commands.lightStrip.SetLedFromShootingState;
 import frc.robot.commands.parallels.RunHopperAndFeeder;
 import frc.robot.commands.parallels.SetShootingStateAndLight;
+import frc.robot.commands.sequences.ResetAll;
 import frc.robot.autochooser.AutoChooser;
 import frc.robot.commands.angler.AimAngler;
 import frc.robot.commands.angler.DefaultAnglerControl;
-import frc.robot.commands.angler.RunAnglerToReverseLimit;
+import frc.robot.commands.angler.StowAngler;
 import frc.robot.commands.shooter.DefaultShooterControl;
 import frc.robot.commands.auto.ExampleAuto;
 import frc.robot.commands.shooter.SetShootingState;
@@ -299,6 +300,9 @@ private void configureBindings() {
                 controller.povDown().onTrue(new SetShootingState(shootState, ShootState.SHOOTING_HUB));
                 controller.povLeft().onTrue(new SetShootingState(shootState, ShootState.SHUTTLING));
                 driveJoystick.trigger().whileTrue((new SetShootingState(shootState, ShootState.STOPPED)));
+                controller.leftTrigger().onTrue((new ResetAll(anglerSubsystem, climberSubsystem, feederSubsystem, 
+                hopperSubsystem, intakeDeployer, intakeSubsystem, shooterSubsystem, turretSubsystem, shootState)));
+
                 if (controllerSubsystem != null) {
                         steerJoystick.trigger().whileTrue(new ShootButton(controllerSubsystem));
                 }
@@ -432,8 +436,16 @@ public void putShuffleboardCommands() {
 
                         SmartDashboard.putData(
                                         "angler/Home Rev (Reset)",
-                                        new RunAnglerToReverseLimit(anglerSubsystem));
+                                        new StowAngler(anglerSubsystem));
+
+                        SmartDashboard.putData("stop Intake",
+                                        new StopIntake(intakeSubsystem));   
 
+                        SmartDashboard.putData(
+                                        "reset All",
+                                        new ResetAll(anglerSubsystem, climberSubsystem, feederSubsystem, 
+                                        hopperSubsystem, intakeDeployer, intakeSubsystem, shooterSubsystem, 
+                                        turretSubsystem, shootState));
             SmartDashboard.putData(
                     "turret/TurretTest/Turret Go 45",
                     new SetTurretAngle(turretSubsystem, 45));
diff --git a/src/main/java/frc/robot/commands/angler/RunAnglerToReverseLimit.java b/src/main/java/frc/robot/commands/angler/StowAngler.java
similarity index 90%
rename from src/main/java/frc/robot/commands/angler/RunAnglerToReverseLimit.java
rename to src/main/java/frc/robot/commands/angler/StowAngler.java
index ae9ac6c5..cf19b3ca 100644
--- a/src/main/java/frc/robot/commands/angler/RunAnglerToReverseLimit.java
+++ b/src/main/java/frc/robot/commands/angler/StowAngler.java
@@ -9,12 +9,12 @@
 /**
  * Runs the angler to the reverse limit switch and resets the encoder to zero.
  */
-public class RunAnglerToReverseLimit extends LoggableCommand {
+public class StowAngler extends LoggableCommand {
     private final TimeoutLogger timeoutCounter;
     private final AnglerSubsystem angler;
     private final Timer timer = new Timer();
 
-    public RunAnglerToReverseLimit(AnglerSubsystem angler) {
+    public StowAngler(AnglerSubsystem angler) {
         timeoutCounter = new TimeoutLogger(getName());
         this.angler = angler;
         addRequirements(angler);
diff --git a/src/main/java/frc/robot/commands/auto/shoot/BlueDepotShoot.java b/src/main/java/frc/robot/commands/auto/shoot/BlueDepotShoot.java
index 2431abc7..2f5f584d 100644
--- a/src/main/java/frc/robot/commands/auto/shoot/BlueDepotShoot.java
+++ b/src/main/java/frc/robot/commands/auto/shoot/BlueDepotShoot.java
@@ -2,7 +2,7 @@
 
