diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/evenMoreSwerve/SL_SwerveModule.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/evenMoreSwerve/SL_SwerveModule.java
index 87fbdb5..310da93 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/swerve/evenMoreSwerve/SL_SwerveModule.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/evenMoreSwerve/SL_SwerveModule.java
@@ -13,7 +13,6 @@
 import com.stuypulse.stuylib.math.Angle;
 import com.stuypulse.stuylib.streams.angles.filters.ARateLimit;
 
-import com.stuypulse.robot.Robot;
 import com.stuypulse.robot.constants.Motors;
 import com.stuypulse.robot.constants.Settings.Swerve;
 import com.stuypulse.robot.constants.Settings.Swerve.Drive;
@@ -91,7 +90,7 @@ public SL_SwerveModule(String id, Translation2d location, int turnCANId, Rotatio
         Motors.disableStatusFrames(driveMotor, 3, 4, 5, 6);
 
         driveController = new PIDController(Drive.kP, Drive.kI, Drive.kD)
-                .setOutputFilter(x -> true ? 0 : x)
+                .setOutputFilter(x -> true ? 0 : x) //XXX: This doesnt work
             .add(new MotorFeedforward(Drive.kS, Drive.kV, Drive.kA).velocity());
 
         targetState = new SwerveModuleState();
diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/evenMoreSwerve/SimModule.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/evenMoreSwerve/SimModule.java
index 35d1400..415f8e1 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/swerve/evenMoreSwerve/SimModule.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/evenMoreSwerve/SimModule.java
@@ -83,7 +83,7 @@ public SimModule(String id, Translation2d location) {
         driveSim = new LinearSystemSim<>(identifyVelocityPositionSystem(Drive.kV, Drive.kA));
 
         driveController = new PIDController(Drive.kP, Drive.kI, Drive.kD)
-                .setOutputFilter(x -> true ? 0 : x)
+                .setOutputFilter(x -> true ? 0 : x) //Same issue as SL_SwerveModule
             .add(new MotorFeedforward(Drive.kS, Drive.kV, Drive.kA).velocity());
 
         targetState = new SwerveModuleState();
diff --git a/src/main/java/com/stuypulse/robot/subsystems/turret/TurretImpl.java b/src/main/java/com/stuypulse/robot/subsystems/turret/TurretImpl.java
index be4b81b..36e281c 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/turret/TurretImpl.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/turret/TurretImpl.java
@@ -13,6 +13,7 @@ public class TurretImpl extends Turret {
     public TurretImpl(int port) {
         motor = new CANSparkMax(port, MotorType.kBrushless);
         encoder = motor.getAbsoluteEncoder(Type.kDutyCycle);
+        encoder.setPositionConversionFactor(-1); //TODO: figure out the conversion factor
     }
 
     @Override
@@ -25,9 +26,12 @@ public void setTurretVoltage(double voltage) {
         motor.setVoltage(voltage);
     }
 
+    public boolean isStalling() {
+        return motor.getOutputCurrent() > 40;
+    }
+
     @Override
     public void periodic2() {
-        
     }
 }