diff --git a/src/main/java/frc/robot/robot_manager/RobotManager.java b/src/main/java/frc/robot/robot_manager/RobotManager.java
index 693dde69..b9ed085e 100644
--- a/src/main/java/frc/robot/robot_manager/RobotManager.java
+++ b/src/main/java/frc/robot/robot_manager/RobotManager.java
@@ -386,72 +386,72 @@ public void robotPeriodic() {
       case UNHOMED:
         shoulder.startPreMatchHoming();
         intake.idleRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         break;
       case HOMING:
         shoulder.startMidMatchHoming();
         intake.idleRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         break;
       case IDLE_UP_NO_GP:
         shoulder.setAngle(ShoulderPositions.STOWED_UP);
         intake.idleNoGPRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         climber.setGoal(ClimberMode.IDLE);
         break;
       case IDLE_UP_WITH_GP:
         shoulder.setAngle(ShoulderPositions.STOWED_UP);
         intake.idleWithGPRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         climber.setGoal(ClimberMode.IDLE);
         break;
       case IDLE_DOWN_NO_GP:
         shoulder.setAngle(ShoulderPositions.STOWED_DOWN);
         intake.idleNoGPRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         climber.setGoal(ClimberMode.IDLE);
         break;
       case IDLE_DOWN_WITH_GP:
         shoulder.setAngle(ShoulderPositions.STOWED_DOWN);
         intake.idleWithGPRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         climber.setGoal(ClimberMode.IDLE);
         break;
       case GROUND_INTAKING:
         shoulder.setAngle(ShoulderPositions.GROUND_INTAKING);
         intake.intakingRequest();
-        shooter.setMode(ShooterMode.INTAKING);
+        shooter.setGoalMode(ShooterMode.INTAKING);
         climber.setGoal(ClimberMode.IDLE);
         break;
       case GROUND_INTAKING_SETTLING:
         shoulder.setAngle(ShoulderPositions.STOWED_DOWN);
         intake.intakingRequest();
-        shooter.setMode(ShooterMode.INTAKING);
+        shooter.setGoalMode(ShooterMode.INTAKING);
         climber.setGoal(ClimberMode.IDLE);
         break;
       case SOURCE_INTAKING:
         shoulder.setAngle(ShoulderPositions.SOURCE_INTAKING);
         intake.intakingRequest();
-        shooter.setMode(ShooterMode.INTAKING);
+        shooter.setGoalMode(ShooterMode.INTAKING);
         climber.setGoal(ClimberMode.IDLE);
         break;
       case SOURCE_INTAKING_SETTLING:
         shoulder.setAngle(ShoulderPositions.STOWED_UP);
         intake.intakingRequest();
-        shooter.setMode(ShooterMode.INTAKING);
+        shooter.setGoalMode(ShooterMode.INTAKING);
         climber.setGoal(ClimberMode.IDLE);
         break;
       case OUTTAKING:
         shoulder.setAngle(ShoulderPositions.OUTTAKING);
         intake.outtakingRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         climber.setGoal(ClimberMode.IDLE);
         break;
       case WAITING_FLOOR_SHOT:
       case PREPARE_FLOOR_SHOT:
         shoulder.setAngle(shoulderAngleForFloorSpot);
         intake.idleRequest();
-        shooter.setMode(ShooterMode.FLOOR_SHOT);
+        shooter.setGoalMode(ShooterMode.FLOOR_SHOT);
         climber.setGoal(ClimberMode.IDLE);
         snaps.setAngle(robotAngleToFloorSpot);
         snaps.setEnabled(true);
@@ -460,7 +460,7 @@ public void robotPeriodic() {
       case FLOOR_SHOOT:
         shoulder.setAngle(shoulderAngleForFloorSpot);
         intake.shootingRequest();
-        shooter.setMode(ShooterMode.FLOOR_SHOT);
+        shooter.setGoalMode(ShooterMode.FLOOR_SHOT);
         climber.setGoal(ClimberMode.IDLE);
         snaps.setAngle(robotAngleToFloorSpot);
