diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
index f60b56a9..b2954da8 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
@@ -46,7 +46,6 @@ public ShooterSubsystem(ShooterIO io) {
                 Units.rotationsPerMinuteToRadiansPerSecond(ShooterConstants.maxVelocityInRPMs),
                 Units.rotationsPerMinuteToRadiansPerSecond(
                     ShooterConstants.maxAccelerationInRPMsSquared))));
-    setGoal(0);
 
     this.io = io;
     useSoftwarePidVelocityControl = !io.supportsHardwarePid();
@@ -103,25 +102,21 @@ public double getMeasurement() {
   @Override
   // Sets the voltage to volts. the volts value is -12 to 12
   public void runVoltage(double volts) {
-    if (targetVoltage != volts) {
-      targetVoltage = volts;
-      targetVelocityRadPerSec = 0;
-      this.targetVelocityRPM = ShooterConstants.maxVelocityInRPMs * (volts / 12.0);
-      disable(); // disable PID control
-      io.setVoltage(targetVoltage);
-    }
+    targetVoltage = volts;
+    targetVelocityRadPerSec = 0;
+    this.targetVelocityRPM = ShooterConstants.maxVelocityInRPMs * (volts / 12.0);
+    disable(); // disable PID control
+    io.setVoltage(targetVoltage);
   }
 
   @Override
   public void runVelocity(double velocityRPM) {
     velocityRPM = MathUtil.clamp(velocityRPM, 0, ShooterConstants.maxVelocityInRPMs);
-    if (this.targetVelocityRPM != velocityRPM) {
-      targetVoltage = -1;
-      this.targetVelocityRPM = velocityRPM;
-      targetVelocityRadPerSec = Units.rotationsPerMinuteToRadiansPerSecond(velocityRPM);
-      setGoal(targetVelocityRadPerSec);
-      enable();
-    }
+    targetVoltage = -1;
+    this.targetVelocityRPM = velocityRPM;
+    targetVelocityRadPerSec = Units.rotationsPerMinuteToRadiansPerSecond(velocityRPM);
+    setGoal(targetVelocityRadPerSec);
+    enable();
   }
 
   @Override