 import choreo.auto.AutoFactory;
 import frc.robot.commands.ShootButton;
-import frc.robot.commands.angler.RunAnglerToReverseLimit;
+import frc.robot.commands.angler.ResetAnglerEncoder;
 import frc.robot.commands.shooter.SetShootingState;
 import frc.robot.commands.turret.SetTurretAngle;
 import frc.robot.constants.enums.ShootingState;
@@ -26,7 +26,7 @@ public BlueDepotShoot(
         super(  
                 new LoggableParallelCommandGroup(
                     new SetTurretAngle(turret, 0),  
-                    new RunAnglerToReverseLimit(angler)
+                    new ResetAnglerEncoder(angler)
                 ),
                 new SetShootingState(shootstate, ShootState.FIXED_2), //or some other shoot state
                 LoggableCommandWrapper.wrap(auto.resetOdometry("BlueDepotShoot")),
diff --git a/src/main/java/frc/robot/commands/auto/shoot/BlueMidShoot.java b/src/main/java/frc/robot/commands/auto/shoot/BlueMidShoot.java
index 53887f10..64e65659 100644
--- a/src/main/java/frc/robot/commands/auto/shoot/BlueMidShoot.java
+++ b/src/main/java/frc/robot/commands/auto/shoot/BlueMidShoot.java
@@ -2,7 +2,7 @@
 
 import choreo.auto.AutoFactory;
 import frc.robot.commands.ShootButton;
-import frc.robot.commands.angler.RunAnglerToReverseLimit;
+import frc.robot.commands.angler.ResetAnglerEncoder;
 import frc.robot.commands.shooter.SetShootingState;
 import frc.robot.commands.turret.SetTurretAngle;
 import frc.robot.constants.enums.ShootingState;
@@ -26,7 +26,7 @@ public BlueMidShoot(
         super(  
                 new LoggableParallelCommandGroup(
                     new SetTurretAngle(turret, 0),  
-                    new RunAnglerToReverseLimit(angler)
+                    new ResetAnglerEncoder(angler)
                 ),
                 new SetShootingState(shootstate, ShootState.FIXED_2), //or some other shoot state
                 LoggableCommandWrapper.wrap(auto.resetOdometry("BlueMidShoot")),
diff --git a/src/main/java/frc/robot/commands/auto/shoot/BlueOutpostShoot.java b/src/main/java/frc/robot/commands/auto/shoot/BlueOutpostShoot.java
index 6bd299e7..1af83869 100644
--- a/src/main/java/frc/robot/commands/auto/shoot/BlueOutpostShoot.java
+++ b/src/main/java/frc/robot/commands/auto/shoot/BlueOutpostShoot.java
@@ -2,7 +2,7 @@
 
 import choreo.auto.AutoFactory;
 import frc.robot.commands.ShootButton;
-import frc.robot.commands.angler.RunAnglerToReverseLimit;
+import frc.robot.commands.angler.ResetAnglerEncoder;
 import frc.robot.commands.shooter.SetShootingState;
 import frc.robot.commands.turret.SetTurretAngle;
 import frc.robot.constants.enums.ShootingState;
@@ -26,7 +26,7 @@ public BlueOutpostShoot(
         super(  
                 new LoggableParallelCommandGroup(
                     new SetTurretAngle(turret, 0),  
-                    new RunAnglerToReverseLimit(angler)
+                    new ResetAnglerEncoder(angler)
                 ),
                 new SetShootingState(shootstate, ShootState.FIXED_2), //or some other shoot state
                 LoggableCommandWrapper.wrap(auto.resetOdometry("BlueOutpostShoot")),
diff --git a/src/main/java/frc/robot/commands/auto/shoot/RedDepotShoot.java b/src/main/java/frc/robot/commands/auto/shoot/RedDepotShoot.java
index 916e42b0..abf1da0e 100644
--- a/src/main/java/frc/robot/commands/auto/shoot/RedDepotShoot.java
+++ b/src/main/java/frc/robot/commands/auto/shoot/RedDepotShoot.java
@@ -2,7 +2,7 @@
 