         snaps.setEnabled(true);
@@ -470,20 +470,20 @@ public void robotPeriodic() {
       case PREPARE_SUBWOOFER_SHOT:
         shoulder.setAngle(ShoulderPositions.SUBWOOFER_SHOT);
         intake.idleRequest();
-        shooter.setMode(ShooterMode.SUBWOOFER_SHOT);
+        shooter.setGoalMode(ShooterMode.SUBWOOFER_SHOT);
         climber.setGoal(ClimberMode.IDLE);
         break;
       case SUBWOOFER_SHOOT:
         shoulder.setAngle(ShoulderPositions.SUBWOOFER_SHOT);
         intake.shootingRequest();
-        shooter.setMode(ShooterMode.SUBWOOFER_SHOT);
+        shooter.setGoalMode(ShooterMode.SUBWOOFER_SHOT);
         climber.setGoal(ClimberMode.IDLE);
         break;
       case WAITING_SPEAKER_SHOT:
       case PREPARE_SPEAKER_SHOT:
         shoulder.setAngle(shoulderAngleForSpeaker);
         intake.idleRequest();
-        shooter.setMode(ShooterMode.SPEAKER_SHOT);
+        shooter.setGoalMode(ShooterMode.SPEAKER_SHOT);
         climber.setGoal(ClimberMode.IDLE);
         snaps.setAngle(robotAngleToSpeaker);
         snaps.setEnabled(true);
@@ -492,7 +492,7 @@ public void robotPeriodic() {
       case SPEAKER_SHOOT:
         shoulder.setAngle(shoulderAngleForSpeaker);
         intake.shootingRequest();
-        shooter.setMode(ShooterMode.SPEAKER_SHOT);
+        shooter.setGoalMode(ShooterMode.SPEAKER_SHOT);
         climber.setGoal(ClimberMode.IDLE);
         snaps.setAngle(robotAngleToSpeaker);
         snaps.setEnabled(true);
@@ -502,44 +502,44 @@ public void robotPeriodic() {
       case PREPARE_AMP_SHOT:
         shoulder.setAngle(ShoulderPositions.AMP_SHOT);
         intake.idleRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         climber.setGoal(ClimberMode.IDLE);
         break;
       case AMP_SHOOT:
         shoulder.setAngle(ShoulderPositions.AMP_SHOT);
         intake.shootingRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         climber.setGoal(ClimberMode.IDLE);
         break;
       case WAITING_CLIMBER_RAISED:
         shoulder.setAngle(ShoulderPositions.WAITING_CLIMBER_RAISED);
         intake.idleRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         climber.setGoal(ClimberMode.RAISED);
         break;
       case PREPARE_CLIMBER_RAISED:
       case CLIMBER_RAISED:
         shoulder.setAngle(ShoulderPositions.TRAP_SHOT);
         intake.idleRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         climber.setGoal(ClimberMode.RAISED);
         break;
       case PREPARE_CLIMBER_HANGING:
         shoulder.setAngle(ShoulderPositions.TRAP_SHOT);
         intake.climbingRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         climber.setGoal(ClimberMode.HANGING);
         break;
       case CLIMBER_HANGING:
         shoulder.setAngle(ShoulderPositions.TRAP_SHOT);
         intake.climbingRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         climber.setGoal(ClimberMode.HANGING);
         break;
       case TRAP_SHOOT:
         shoulder.setAngle(ShoulderPositions.TRAP_SHOT);
         intake.trapOuttakeRequest();
-        shooter.setMode(ShooterMode.IDLE);
+        shooter.setGoalMode(ShooterMode.IDLE);
         climber.setGoal(ClimberMode.HANGING);
         break;
       default:
diff --git a/src/main/java/frc/robot/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/shooter/ShooterSubsystem.java
index da424469..facc2199 100644
--- a/src/main/java/frc/robot/shooter/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/shooter/ShooterSubsystem.java
@@ -41,8 +41,8 @@ public class ShooterSubsystem extends LifecycleSubsystem {
   public ShooterSubsystem(TalonFX leftMotor, TalonFX rightMotor) {
     super(SubsystemPriority.SHOOTER);
 
