diff --git a/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java b/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java
index 7ec5330..0a1dcdd 100644
--- a/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java
+++ b/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java
@@ -34,17 +34,15 @@ public static final class TurretConstants {
     public static final Rotation2d mechanismOffset = Rotation2d.kCCW_Pi_2;
 
     // Absolute encoder
+    public static final int absEncoderPort = 5;
     public static final double encoderPositionFactor = (2 * Math.PI) / 5.0; // Radians
     public static final double encoderVelocityFactor = (2 * Math.PI) / (60.0 * 5.0); // Rad/sec
 
     // Position controller
-    public static final double minInput = 0.0;
-    public static final double maxInput = 2 * Math.PI;
     public static final double kPReal = 0.5;
 
     // Motor controller
     public static final int port = 12;
-    public static final int DIOPort = 5;
     public static final double motorReduction = 5.0;
     public static final AngularVelocity maxAngularVelocity =
         NEO550Constants.kFreeSpeed.div(motorReduction);
diff --git a/src/main/java/frc/robot/subsystems/launcher/TurretIOSim.java b/src/main/java/frc/robot/subsystems/launcher/TurretIOSim.java
index 1a8278a..169ea61 100644
--- a/src/main/java/frc/robot/subsystems/launcher/TurretIOSim.java
+++ b/src/main/java/frc/robot/subsystems/launcher/TurretIOSim.java
@@ -25,7 +25,9 @@ public TurretIOSim() {
         new DCMotorSim(LinearSystemId.createDCMotorSystem(gearbox, 0.004, motorReduction), gearbox);
 
     // Enable wrapping for turn PID
-    positionController.enableContinuousInput(-Math.PI, Math.PI);
+    // positionController.enableContinuousInput(-Math.PI, Math.PI);
+
+    turnSim.setAngle(-mechanismOffset.getRadians());
   }
 
   @Override
@@ -46,7 +48,7 @@ public void updateInputs(TurretIOInputs inputs) {
 
     // Update turn inputs
     inputs.motorControllerConnected = true;
-    inputs.relativePosition = new Rotation2d(turnSim.getAngularPositionRad());
+    inputs.relativePosition = new Rotation2d(turnSim.getAngularPositionRad()).plus(mechanismOffset);
     inputs.velocityRadPerSec = turnSim.getAngularVelocityRadPerSec();
     inputs.appliedVolts = appliedVolts;
     inputs.currentAmps = Math.abs(turnSim.getCurrentDrawAmps());
@@ -61,10 +63,13 @@ public void setOpenLoop(double output) {
   @Override
   public void setPosition(Rotation2d rotation, AngularVelocity angularVelocity) {
     closedLoop = true;
+    double setpoint =
+        MathUtil.inputModulus(
+            rotation.getRadians() - mechanismOffset.getRadians(), 0.0, 2.0 * Math.PI);
     this.feedforwardVolts =
         RobotConstants.kNominalVoltage
             * angularVelocity.in(RadiansPerSecond)
             / maxAngularVelocity.in(RadiansPerSecond);
-    positionController.setSetpoint(rotation.getRadians());
+    positionController.setSetpoint(setpoint);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java b/src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java
index 07e5198..0ebe2a0 100644
--- a/src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java
+++ b/src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java
@@ -44,7 +44,7 @@ public TurretIOSpark() {
     controller = new PIDController(kPReal, 0.0, 0.0);
     absoluteEncoder =
         new DutyCycleEncoder(
-            new DigitalInput(DIOPort),
+            new DigitalInput(absEncoderPort),
             2 * Math.PI,
             absEncoderOffset.getRadians() + mechanismOffset.getRadians());
 
@@ -120,7 +120,7 @@ public void setPosition(Rotation2d rotation, AngularVelocity angularVelocity) {
     closedLoop = true;
     double setpoint =
         MathUtil.inputModulus(
-            rotation.getRadians() - mechanismOffset.getRadians(), minInput, maxInput);
+            rotation.getRadians() - mechanismOffset.getRadians(), 0.0, 2 * Math.PI);
     this.feedforwardVolts =
         RobotConstants.kNominalVoltage
             * angularVelocity.in(RadiansPerSecond)