 import choreo.auto.AutoFactory;
 import frc.robot.commands.ShootButton;
-import frc.robot.commands.angler.RunAnglerToReverseLimit;
+import frc.robot.commands.angler.ResetAnglerEncoder;
 import frc.robot.commands.shooter.SetShootingState;
 import frc.robot.commands.turret.SetTurretAngle;
 import frc.robot.constants.enums.ShootingState;
@@ -26,7 +26,7 @@ public RedDepotShoot(
         super(  
                 new LoggableParallelCommandGroup(
                     new SetTurretAngle(turret, 0),  
-                    new RunAnglerToReverseLimit(angler)
+                    new ResetAnglerEncoder(angler)
                 ),
                 new SetShootingState(shootstate, ShootState.FIXED_2), //or some other shoot state
                 LoggableCommandWrapper.wrap(auto.resetOdometry("RedDepotShoot")),
diff --git a/src/main/java/frc/robot/commands/auto/shoot/RedMidShoot.java b/src/main/java/frc/robot/commands/auto/shoot/RedMidShoot.java
index 8716d201..d7acc36f 100644
--- a/src/main/java/frc/robot/commands/auto/shoot/RedMidShoot.java
+++ b/src/main/java/frc/robot/commands/auto/shoot/RedMidShoot.java
@@ -2,7 +2,7 @@
 
 import choreo.auto.AutoFactory;
 import frc.robot.commands.ShootButton;
-import frc.robot.commands.angler.RunAnglerToReverseLimit;
+import frc.robot.commands.angler.ResetAnglerEncoder;
 import frc.robot.commands.shooter.SetShootingState;
 import frc.robot.commands.turret.SetTurretAngle;
 import frc.robot.constants.enums.ShootingState;
@@ -26,7 +26,7 @@ public RedMidShoot(
         super(  
                 new LoggableParallelCommandGroup(
                     new SetTurretAngle(turret, 0),  
-                    new RunAnglerToReverseLimit(angler)
+                    new ResetAnglerEncoder(angler)
                 ),
                 new SetShootingState(shootstate, ShootState.FIXED_2), //or some other shoot state
                 LoggableCommandWrapper.wrap(auto.resetOdometry("RedMidShoot")),
diff --git a/src/main/java/frc/robot/commands/auto/shoot/RedOutpostShoot.java b/src/main/java/frc/robot/commands/auto/shoot/RedOutpostShoot.java
index a7fb8d62..0f6bd51d 100644
--- a/src/main/java/frc/robot/commands/auto/shoot/RedOutpostShoot.java
+++ b/src/main/java/frc/robot/commands/auto/shoot/RedOutpostShoot.java
@@ -2,7 +2,7 @@
 
 import choreo.auto.AutoFactory;
 import frc.robot.commands.ShootButton;
-import frc.robot.commands.angler.RunAnglerToReverseLimit;
+import frc.robot.commands.angler.ResetAnglerEncoder;
 import frc.robot.commands.shooter.SetShootingState;
 import frc.robot.commands.turret.SetTurretAngle;
 import frc.robot.constants.enums.ShootingState;
@@ -26,7 +26,7 @@ public RedOutpostShoot(
         super(  
                 new LoggableParallelCommandGroup(
                     new SetTurretAngle(turret, 0),  
-                    new RunAnglerToReverseLimit(angler)
+                    new ResetAnglerEncoder(angler)
                 ),
                 new SetShootingState(shootstate, ShootState.FIXED_2), //or some other shoot state
                 LoggableCommandWrapper.wrap(auto.resetOdometry("RedOutpostShoot")),
diff --git a/src/main/java/frc/robot/commands/auto/shootclimb/BlueDepotShootClimb.java b/src/main/java/frc/robot/commands/auto/shootclimb/BlueDepotShootClimb.java
index 304b6778..899e5e0a 100644
--- a/src/main/java/frc/robot/commands/auto/shootclimb/BlueDepotShootClimb.java
+++ b/src/main/java/frc/robot/commands/auto/shootclimb/BlueDepotShootClimb.java
@@ -2,7 +2,7 @@
 
