diff --git a/src/HHRobot.cpp b/src/HHRobot.cpp
index e4cc433..f9900ab 100644
--- a/src/HHRobot.cpp
+++ b/src/HHRobot.cpp
@@ -92,11 +92,13 @@ void HHRobot::Handler(){
   	  targetAngle = 130;
   }
   if(ControlSystem->rightJoystickValues[DRIVE_FOR_DISTANCE]){
-	  if(sonar->GetInches("FRONTLEFT") >= 40){
+	  targetAngle = 100;
+	  if(sonar->GetInches("FRONTLEFT") >= 45){
 		  DriveRobot(0,-.5);
 	  }
 	  else{
 		  DriveRobot(0,0);
+		  shooter->StartShootingSequence(0.855);
 	  }
   }
 }
diff --git a/src/Subsystems/Compressor.cpp b/src/Subsystems/Compressor.cpp
index 16e6438..e9f19bc 100644
--- a/src/Subsystems/Compressor.cpp
+++ b/src/Subsystems/Compressor.cpp
@@ -20,7 +20,7 @@ void HHCompressor::CompressorSystemPeriodic(){
       break;
   }
   if(compressor->GetPressureSwitchValue()==1){
-    compressor->Start()
+    compressor->Start();
   }else{
     compressor->Stop();
   }