diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
index 3249a1b..cce05c4 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
@@ -17,7 +17,7 @@ public class ServoPositions {
 
     public static double transferServo_in = 0.4;
 
-    public static double hoodDefault = 0.46;
+    public static double hoodDefault = 0.38;
 
 
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java
index cb5a03e..7bb38ee 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java
@@ -20,6 +20,8 @@ import java.util.Objects;
 public class Shooter implements Subsystem {
     private final DcMotorEx fly1;
     private final DcMotorEx fly2;
+
+    private final DcMotorEx encoder;
     private final Servo hoodServo;
 
     private final Servo turret1;
@@ -76,6 +78,8 @@ public class Shooter implements Subsystem {
 
         this.turret2 = robot.turr2;
 
+        this.encoder = robot.shooterEncoder;
+
 
 
 
@@ -266,6 +270,8 @@ public class Shooter implements Subsystem {
     }
 
 
+
+
     public void setTelemetryOn(boolean state){telemetryOn = state;}
 
     public void moveTurret(double pos){
@@ -290,9 +296,16 @@ public class Shooter implements Subsystem {
             fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
             fly2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 
+            fly1.setVelocity(velocity);
+
+            fly2.setPower(fly1.getPower());
+
+
+
+
+
+
 
-            fly1.setVelocity(velocity, AngleUnit.DEGREES);
-            fly2.setVelocity(velocity, AngleUnit.DEGREES);
         }
 
         else if (Objects.equals(shooterMode, "POS")){
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java
index 1f0828d..27f3af5 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV1.java
@@ -13,6 +13,7 @@ import com.arcrobotics.ftclib.gamepad.ToggleButtonReader;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 import org.firstinspires.ftc.teamcode.subsystems.Drivetrain;
 import org.firstinspires.ftc.teamcode.subsystems.Intake;
@@ -97,7 +98,7 @@ public class TeleopV1 extends LinearOpMode {
 
     MecanumDrive drive ;
 
-    public boolean autotrack = true;
+    public boolean autotrack = false;
 
     public int last = 0;
     public int second = 0;
@@ -260,6 +261,8 @@ public class TeleopV1 extends LinearOpMode {
             }
 
 
+
+
             intake();
 
             drivetrain.update();
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 5c6055e..0887ace 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
@@ -6,6 +6,7 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 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.PIDFCoefficients;
 
 import org.firstinspires.ftc.teamcode.utils.Robot;
@@ -86,6 +87,7 @@ public class ShooterTest extends LinearOpMode {
             TELE.update();
 
 
+
         }
 
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
index 19a779e..cbae6f0 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
@@ -66,6 +66,8 @@ public class Robot {
 
     public WebcamName webcam;
 
+    public DcMotorEx shooterEncoder;
+
 
 
 
@@ -146,5 +148,7 @@ public class Robot {
 
 
 
+
+
     }
 }