-    this.rightMotor = leftMotor;
-    this.leftMotor = rightMotor;
+    this.leftMotor = leftMotor;
+    this.rightMotor = rightMotor;
 
     RobotConfig.get().shooter().speakerShotRpms().accept(speakerDistanceToRPM);
     RobotConfig.get().shooter().floorShotRpms().accept(floorSpotDistanceToRPM);
@@ -97,23 +97,23 @@ public void robotPeriodic() {
     Logger.recordOutput("Shooter/DistanceToFloorSpot", floorSpotDistance);
     Logger.recordOutput("Shooter/Mode", goalMode);
     Logger.recordOutput("Shooter/GoalRPM", goalRPM);
-    Logger.recordOutput("Shooter/TopMotor/Temperature", leftMotor.getDeviceTemp().getValue());
-    Logger.recordOutput("Shooter/TopMotor/RPM", getRPM(leftMotor));
+    Logger.recordOutput("Shooter/LeftMotor/Temperature", leftMotor.getDeviceTemp().getValue());
+    Logger.recordOutput("Shooter/LeftMotor/RPM", getRPM(leftMotor));
     Logger.recordOutput(
-        "Shooter/TopMotor/POutput", leftMotor.getClosedLoopProportionalOutput().getValue());
+        "Shooter/LeftMotor/POutput", leftMotor.getClosedLoopProportionalOutput().getValue());
     Logger.recordOutput(
-        "Shooter/TopMotor/SupplierCurrent", leftMotor.getSupplyCurrent().getValueAsDouble());
-    Logger.recordOutput("Shooter/TopMotor/StatorCurrent", leftMotor.getStatorCurrent().getValue());
-    Logger.recordOutput("Shooter/TopMotor/Voltage", leftMotor.getMotorVoltage().getValue());
+        "Shooter/LeftMotor/SupplierCurrent", leftMotor.getSupplyCurrent().getValueAsDouble());
+    Logger.recordOutput("Shooter/LeftMotor/StatorCurrent", leftMotor.getStatorCurrent().getValue());
+    Logger.recordOutput("Shooter/LeftMotor/Voltage", leftMotor.getMotorVoltage().getValue());
     Logger.recordOutput(
-        "Shooter/BottomMotor/StatorCurrent", rightMotor.getStatorCurrent().getValue());
-    Logger.recordOutput("Shooter/BottomMotor/Voltage", rightMotor.getMotorVoltage().getValue());
-    Logger.recordOutput("Shooter/BottomMotor/RPM", getRPM(rightMotor));
-    Logger.recordOutput("Shooter/BottomMotor/Temperature", rightMotor.getDeviceTemp().getValue());
+        "Shooter/RightMotor/StatorCurrent", rightMotor.getStatorCurrent().getValue());
+    Logger.recordOutput("Shooter/RightMotor/Voltage", rightMotor.getMotorVoltage().getValue());
+    Logger.recordOutput("Shooter/RightMotor/RPM", getRPM(rightMotor));
+    Logger.recordOutput("Shooter/RightMotor/Temperature", rightMotor.getDeviceTemp().getValue());
     Logger.recordOutput(
-        "Shooter/BottomMotor/POutput", rightMotor.getClosedLoopProportionalOutput().getValue());
+        "Shooter/RightMotor/POutput", rightMotor.getClosedLoopProportionalOutput().getValue());
     Logger.recordOutput(
-        "Shooter/BottomMotor/SupplierCurrent", rightMotor.getSupplyCurrent().getValueAsDouble());
+        "Shooter/RightMotor/SupplierCurrent", rightMotor.getSupplyCurrent().getValueAsDouble());
     Logger.recordOutput("Shooter/AtGoal", atGoal(goalMode));
   }
 
@@ -138,10 +138,14 @@ private double getRPM(TalonFX motor) {
     return motor.getVelocity().getValue() * 60.0;
   }
 
-  public void setMode(ShooterMode newMode) {
+  public void setGoalMode(ShooterMode newMode) {
     goalMode = newMode;
   }
 
+  public ShooterMode getGoalMode() {
+      return goalMode;
+  }
+
   public void setSpeakerDistance(double distance) {
     speakerDistance = distance;
   }