diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/flywheelTuning.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/flywheelTuning.java
index 3b43674..a6350e3 100755
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/flywheelTuning.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tuning/flywheelTuning.java
@@ -40,7 +40,7 @@ public class flywheelTuning extends OpMode {
     public static double curTargetVelocity = 0;
     public static double targetPOS = 0;
     public static int pipeline = 1;
-    public static boolean reverse = false;
+    public static boolean reverse = true;
 
     double distance = 0;
 
@@ -51,6 +51,17 @@ public class flywheelTuning extends OpMode {
     double snapshotAutoHood = 0.0;
     double calculatedGain = 0.0;
 
+    public static double P = 5;
+    public static double I = 0;
+    public static double D = 11;
+    public static double F = 14.3;
+
+    private double lastP = P;
+    private double lastI = I;
+    private double lastD = D;
+    private double lastF = F;
+
+
     @Override
     public void init() {
         flywheelMotorR = hardwareMap.get(DcMotorEx.class, Constants.TurretConstants.TURRET_RIGHT_MOTOR);
@@ -61,8 +72,8 @@ public class flywheelTuning extends OpMode {
         flywheelMotorL.setMode(DcMotorEx.RunMode.RUN_USING_ENCODER);
         flywheelMotorL.setDirection(reverse ? DcMotorSimple.Direction.FORWARD : DcMotorSimple.Direction.REVERSE);
 
-        flywheelMotorR.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, new PIDFCoefficients(2, 0, 11, 14.3));
-        flywheelMotorL.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, new PIDFCoefficients(2, 0, 11, 14.3));
+        flywheelMotorR.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, new PIDFCoefficients(P, I, D, F));
+        flywheelMotorL.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, new PIDFCoefficients(P, I, D, F));
         hoodServo = hardwareMap.servo.get("hoodservo");
         hoodServo.setDirection(Servo.Direction.REVERSE);
 
@@ -125,6 +136,17 @@ public class flywheelTuning extends OpMode {
         double autoHoodPos = getHoodPOS(distance);
 
 
+        if (P != lastP || I != lastI || D != lastD || F != lastF) {
+            PIDFCoefficients newCoefficients = new PIDFCoefficients(P, I, D, F);
+            flywheelMotorR.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, newCoefficients);
+            flywheelMotorL.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, newCoefficients);
+
+            lastP = P;
+            lastI = I;
+            lastD = D;
+            lastF = F;
+        }
+
 
         if (autoMode) {
             switch (calibState) {
@@ -188,8 +210,6 @@ public class flywheelTuning extends OpMode {
 
         hoodServo.setPosition(Range.clip(applyHood + recoilOffset, Constants.TurretConstants.SERVO_MIN, Constants.TurretConstants.SERVO_MAX));
 
-
-        // --- TELEMETRY ---
         telemetry.addData("Operating Mode", autoMode ? "AUTOMATIC" : "MANUAL");
         telemetry.addData("Calibration State", calibState.toString());
         telemetry.addLine();