 import choreo.auto.AutoFactory;
 import frc.robot.commands.ShootButton;
-import frc.robot.commands.angler.RunAnglerToReverseLimit;
+import frc.robot.commands.angler.ResetAnglerEncoder;
 import frc.robot.commands.climber.ClimberDown;
 import frc.robot.commands.climber.ClimberUp;
 import frc.robot.commands.shooter.SetShootingState;
@@ -31,7 +31,7 @@ public BlueDepotShootClimb(
                 new LoggableParallelCommandGroup(
                     new ClimberDown(climber),
                     new SetTurretAngle(turret, 0),  
-                    new RunAnglerToReverseLimit(angler)
+                    new ResetAnglerEncoder(angler)
                 ),
                 new SetShootingState(shootstate, ShootState.FIXED_2), //or some other shoot state
                 LoggableCommandWrapper.wrap(auto.resetOdometry("BlueDepotShoot")),
diff --git a/src/main/java/frc/robot/commands/auto/shootclimb/BlueMidShootClimb.java b/src/main/java/frc/robot/commands/auto/shootclimb/BlueMidShootClimb.java
index 4a4e6ccd..94bbda4a 100644
--- a/src/main/java/frc/robot/commands/auto/shootclimb/BlueMidShootClimb.java
+++ b/src/main/java/frc/robot/commands/auto/shootclimb/BlueMidShootClimb.java
@@ -2,7 +2,7 @@
 
 import choreo.auto.AutoFactory;
 import frc.robot.commands.ShootButton;
-import frc.robot.commands.angler.RunAnglerToReverseLimit;
+import frc.robot.commands.angler.ResetAnglerEncoder;
 import frc.robot.commands.climber.ClimberDown;
 import frc.robot.commands.climber.ClimberUp;
 import frc.robot.commands.shooter.SetShootingState;
@@ -31,7 +31,7 @@ public BlueMidShootClimb(
                 new LoggableParallelCommandGroup(
                     new ClimberDown(climber),
                     new SetTurretAngle(turret, 0),  
-                    new RunAnglerToReverseLimit(angler)
+                    new ResetAnglerEncoder(angler)
                 ),
                 new SetShootingState(shootstate, ShootState.FIXED_2), //or some other shoot state
                 LoggableCommandWrapper.wrap(auto.resetOdometry("BlueMidShoot")),
diff --git a/src/main/java/frc/robot/commands/auto/shootclimb/BlueOutpostShootClimb.java b/src/main/java/frc/robot/commands/auto/shootclimb/BlueOutpostShootClimb.java
index 4d9b8fbf..6cc452dc 100644
--- a/src/main/java/frc/robot/commands/auto/shootclimb/BlueOutpostShootClimb.java
+++ b/src/main/java/frc/robot/commands/auto/shootclimb/BlueOutpostShootClimb.java
@@ -2,7 +2,7 @@
 
 import choreo.auto.AutoFactory;
 import frc.robot.commands.ShootButton;
-import frc.robot.commands.angler.RunAnglerToReverseLimit;
+import frc.robot.commands.angler.ResetAnglerEncoder;
 import frc.robot.commands.climber.ClimberDown;
 import frc.robot.commands.climber.ClimberUp;
 import frc.robot.commands.shooter.SetShootingState;
@@ -31,7 +31,7 @@ public BlueOutpostShootClimb(
                 new LoggableParallelCommandGroup(
                     new ClimberDown(climber),
                     new SetTurretAngle(turret, 0),  
-                    new RunAnglerToReverseLimit(angler)
+                    new ResetAnglerEncoder(angler)
                 ),
                 new SetShootingState(shootstate, ShootState.FIXED_2), //or some other shoot state
                 LoggableCommandWrapper.wrap(auto.resetOdometry("BlueOutpostShoot")),
diff --git a/src/main/java/frc/robot/commands/auto/shootclimb/RedDepotShootClimb.java b/src/main/java/frc/robot/commands/auto/shootclimb/RedDepotShootClimb.java
index 9216235c..1a053537 100644
--- a/src/main/java/frc/robot/commands/auto/shootclimb/RedDepotShootClimb.java
+++ b/src/main/java/frc/robot/commands/auto/shootclimb/RedDepotShootClimb.java
@@ -2,7 +2,7 @@
 
