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 2848835..865d44e 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
@@ -1,14 +1,11 @@
 package org.firstinspires.ftc.teamcode.utils;
 
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.kP;
-import static org.firstinspires.ftc.teamcode.constants.ShooterVars.maxStep;
-
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.config.Config;
 
+@Config
 public class Flywheel {
-    Robot robot;
-    MultipleTelemetry TELE;
-
+    public static double kP = 0.001;           // small proportional gain (tune this)
+    public static double maxStep = 0.06;         // prevents sudden jumps
     double initPos = 0.0;
     double stamp = 0.0;
     double stamp1 = 0.0;
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 fd781e9..6ba66f8 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
@@ -4,7 +4,9 @@ import static org.firstinspires.ftc.teamcode.variables.HardwareConfig.*;
 
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 import com.qualcomm.robotcore.hardware.Servo;
@@ -30,8 +32,10 @@ public class Robot {
         limelight3A = hardwareMap.get(Limelight3A.class, "limelight");
 
         shooter1 = hardwareMap.get(DcMotorEx.class, "s1");
-
         shooter2 = hardwareMap.get(DcMotorEx.class, "s2");
+        shooter1.setDirection(DcMotorSimple.Direction.REVERSE);
+        shooter1.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        shooter2.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 
         hood = hardwareMap.get(Servo.class, "hood");