From 0c9e8c32877a0001665d158d158492ffaa04f70e Mon Sep 17 00:00:00 2001
From: DanTheMan-byte <danibarrf@gmail.com>
Date: Thu, 8 Jan 2026 21:06:36 -0600
Subject: [PATCH] flywheel test complete - need to tune maxStep and kp once on
 robot

---
 .../java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java | 3 +--
 .../java/org/firstinspires/ftc/teamcode/utils/Flywheel.java    | 2 +-
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
index 0c250f8..a7c1ecd 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
@@ -5,7 +5,6 @@ import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
@@ -43,7 +42,7 @@ public class ShooterTest extends LinearOpMode {
                 rightShooter.setPower(parameter);
                 leftShooter.setPower(parameter);
             } else if (mode == 1) {
-                double powPID = flywheel.manageFlywheel1((int) parameter, leftShooter.getCurrentPosition(), rightShooter.getCurrentPosition());
+                double powPID = flywheel.manageFlywheel((int) parameter, leftShooter.getCurrentPosition(), rightShooter.getCurrentPosition());
                 rightShooter.setPower(powPID);
                 leftShooter.setPower(powPID);
                 TELE.addData("PIDPower", powPID);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
index 277cdff..67cbed1 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
@@ -69,7 +69,7 @@ public class Flywheel {
         return (double) System.currentTimeMillis() / 1000.0;
     }
 
-    public double manageFlywheel1(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
+    public double manageFlywheel(int commandedVelocity, double shooter1CurPos, double shooter2CurPos) {
         targetVelocity = commandedVelocity;
         velo = getVelo(shooter1CurPos, shooter2CurPos);
         // Flywheel PID code here