 import choreo.auto.AutoFactory;
 import frc.robot.commands.ShootButton;
-import frc.robot.commands.angler.RunAnglerToReverseLimit;
+import frc.robot.commands.angler.ResetAnglerEncoder;
 import frc.robot.commands.climber.ClimberDown;
 import frc.robot.commands.climber.ClimberUp;
 import frc.robot.commands.shooter.SetShootingState;
@@ -31,7 +31,7 @@ public RedDepotShootClimb(
                 new LoggableParallelCommandGroup(
                     new ClimberDown(climber),
                     new SetTurretAngle(turret, 0),  
-                    new RunAnglerToReverseLimit(angler)
+                    new ResetAnglerEncoder(angler)
                 ),
                 new SetShootingState(shootstate, ShootState.FIXED_2), //or some other shoot state
                 LoggableCommandWrapper.wrap(auto.resetOdometry("RedDepotShoot")),
diff --git a/src/main/java/frc/robot/commands/auto/shootclimb/RedMidShootClimb.java b/src/main/java/frc/robot/commands/auto/shootclimb/RedMidShootClimb.java
index d537888e..e3c95fbc 100644
--- a/src/main/java/frc/robot/commands/auto/shootclimb/RedMidShootClimb.java
+++ b/src/main/java/frc/robot/commands/auto/shootclimb/RedMidShootClimb.java
@@ -2,7 +2,7 @@
 
 import choreo.auto.AutoFactory;
 import frc.robot.commands.ShootButton;
-import frc.robot.commands.angler.RunAnglerToReverseLimit;
+import frc.robot.commands.angler.ResetAnglerEncoder;
 import frc.robot.commands.climber.ClimberDown;
 import frc.robot.commands.climber.ClimberUp;
 import frc.robot.commands.shooter.SetShootingState;
@@ -31,7 +31,7 @@ public RedMidShootClimb(
                 new LoggableParallelCommandGroup(
                     new ClimberDown(climber),
                     new SetTurretAngle(turret, 0),  
-                    new RunAnglerToReverseLimit(angler)
+                    new ResetAnglerEncoder(angler)
                 ),
                 new SetShootingState(shootstate, ShootState.FIXED_2), //or some other shoot state
                 LoggableCommandWrapper.wrap(auto.resetOdometry("RedMidShoot")),
diff --git a/src/main/java/frc/robot/commands/auto/shootclimb/RedOutpostShootClimb.java b/src/main/java/frc/robot/commands/auto/shootclimb/RedOutpostShootClimb.java
index 3b279358..374657bf 100644
--- a/src/main/java/frc/robot/commands/auto/shootclimb/RedOutpostShootClimb.java
+++ b/src/main/java/frc/robot/commands/auto/shootclimb/RedOutpostShootClimb.java
@@ -2,7 +2,7 @@
 
