diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
index 826a7dc..c6eebf2 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
@@ -821,7 +821,7 @@ public class Auto_LT_Far extends LinearOpMode {
             startAuto();
 
             if (stack3){
-                cycleStackFar();
+                //cycleStackFar();
             }
 
             if (gatePickup || stack3){
@@ -878,61 +878,61 @@ public class Auto_LT_Far extends LinearOpMode {
         Actions.runBlocking(leaveFromShoot.build());
     }
 
-    void cycleStackFar(){
-        Actions.runBlocking(
-                new ParallelAction(
-                        pickup3.build(),
-                        manageShooterAuto(
-                                intake3Time,
-                                0.501,
-                                0.501,
-                                0.501,
-                                0.501
-                        ),
-                        intake(intake3Time),
-                        detectObelisk(
-                                intake3Time,
-                                0.501,
-                                0.501,
-                                0.501,
-                                0.501,
-                                obeliskTurrPos3
-                        )
-
-                )
-        );
-
-        motif = turret.getObeliskID();
-
-        if (motif == 0) motif = prevMotif;
-        prevMotif = motif;
-
-        Actions.runBlocking(
-                new ParallelAction(
-                        manageFlywheelAuto(
-                                shoot3Time,
-                                0.501,
-                                0.501,
-                                0.501,
-                                0.501
-                        ),
-                        shoot3.build(),
-                        prepareShootAll(colorSenseTime, shoot3Time, motif)
-                )
-        );
-
-        Actions.runBlocking(
-                new ParallelAction(
-                        manageShooterAuto(
-                                finalShootAllTime,
-                                0.501,
-                                0.501,
-                                0.501,
-                                0.501
-                        ),
-                        shootAllAuto(finalShootAllTime, finalSpindexerSpeedIncrease)
-                )
-
-        );
-    }
+//    void cycleStackFar(){
+//        Actions.runBlocking(
+//                new ParallelAction(
+//                        pickup3.build(),
+//                        manageShooterAuto(
+//                                intake3Time,
+//                                0.501,
+//                                0.501,
+//                                0.501,
+//                                0.501
+//                        ),
+//                        intake(intake3Time),
+//                        detectObelisk(
+//                                intake3Time,
+//                                0.501,
+//                                0.501,
+//                                0.501,
+//                                0.501,
+//                                obeliskTurrPos3
+//                        )
+//
+//                )
+//        );
+//
+//        motif = turret.getObeliskID();
+//
+//        if (motif == 0) motif = prevMotif;
+//        prevMotif = motif;
+//
+//        Actions.runBlocking(
+//                new ParallelAction(
+//                        manageFlywheelAuto(
+//                                shoot3Time,
+//                                0.501,
+//                                0.501,
+//                                0.501,
+//                                0.501
+//                        ),
+//                        shoot3.build(),
+//                        prepareShootAll(colorSenseTime, shoot3Time, motif)
+//                )
+//        );
+//
+//        Actions.runBlocking(
+//                new ParallelAction(
+//                        manageShooterAuto(
+//                                finalShootAllTime,
+//                                0.501,
+//                                0.501,
+//                                0.501,
+//                                0.501
+//                        ),
+//                        shootAllAuto(finalShootAllTime, finalSpindexerSpeedIncrease)
+//                )
+//
+//        );
+//    }
 }
\ No newline at end of file
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
index 798cf86..15770f6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
@@ -118,6 +118,7 @@ public class TeleopV3 extends LinearOpMode {
         if (isStopRequested()) return;
 
         servo.setTransferPos(transferServo_out);
+        robot.transfer.setPower(1);
 
         while (opModeIsActive()) {
 
@@ -141,8 +142,6 @@ public class TeleopV3 extends LinearOpMode {
 
             }
 
-            robot.transfer.setPower(1);
-
             //TURRET TRACKING
 
             double robX = drive.localizer.getPose().position.x;
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 7cbd38a..b5e017f 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
@@ -38,6 +38,8 @@ public class Flywheel {
     }
 
     // Set the robot PIDF for the next cycle.
+    private double prevF = 0.501;
+    public static int voltagePIDFDifference = 5;
     public void setPIDF(double p, double i, double d, double f) {
         shooterPIDF1.p = p;
         shooterPIDF1.i = i;
@@ -47,6 +49,10 @@ public class Flywheel {
         shooterPIDF2.i = i;
         shooterPIDF2.d = d;
         shooterPIDF2.f = f;
+        if (Math.abs(prevF - f) > voltagePIDFDifference){
+            robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+            robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
+        }
     }
 
     // Convert from RPM to Ticks per Second