diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index df12c6cc..75181371 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -53,6 +53,7 @@
 import frc.robot.commands.shooter.SpinShooter;
 import frc.robot.commands.testing.RunDashboardShotTest;
 import frc.robot.commands.turret.DefaultTurretControl;
+import frc.robot.commands.turret.ManualTurretMove;
 import frc.robot.commands.turret.RunTurretToFwdLimit;
 import frc.robot.commands.turret.RunTurretToRevLimit;
 import frc.robot.commands.turret.SetTurretAngle;
@@ -297,6 +298,7 @@ private void configureBindings() {
                 controller.b().onTrue(new SetDeploymentState(intakeDeployer, DeploymentState.STOPPED));
                 controller.x().onTrue(new ForceDeployDown(intakeDeployer, shootState));
                 controller.y().onTrue(new ToggleAdjustedPosition(controllerSubsystem));
+                controller.leftStick().whileTrue(new ManualTurretMove(turretSubsystem, controller::getLeftX));
                 controller.povUp().onTrue(new SetShootingState(shootState, ShootState.FIXED));
                 controller.povRight().onTrue(new SetShootingState(shootState, ShootState.STOPPED));
                 controller.povDown().onTrue(new SetShootingState(shootState, ShootState.SHOOTING_HUB));
@@ -320,7 +322,7 @@ private void configureBindings() {
                 intakeDeployer.setDefaultCommand(new RunDeployer(intakeDeployer));
                 anglerSubsystem.setDefaultCommand(new DefaultAnglerControl(anglerSubsystem, controllerSubsystem));
                 shooterSubsystem.setDefaultCommand(new DefaultShooterControl(shooterSubsystem, controllerSubsystem));
-                turretSubsystem.setDefaultCommand(new DefaultTurretControl(turretSubsystem, controllerSubsystem));
+                //turretSubsystem.setDefaultCommand(new DefaultTurretControl(turretSubsystem, controllerSubsystem));
                 hopperSubsystem.setDefaultCommand(new DefaultSpinHopper(hopperSubsystem, controllerSubsystem, shootState));
                 feederSubsystem.setDefaultCommand(new DefaultSpinFeeder(feederSubsystem, controllerSubsystem));
             }
diff --git a/src/main/java/frc/robot/commands/turret/ManualTurretMove.java b/src/main/java/frc/robot/commands/turret/ManualTurretMove.java
new file mode 100644
index 00000000..f7c956cf
--- /dev/null
+++ b/src/main/java/frc/robot/commands/turret/ManualTurretMove.java
@@ -0,0 +1,37 @@
+package frc.robot.commands.turret;
+
+import java.util.function.DoubleSupplier;
+
+import frc.robot.constants.Constants;
+import frc.robot.subsystems.TurretSubsystem;
+import frc.robot.utils.logging.commands.LoggableCommand;
+
+public class ManualTurretMove extends LoggableCommand {
+  private final TurretSubsystem subsystem;
+  private final DoubleSupplier input;
+
+
+  public ManualTurretMove(TurretSubsystem subsystem, DoubleSupplier input) {
+    this.subsystem = subsystem;
+    this.input = input;
+    addRequirements(subsystem);
+  }
+
+  @Override
+  public void initialize() {
+  }
+
+  @Override
+  public void execute() {
+    subsystem.manualMove(-input.getAsDouble()*Constants.MANUAL_MOVE_SCALING_FACTOR);
+
+  }
+
+  @Override
+  public void end(boolean interrupted) {}
+
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java
index 17dfef6e..2b647ff2 100644
--- a/src/main/java/frc/robot/constants/GameConstants.java
+++ b/src/main/java/frc/robot/constants/GameConstants.java
@@ -121,8 +121,8 @@ public enum Mode {
     public static final double TURRET_LONG_RANGE_I = 0.000000;
     public static final double TURRET_LONG_RANGE_D = 0.0;
     public static final double TURRET_LONG_RANGE_FF = 0.0;
-    public static final double TURRET_ENCODER_MIN = 0; //Lowest encoder position of Turret
-    public static final double TURRET_ENCODER_MAX = 77; //Highest encoder position of Turret
+    public static final double TURRET_ENCODER_MIN = -10; //Lowest encoder position of Turret
+    public static final double TURRET_ENCODER_MAX = 10; //Highest encoder position of Turret
     public static final double TURRET_HOME_ANGLE = 0.0; //Turret facing forward
     public static final double TURRET_MIN_ANGLE = -96;
     public static final double TURRET_MAX_ANGLE = 96;
@@ -186,4 +186,6 @@ public enum Mode {
     public static final double SHUTTLING_TARGET_HIGHER_Y_POSITION = 5.5;
     public static final int TCP_SERVER_PORT1 = 5806;
     public static final int TCP_SERVER_PORT2 = 5807;
+
+    public static final double MANUAL_MOVE_SCALING_FACTOR = 0.1;
 }
diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 2f30b0e8..47c862a8 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -27,7 +27,7 @@ public class TurretSubsystem extends SubsystemBase {
     private final SparkMaxPidMotorIo io;
     private final TunablePIDManager pidManager;
     private double lastAngle = 999;
-
+    private double currentSetPosition = 0;
     public TurretSubsystem(SparkMaxPidMotorIo io) {
         this.io = io;
         this.pidManager = new TunablePIDManager(LOGGING_NAME, io, createPidConfig0());
@@ -71,6 +71,12 @@ public void setAngle(double targetAngle) {
             lastAngle = targetAngle;
         }
     }
+    public void manualMove(double input){
+        if(((input > 0 && !isAtForwardLimit())||(input < 0 && !isAtReverseLimit())) && (currentSetPosition+input < Constants.TURRET_ENCODER_MAX) && (currentSetPosition+input > Constants.TURRET_ENCODER_MIN)){
+            currentSetPosition += input;
+        }
+        setPosition(currentSetPosition);
+    }
 
     //Range translate code with a clamp
     public static double calculateRotationsForAngle(