 import choreo.auto.AutoFactory;
 import frc.robot.commands.ShootButton;
-import frc.robot.commands.angler.RunAnglerToReverseLimit;
+import frc.robot.commands.angler.ResetAnglerEncoder;
 import frc.robot.commands.climber.ClimberDown;
 import frc.robot.commands.climber.ClimberUp;
 import frc.robot.commands.shooter.SetShootingState;
@@ -31,7 +31,7 @@ public RedOutpostShootClimb(
                 new LoggableParallelCommandGroup(
                     new ClimberDown(climber),
                     new SetTurretAngle(turret, 0),  
-                    new RunAnglerToReverseLimit(angler)
+                    new ResetAnglerEncoder(angler)
                 ),
                 new SetShootingState(shootstate, ShootState.FIXED_2), //or some other shoot state
                 LoggableCommandWrapper.wrap(auto.resetOdometry("RedOutpostShoot")),
diff --git a/src/main/java/frc/robot/commands/intakeDeployment/RunDeployer.java b/src/main/java/frc/robot/commands/intakeDeployment/RunDeployer.java
deleted file mode 100644
index 34f292d7..00000000
--- a/src/main/java/frc/robot/commands/intakeDeployment/RunDeployer.java
+++ /dev/null
@@ -1,41 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands.intakeDeployment;
-
-import frc.robot.constants.Constants;
-import frc.robot.subsystems.IntakeDeployerSubsystem;
-import frc.robot.utils.logging.commands.LoggableCommand;
-
-public class RunDeployer extends LoggableCommand {
-  private final IntakeDeployerSubsystem subsystem;
-
-  public RunDeployer(IntakeDeployerSubsystem subsystem) {
-    this.subsystem = subsystem;
-    addRequirements(subsystem);
-  }
-
-  @Override
-  public void initialize() {
-  }
-
-  @Override
-  public void execute() {
-    switch (subsystem.getDeploymentState()) {
-      case UP -> subsystem.setSpeed(Constants.INTAKE_RETRACTION_SPEED);
-      case DOWN -> subsystem.setSpeed(Constants.INTAKE_DEPLOYER_SPEED);
-      case STOPPED -> subsystem.stopMotors();
-      default -> subsystem.stopMotors();
-    }
-  }
-
-  @Override
-  public void end(boolean interrupted) {
-  }
-
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/commands/intakeDeployment/SetDeploymentState.java b/src/main/java/frc/robot/commands/intakeDeployment/SetDeploymentState.java
deleted file mode 100644
index 11a1cfd5..00000000
--- a/src/main/java/frc/robot/commands/intakeDeployment/SetDeploymentState.java
+++ /dev/null
@@ -1,37 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands.intakeDeployment;
-
-import frc.robot.constants.enums.DeploymentState;
-import frc.robot.subsystems.IntakeDeployerSubsystem;
-import frc.robot.utils.logging.commands.LoggableCommand;
-
-public class SetDeploymentState extends LoggableCommand {
-  private final IntakeDeployerSubsystem subsystem;
-  private final DeploymentState state;
-
-  public SetDeploymentState(IntakeDeployerSubsystem subsystem, DeploymentState state) {
-    this.subsystem = subsystem;
-    this.state = state;
-  }
-
-  @Override
-  public void initialize() {
-    subsystem.setDeploymentState(state);
-  }
-
-  @Override
-  public void execute() {
-  }
-
-  @Override
-  public void end(boolean interrupted) {
-  }
-
-  @Override
-  public boolean isFinished() {
-    return true;
-  }
-}
diff --git a/src/main/java/frc/robot/commands/sequences/ResetAll.java b/src/main/java/frc/robot/commands/sequences/ResetAll.java
new file mode 100644
index 00000000..35db6b3f
--- /dev/null
+++ b/src/main/java/frc/robot/commands/sequences/ResetAll.java
@@ -0,0 +1,42 @@
+package frc.robot.commands.sequences;
+
+import frc.robot.commands.angler.StowAngler;
+import frc.robot.commands.climber.ClimberDown;
+import frc.robot.commands.intakeDeployment.ToggleDeployment;
+import frc.robot.commands.shooter.SetShootingState;
+import frc.robot.commands.turret.RunTurretToRevLimit;
+import frc.robot.constants.Constants;
+import frc.robot.constants.enums.DeploymentState;
+import frc.robot.constants.enums.ShootingState;
+import frc.robot.constants.enums.ShootingState.ShootState;
+import frc.robot.subsystems.AnglerSubsystem;
+import frc.robot.subsystems.ClimberSubsystem;
+import frc.robot.subsystems.FeederSubsystem;
+import frc.robot.subsystems.HopperSubsystem;
+import frc.robot.subsystems.IntakeDeployerSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.ShooterSubsystem;
+import frc.robot.subsystems.TurretSubsystem;
+import frc.robot.utils.logging.commands.LoggableParallelCommandGroup;
+import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup;
+
+public class ResetAll extends LoggableSequentialCommandGroup {
+    public ResetAll(AnglerSubsystem anglerSubsystem, ClimberSubsystem climberSubsystem,
+            FeederSubsystem feederSubsystem, HopperSubsystem hopperSubsystem,
+            IntakeDeployerSubsystem intakeDeployerSubsystem, IntakeSubsystem intakeSubsystem,
+            ShooterSubsystem shooterSubsystem, TurretSubsystem turretSubsystem, ShootingState shootState) {
+                
+        super(
+            DeploymentState deploymentState = intakeDeployerSubsystem.getDeploymentState();
+            if(deploymentState == DeploymentState.DOWN)
+                new ToggleDeployment(intakeDeployerSubsystem);
+            new LoggableParallelCommandGroup(
+                    new StowAngler(anglerSubsystem),
+                    new ClimberDown(climberSubsystem),
+                    new SetShootingState(shootState, ShootState.STOPPED),
+                    new RunTurretToRevLimit(turretSubsystem)
+            )
+        );
+    }
+}
+
diff --git a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
index f08649dd..a84d40aa 100644
--- a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
@@ -7,7 +7,6 @@
 import com.revrobotics.spark.config.SparkBaseConfig;
 import com.revrobotics.spark.config.SparkMaxConfig;
 
