diff --git a/src/main/java/frc/robot/CanID.java b/src/main/java/frc/robot/CanID.java
index 7896199..ad9a61a 100644
--- a/src/main/java/frc/robot/CanID.java
+++ b/src/main/java/frc/robot/CanID.java
@@ -14,8 +14,9 @@ public enum CanID {
 
     INTAKE_MOTOR(9),
     INTAKE_DEPLOY_MOTOR(11),
-
-    ;
+  
+    TURRET_PINION_CANCODER(12),
+    TURRET_FOLLOWER_CANCODER(14);
 
     private final int deviceID;
 
diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java
index 9aab639..02b995e 100644
--- a/src/main/java/frc/robot/generated/TunerConstants.java
+++ b/src/main/java/frc/robot/generated/TunerConstants.java
@@ -267,10 +267,10 @@ public TunerSwerveDrivetrain(
          *                                  unspecified or set to 0 Hz, this is 250 Hz on
          *                                  CAN FD, and 100 Hz on CAN 2.0.
          * @param odometryStandardDeviation The standard deviation for odometry calculation
-         *                                  in the form [x, y, theta]ᵀ, with units in meters
+         *                                  in the form [x, y, theta], with units in meters
          *                                  and radians
          * @param visionStandardDeviation   The standard deviation for vision calculation
-         *                                  in the form [x, y, theta]ᵀ, with units in meters
+         *                                  in the form [x, y, theta], with units in meters
          *                                  and radians
          * @param modules                   Constants for each specific module
          */
diff --git a/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.java
index 35641ee..4e774aa 100644
--- a/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.java
@@ -189,10 +189,10 @@ public CommandSwerveDrivetrain(
      *                                  unspecified or set to 0 Hz, this is 250 Hz on
      *                                  CAN FD, and 100 Hz on CAN 2.0.
      * @param odometryStandardDeviation The standard deviation for odometry calculation
-     *                                  in the form [x, y, theta]ᵀ, with units in meters
+     *                                  in the form [x, y, theta], with units in meters
      *                                  and radians
      * @param visionStandardDeviation   The standard deviation for vision calculation
-     *                                  in the form [x, y, theta]ᵀ, with units in meters
+     *                                  in the form [x, y, theta], with units in meters
      *                                  and radians
      * @param modules                   Constants for each specific module
      */
@@ -306,7 +306,7 @@ public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampS
      * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
      * @param timestampSeconds The timestamp of the vision measurement in seconds.
      * @param visionMeasurementStdDevs Standard deviations of the vision pose measurement
-     *     in the form [x, y, theta]ᵀ, with units in meters and radians.
+     *     in the form [x, y, theta], with units in meters and radians.
      */
     @Override
     public void addVisionMeasurement(
diff --git a/src/main/java/frc/robot/subsystems/turret/calc/TurretMath.java b/src/main/java/frc/robot/subsystems/turret/calc/TurretMath.java
index dbd66e8..ab3d431 100644
--- a/src/main/java/frc/robot/subsystems/turret/calc/TurretMath.java
+++ b/src/main/java/frc/robot/subsystems/turret/calc/TurretMath.java
@@ -6,10 +6,10 @@
  *
  * Hardware setup (example):
  * - Turret gear: 140 teeth
- * - Encoder A: e.g. 13-tooth gear driving an absolute encoder (reads 0–1 rev)
- * - Encoder B: e.g. 11-tooth gear driving an absolute encoder (reads 0–1 rev)
+ * - Encoder A: e.g. 13-tooth gear driving an absolute encoder (reads 0-1 rev)
+ * - Encoder B: e.g. 11-tooth gear driving an absolute encoder (reads 0-1 rev)
  *
- * The combination gives unique positions over (encoderA_teeth × encoderB_teeth) teeth.
+ * The combination gives unique positions over (encoderA_teeth x encoderB_teeth) teeth.
  * Beyond that range, continuity tracking (unwrapping) is used.
  */
 public class TurretMath {
@@ -20,8 +20,8 @@ public class TurretMath {
     private static final double ENCODER_B_TEETH           = 11.0;
 
     // Derived encoder combination values
-    private static final double ENCODER_COMBINED_TEETH    = ENCODER_A_TEETH * ENCODER_B_TEETH; // 143 (example)
-    private static final double ENCODER_COMBINED_PERIOD_REV = ENCODER_COMBINED_TEETH / TURRET_GEAR_TEETH;    // ≈1.0214 (example)
+    private static final double ENCODER_COMBINED_TEETH    = ENCODER_A_TEETH * ENCODER_B_TEETH;
+    private static final double ENCODER_COMBINED_PERIOD_REV = ENCODER_COMBINED_TEETH / TURRET_GEAR_TEETH;  
     private static final double HALF_ENCODER_COMBINED_PERIOD_REV = ENCODER_COMBINED_PERIOD_REV / 2.0;
 
     private static final double NORMALIZED_REV = 1.0;                // encoder reading range (0..1)
@@ -140,7 +140,7 @@ public static double toDegreesWrapped(double turretRevs) {
     }
 
     /**
-     * Convert turret revolutions to radians, wrapped to [0, 2π).
+     * Convert turret revolutions to radians, wrapped to [0, 2pi).
      */
     public static double toRadiansWrapped(double turretRevs) {
         return mod(turretRevs, NORMALIZED_REV) * RAD_PER_REV;