diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
index 1f3cedb..e8cd4e8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
@@ -1,6 +1,5 @@
 package org.firstinspires.ftc.teamcode.constants;
 
-
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.roadrunner.Pose2d;
 
@@ -19,11 +18,11 @@ public class Poses {
 
     public static double x2_b = 58, y2_b = 42, h2_b = Math.toRadians(140);
 
-
     public static double x3 = 34, y3 = 58, h3 = Math.toRadians(140);
 
-    public static Pose2d teleStart = new Pose2d(x1,-10,0);
-
+    public static double tx = 0, ty = 0, th = 0;
+    public static Pose2d teleStart = new Pose2d(tx, ty, th);
 
+    public static Pose2d goalPose = new Pose2d(-15, 0, 0);
 
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
index b570aba..12b6073 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.teleop;
 
+import static org.firstinspires.ftc.teamcode.constants.Poses.goalPose;
 import static org.firstinspires.ftc.teamcode.constants.Poses.teleStart;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
 import static org.firstinspires.ftc.teamcode.tests.ShooterTest.kP;
@@ -8,6 +9,7 @@ import static org.firstinspires.ftc.teamcode.tests.ShooterTest.maxStep;
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.Pose2d;
 import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -245,6 +247,20 @@ public class TeleopV2 extends LinearOpMode {
 
             double offset;
 
+            double robotX = drive.localizer.getPose().position.x;
+            double robotY = drive.localizer.getPose().position.y;
+
+            double goalX = -10;
+            double goalY = 0;
+
+            double dx = goalX - robotX;  // delta x from robot to goal
+            double dy = goalY - robotY;  // delta y from robot to goal
+
+            double angleRad = Math.atan2(dy, dx);
+
+
+            desiredTurretAngle = (Math.toDegrees(Math.atan2(dy, dx)) + 360) % 360;
+
             offset = desiredTurretAngle - Math.toDegrees(drive.localizer.getPose().heading.toDouble());
 
             if (offset > 90) {