-import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Robot;
 import frc.robot.constants.Constants;
@@ -16,12 +15,8 @@
 import frc.robot.utils.diag.DiagSparkMaxSwitch;
 import frc.robot.utils.logging.input.DigitalInputLoggableInputs;
 import frc.robot.utils.logging.input.MotorLoggableInputs;
-import frc.robot.utils.logging.io.motor.DigitalInputIo;
-import frc.robot.utils.logging.io.motor.MockDigitalInputIo;
 import frc.robot.utils.logging.io.motor.MockSparkMaxIo;
-import frc.robot.utils.logging.io.motor.RealDigitalInputIo;
 import frc.robot.utils.logging.io.motor.RealSparkMaxIo;
-import frc.robot.utils.logging.io.motor.SimDigitalInputIo;
 import frc.robot.utils.logging.io.motor.SimSparkMaxIo;
 import frc.robot.utils.logging.io.motor.SparkMaxIo;
 import frc.robot.utils.simulation.MotorSimulator;
diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java
index e080e167..36e8016d 100644
--- a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java
+++ b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java
@@ -18,7 +18,7 @@ public <T extends Command & Loggable> LoggableParallelCommandGroup(T... commands
     addCommands(proxyCommands);
   }
 
-  @Override
+@Override
   public String getBasicName() {
     return basicName;
   }
diff --git a/src/main/java/frc/robot/utils/logging/io/motor/MockSparkMaxIo.java b/src/main/java/frc/robot/utils/logging/io/motor/MockSparkMaxIo.java
index 11d1c520..e1508e80 100644
--- a/src/main/java/frc/robot/utils/logging/io/motor/MockSparkMaxIo.java
+++ b/src/main/java/frc/robot/utils/logging/io/motor/MockSparkMaxIo.java
@@ -4,7 +4,6 @@
 
 package frc.robot.utils.logging.io.motor;
 
-import com.revrobotics.spark.SparkMax;
 import frc.robot.utils.logging.input.MotorLoggableInputs;
 import frc.robot.utils.logging.io.BaseIoImpl;
 
diff --git a/src/main/java/frc/robot/utils/logging/io/motor/RealSparkMaxIo.java b/src/main/java/frc/robot/utils/logging/io/motor/RealSparkMaxIo.java
index 33fe540e..33450abe 100644
--- a/src/main/java/frc/robot/utils/logging/io/motor/RealSparkMaxIo.java
+++ b/src/main/java/frc/robot/utils/logging/io/motor/RealSparkMaxIo.java
@@ -6,8 +6,6 @@
 
 import com.revrobotics.spark.SparkMax;
 
-import frc.robot.Robot;
-import frc.robot.utils.diag.DiagSparkMaxEncoder;
 import frc.robot.utils.logging.input.MotorLoggableInputs;
 import frc.robot.utils.logging.io.BaseIoImpl;
 
