From 12e5fba9382023507fea18fdc57f6c66789f9bc7 Mon Sep 17 00:00:00 2001
From: DanTheMan-byte <danibarrf@gmail.com>
Date: Wed, 3 Jun 2026 10:18:13 -0500
Subject: [PATCH] fixed issue - two flywheel instances created a conflict

---
 .../firstinspires/ftc/teamcode/tests/NewShooterTest.java   | 2 ++
 .../org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java   | 4 +++-
 .../org/firstinspires/ftc/teamcode/utilsv2/Shooter.java    | 7 +------
 3 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java
index 8286c29..9666aad 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/NewShooterTest.java
@@ -70,6 +70,7 @@ public class NewShooterTest extends LinearOpMode {
             robot.setHoodPos(hoodPos);
             shooter.setTurretPosition(turretPos);
             shooter.setFlywheelVelocity(flywheel);
+            rpmFlywheel.manageFlywheel(shooter.getFlywheelVelocity());
             double voltage = robot.voltage.getVoltage();
             rpmFlywheel.setPIDF(shooterP, shooterI, shooterD, shooterF / voltage);
 
@@ -132,6 +133,7 @@ public class NewShooterTest extends LinearOpMode {
             TELE.addData("Flywheel Velocity2", (robot.shooter2.getVelocity() * 60) / 28);
             TELE.addData("Flywheel Averag Velocity", rpmFlywheel.getAverageVelocity());
             TELE.addData("PIDF Coefficients", Flywheel.shooterPIDF);
+            TELE.addData("Power", rpmFlywheel.getShooterPower());
             TELE.update();
 
             shooter.update();
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java
index 14cdd43..a4dc26e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Flywheel.java
@@ -107,6 +107,7 @@ public class Flywheel {
         averageVelocity = sum / velocityHistory.size();
     }
 
+    double power;
     public void manageFlywheel(double commandedVelocity) {
 
         if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
@@ -114,7 +115,7 @@ public class Flywheel {
         }
 
         robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
-        double power = robot.shooter1.getPower();
+        power = robot.shooter1.getPower();
         robot.shooter2.setPower(power);
 
         velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
@@ -127,4 +128,5 @@ public class Flywheel {
 
         steady = (Math.abs(commandedVelocity - averageVelocity) < 50);
     }
+    public double getShooterPower(){return power;}
 }
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java
index 068aea2..a481195 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilsv2/Shooter.java
@@ -68,7 +68,7 @@ public class Shooter {
     public void setFlywheelVelocity(double input) {
         this.flywheelVelocity = input;
     }
-
+    public double getFlywheelVelocity(){return this.flywheelVelocity;}
     public int getObeliskID() {
         return turr.getObeliskID();
     }
@@ -80,7 +80,6 @@ public class Shooter {
             case NOTHING:
                 break;
             case MANUAL:
-                fly.manageFlywheel(flywheelVelocity);
                 turr.manual(turretPosition);
                 break;
             case TRACK_GOAL:
@@ -104,7 +103,6 @@ public class Shooter {
                         follow.getAcceleration().getYComponent()
                 );
 
-                fly.manageFlywheel(flywheelVelocity);
                 break;
             case READ_OBELISK:
                 turr.trackObelisk(
@@ -122,7 +120,6 @@ public class Shooter {
                         follow.getAcceleration().getYComponent()
                 );
 
-                fly.manageFlywheel(flywheelVelocity);
                 break;
 
             case MANUAL_TURRET_TRACK_FLY:
@@ -136,7 +133,6 @@ public class Shooter {
                         follow.getAcceleration().getYComponent()
                 );
 
-                fly.manageFlywheel(flywheelVelocity);
                 break;
 
             case MANUAL_FLYWHEEL_TRACK_TURR:
@@ -150,7 +146,6 @@ public class Shooter {
                         follow.getVelocity().getYComponent(),
                         follow.getAcceleration().getYComponent()
                 );
-                fly.manageFlywheel(flywheelVelocity);
                 break;
 
         }