diff --git a/src/main/java/frc/robot/subsystems/shooterrollers/ShooterRollers.java b/src/main/java/frc/robot/subsystems/shooterrollers/ShooterRollers.java
index 30a33b2..8e31597 100644
--- a/src/main/java/frc/robot/subsystems/shooterrollers/ShooterRollers.java
+++ b/src/main/java/frc/robot/subsystems/shooterrollers/ShooterRollers.java
@@ -6,6 +6,7 @@
 import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.controls.CoastOut;
+import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.controls.Follower;
 import com.ctre.phoenix6.controls.VelocityVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
@@ -82,17 +83,7 @@ public ShooterRollers() {
    * the build team
    */
   public Command shoot(AngularVelocity targetVelocity) {
-
-    return startEnd(
-        () -> {
-          // defines a local function to set motor voltage to make it go
-          shooterRollerMotor1.setControl(
-              new VelocityVoltage(targetVelocity.in(RotationsPerSecond)));
-        },
-        () -> {
-          // defines a local function to stop motor
-          shooterRollerMotor1.setControl(new CoastOut());
-        });
+    return shoot(() -> targetVelocity);
   }
 
   /**
@@ -105,12 +96,15 @@ public Command shoot(AngularVelocity targetVelocity) {
    *     coasts the motor on end
    */
   public Command shoot(Supplier<AngularVelocity> targetVelocity) {
-
     return runEnd(
         () -> {
-          // defines a local function to set motor voltage to make it go
-          shooterRollerMotor1.setControl(
-              new VelocityVoltage(targetVelocity.get().in(RotationsPerSecond)));
+          if (getAngularVelocity().plus(ShooterRollersConstants.BANG_BANG_TOLERANCE).lt(targetVelocity.get())) {
+            shooterRollerMotor1.setControl(new DutyCycleOut(1));
+          } else {
+            // defines a local function to set motor voltage to make it go
+            shooterRollerMotor1.setControl(
+                new VelocityVoltage(targetVelocity.get().in(RotationsPerSecond)));
+          }
         },
         () -> {
           // defines a local function to stop motor
diff --git a/src/main/java/frc/robot/subsystems/shooterrollers/ShooterRollersConstants.java b/src/main/java/frc/robot/subsystems/shooterrollers/ShooterRollersConstants.java
index c9e1dca..69f4df5 100644
--- a/src/main/java/frc/robot/subsystems/shooterrollers/ShooterRollersConstants.java
+++ b/src/main/java/frc/robot/subsystems/shooterrollers/ShooterRollersConstants.java
@@ -24,6 +24,7 @@ public final class ShooterRollersConstants {
   public static final String CANBUS_NAME = "subsystems";
   public static final MomentOfInertia MOMENT_OF_INERTIA = KilogramSquareMeters.of(0.003072714);
   public static final AngularVelocity FIXED_FLYWHEEL_VELOCITY = RotationsPerSecond.of(24.25);
+  public static final AngularVelocity BANG_BANG_TOLERANCE = RotationsPerSecond.of(4);
   public static final TalonFXConfiguration MOTOR_CONFIGURATION =
       new TalonFXConfiguration()
           .withFeedback(new FeedbackConfigs())