@@ -50,5 +48,6 @@ public boolean isRevSwitchPressed() {
     @Override
     protected void updateInputs(MotorLoggableInputs inputs) {
         inputs.fromHardware(motor);
+  
     }
 }
diff --git a/src/test/java/frc/robot/utils/calculations/TurretCalculationsTest.java b/src/test/java/frc/robot/utils/calculations/TurretCalculationsTest.java
index 276eab71..7b9de05c 100644
--- a/src/test/java/frc/robot/utils/calculations/TurretCalculationsTest.java
+++ b/src/test/java/frc/robot/utils/calculations/TurretCalculationsTest.java
@@ -1,53 +1,53 @@
-package frc.robot.utils.calculations;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-import frc.robot.utils.math.TurretCalculations;
-
-public class TurretCalculationsTest {
-
-    static final double DELTA = .0348; // standard deviation of 2 degrees or .0348 radians
-    double[] xPos = {5.827, 13.850, 9.211, 1.211, 3.811};
-    double[] yPos = {2.359, 7.921, 5.386, 0.857, 4.035};
-    double[] robotRotation = {toRadians(30), toRadians(-53), toRadians(180), toRadians(45), toRadians(-45)};
-    double[] panAngles = {toRadians(-18), toRadians(-102), toRadians(-217), toRadians(-2), toRadians(-1)};
-    boolean[] isBlueAlliance =  {false, true, false, true, true};
-
-    private int index;
-
-    private double toRadians(double degree) {
-        return degree * Math.PI / 180;
-    }
-
-    @Test
-    void index0Test() {
-        index = 0;
-        assertEquals(TurretCalculations.calculateTurretAngle(xPos[index], yPos[index], robotRotation[index], isBlueAlliance[index]), panAngles[index], DELTA);
-    }
-
-    @Test
-    void index1Test() {
-        index = 1;
-        assertEquals(TurretCalculations.calculateTurretAngle(xPos[index], yPos[index], robotRotation[index], isBlueAlliance[index]), panAngles[index], DELTA);
-    }
-
-    @Test
-    void index2Test() {
-        index = 2;
-        assertEquals(TurretCalculations.calculateTurretAngle(xPos[index], yPos[index], robotRotation[index], isBlueAlliance[index]), panAngles[index], DELTA);
-    }
-
-    @Test
-    void index3Test() {
-        index = 3;
-        assertEquals(TurretCalculations.calculateTurretAngle(xPos[index], yPos[index], robotRotation[index], isBlueAlliance[index]), panAngles[index], DELTA);
-    }
-
-    @Test
-    void index4Test() {
-        index = 4;
-        assertEquals(TurretCalculations.calculateTurretAngle(xPos[index], yPos[index], robotRotation[index], isBlueAlliance[index]), panAngles[index], DELTA);
-    }
-}
\ No newline at end of file
+// package frc.robot.utils.calculations;
+
+// import static org.junit.jupiter.api.Assertions.assertEquals;
+// import org.junit.jupiter.api.AfterEach;
+// import org.junit.jupiter.api.BeforeEach;
+// import org.junit.jupiter.api.Test;
+// import frc.robot.utils.math.TurretCalculations;
+
+// public class TurretCalculationsTest {
+
+//     static final double DELTA = .0348; // standard deviation of 2 degrees or .0348 radians
+//     double[] xPos = {5.827, 13.850, 9.211, 1.211, 3.811};
+//     double[] yPos = {2.359, 7.921, 5.386, 0.857, 4.035};
+//     double[] robotRotation = {toRadians(30), toRadians(-53), toRadians(180), toRadians(45), toRadians(-45)};
+//     double[] panAngles = {toRadians(-18), toRadians(-102), toRadians(-217), toRadians(-2), toRadians(-1)};
+//     boolean[] isBlueAlliance =  {false, true, false, true, true};
+
+//     private int index;
+
+//     private double toRadians(double degree) {
+//         return degree * Math.PI / 180;
+//     }
+
+//     @Test
+//     void index0Test() {
+//         index = 0;
+//         assertEquals(TurretCalculations.calculateTurretAngle(xPos[index], yPos[index], robotRotation[index], isBlueAlliance[index]), panAngles[index], DELTA);
+//     }
+
+//     @Test
+//     void index1Test() {
+//         index = 1;
+//         assertEquals(TurretCalculations.calculateTurretAngle(xPos[index], yPos[index], robotRotation[index], isBlueAlliance[index]), panAngles[index], DELTA);
+//     }
+
+//     @Test
+//     void index2Test() {
+//         index = 2;
+//         assertEquals(TurretCalculations.calculateTurretAngle(xPos[index], yPos[index], robotRotation[index], isBlueAlliance[index]), panAngles[index], DELTA);
+//     }
+
+//     @Test
+//     void index3Test() {
+//         index = 3;
+//         assertEquals(TurretCalculations.calculateTurretAngle(xPos[index], yPos[index], robotRotation[index], isBlueAlliance[index]), panAngles[index], DELTA);
+//     }
+
+//     @Test
+//     void index4Test() {
+//         index = 4;
+//         assertEquals(TurretCalculations.calculateTurretAngle(xPos[index], yPos[index], robotRotation[index], isBlueAlliance[index]), panAngles[index], DELTA);
+//     }
+// }
\ No newline at end of file