diff --git a/src/main/java/frc/robot/subsystems/launcher/Launcher.java b/src/main/java/frc/robot/subsystems/launcher/Launcher.java
index 758d478..b339d7a 100644
--- a/src/main/java/frc/robot/subsystems/launcher/Launcher.java
+++ b/src/main/java/frc/robot/subsystems/launcher/Launcher.java
@@ -89,7 +89,7 @@ public Launcher(
     flywheelDisconnectedAlert = new Alert("Disconnected flywheel motor", AlertType.kError);
     hoodDisconnectedAlert = new Alert("Disconnected hood motor", AlertType.kError);
 
-    headingController.setTolerance(margin.in(Radians));
+    headingController.setTolerance(marginRad);
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java b/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java
index b718146..7fb9e4d 100644
--- a/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java
+++ b/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java
@@ -8,6 +8,7 @@
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.Distance;
@@ -79,8 +80,9 @@ public static final class TurretConstants {
         new Transform3d(Inches.of(-2.271), Inches.of(-4.959), Inches.of(16.331), Rotation3d.kZero);
     public static final Rotation2d absEncoderOffset = new Rotation2d(5.157);
     public static final Rotation2d mechanismOffset = Rotation2d.kZero;
-    public static final Angle rangeOfMotion = Degrees.of(180);
-    public static final Angle margin = Degrees.of(5);
+    public static final double upperLimitRad = Units.degreesToRadians(270);
+    public static final double lowerLimitRad = Units.degreesToRadians(45);
+    public static final double marginRad = Units.degreesToRadians(5);
 
     // Position controller
     public static final double kPReal = 0.5;
diff --git a/src/main/java/frc/robot/subsystems/launcher/TurretIOSimSpark.java b/src/main/java/frc/robot/subsystems/launcher/TurretIOSimSpark.java
index 239f2da..2343663 100644
--- a/src/main/java/frc/robot/subsystems/launcher/TurretIOSimSpark.java
+++ b/src/main/java/frc/robot/subsystems/launcher/TurretIOSimSpark.java
@@ -55,9 +55,9 @@ public TurretIOSimSpark() {
 
     turnConfig
         .softLimit
-        .forwardSoftLimit(Math.PI + rangeOfMotion.div(2).in(Radians))
+        .forwardSoftLimit(upperLimitRad)
         .forwardSoftLimitEnabled(true)
-        .reverseSoftLimit(Math.PI - rangeOfMotion.div(2).in(Radians))
+        .reverseSoftLimit(lowerLimitRad)
         .reverseSoftLimitEnabled(true);
 
     turnConfig
@@ -114,16 +114,9 @@ public void setPosition(Rotation2d rotation, AngularVelocity angularVelocity) {
     double setpoint =
         MathUtil.inputModulus(
             rotation.getRadians() - mechanismOffset.getRadians(), 0.0, 2.0 * Math.PI);
-    double clampedSetpoint =
-        MathUtil.clamp(
-            setpoint,
-            Math.PI - rangeOfMotion.div(2).in(Radians),
-            Math.PI + rangeOfMotion.div(2).in(Radians));
+    double clampedSetpoint = MathUtil.clamp(setpoint, lowerLimitRad, upperLimitRad);
     double clampedSetpointWithMargin =
-        MathUtil.clamp(
-            setpoint,
-            Math.PI - rangeOfMotion.div(2).in(Radians) + margin.in(Radians),
-            Math.PI + rangeOfMotion.div(2).in(Radians) - margin.in(Radians));
+        MathUtil.clamp(setpoint, lowerLimitRad + marginRad, upperLimitRad - marginRad);
     oversaturation = setpoint - clampedSetpoint;
     oversaturationLessMargin = setpoint - clampedSetpointWithMargin;
     double feedforwardVolts =
diff --git a/src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java b/src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java
index 4ff675c..7b14f37 100644
--- a/src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java
+++ b/src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java
@@ -71,9 +71,9 @@ public TurretIOSpark() {
 
     turnConfig
         .softLimit
-        .forwardSoftLimit(Math.PI + rangeOfMotion.div(2).in(Radians))
+        .forwardSoftLimit(upperLimitRad)
         .forwardSoftLimitEnabled(true)
-        .reverseSoftLimit(Math.PI - rangeOfMotion.div(2).in(Radians))
+        .reverseSoftLimit(lowerLimitRad)
         .reverseSoftLimitEnabled(true);
 
     turnConfig
@@ -131,16 +131,9 @@ public void setPosition(Rotation2d rotation, AngularVelocity angularVelocity) {
     double setpoint =
         MathUtil.inputModulus(
             rotation.getRadians() - mechanismOffset.getRadians(), 0.0, 2 * Math.PI);
-    double clampedSetpoint =
-        MathUtil.clamp(
-            setpoint,
-            Math.PI - rangeOfMotion.div(2).in(Radians),
-            Math.PI + rangeOfMotion.div(2).in(Radians));
+    double clampedSetpoint = MathUtil.clamp(setpoint, lowerLimitRad, upperLimitRad);
     double clampedSetpointWithMargin =
-        MathUtil.clamp(
-            setpoint,
-            Math.PI - rangeOfMotion.div(2).in(Radians) + margin.in(Radians),
-            Math.PI + rangeOfMotion.div(2).in(Radians) - margin.in(Radians));
+        MathUtil.clamp(setpoint, lowerLimitRad + marginRad, upperLimitRad - marginRad);
     oversaturation = setpoint - clampedSetpoint;
     oversaturationLessMargin = setpoint - clampedSetpointWithMargin;
     double feedforwardVolts =