diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6c34c5ff..a2ca30c6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -9,6 +9,7 @@
 
 import java.nio.file.Path;
 import java.util.function.BooleanSupplier;
+import java.util.function.DoubleSupplier;
 
 import static frc.robot.settings.Constants.DriveConstants.*;
 
@@ -67,6 +68,7 @@
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.units.Angle;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.PS4Controller;
 import frc.robot.commands.ManualShoot;
@@ -109,6 +111,7 @@ public class RobotContainer {
   private IndexerSubsystem indexer;
   private SendableChooser<String> climbSpotChooser;
   private SendableChooser<Command> autoChooser;
+  private DoubleSupplier angleSup;
   // Replace with CommandPS4Controller or CommandJoystick if needed
   
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
@@ -226,7 +229,12 @@ private void configureBindings() {
     new Trigger(driverController::getCircleButton).onTrue(new CollectNote(driveTrain, limelight));
     new Trigger(driverController::getTouchpadPressed).onTrue(new InstantCommand(driveTrain::stop, driveTrain));
 
-    if(shooterExists) {new Trigger(operatorController::getCircleButton).onTrue(new ManualShoot(shooter));}
+    if(shooterExists) {
+      new Trigger(operatorController::getCircleButton).onTrue(new ManualShoot(shooter));
+      AngleShooter shooterUpCommand = new AngleShooter(angleShooterSubsystem, () -> Constants.ShooterConstants.shooterup);
+      new Trigger(driverController::getL1Button).onTrue(shooterUpCommand);
+      SmartDashboard.putData("Manual Angle Shooter Up", shooterUpCommand);
+    }
     if(climberExists) {
       new Trigger(operatorController::getCrossButton).onTrue(new AutoClimb(climber)).onFalse(new InstantCommand(()-> climber.climberStop()));
       new Trigger(operatorController::getTriangleButton).onTrue(new InstantCommand(()-> climber.climberGo(ClimberConstants.CLIMBER_SPEED_UP))).onFalse(new InstantCommand(()-> climber.climberStop()));
diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java
index 0cd17b3a..18dc6ddb 100644
--- a/src/main/java/frc/robot/settings/Constants.java
+++ b/src/main/java/frc/robot/settings/Constants.java
@@ -284,6 +284,7 @@ public static final class ShooterConstants{
   public static final double pitchFeedForward = 2491;
   public static final double pitchMaxOutput = 2491;
   public static final double pitchMinOutput = 2491;
+  public static final double shooterup = 2491;
 
 }
 public static final class ClimberConstants{