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 8a2ddf5..798cf86 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
@@ -105,7 +105,6 @@ public class TeleopV3 extends LinearOpMode {
         limelightUsed = true;
 
         robot.light.setPosition(1);
-
         while (opModeInInit()) {
             robot.limelight.start();
             if (redAlliance) {
@@ -265,7 +264,7 @@ public class TeleopV3 extends LinearOpMode {
                         spindexer.prepareShootAllContinous();
                         //TELE.addLine("preparing to shoot");
 //                    } else if (shooterTicker == 2) {
-//                        //robot.transferServo.setPosition(transferServo_in);
+//                        //servo.setTransferPos(transferServo_in);
 //                        spindexer.shootAll();
 //                        TELE.addLine("starting to shoot");
                     } else if (!spindexer.shootAllComplete()) {
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 9a07420..7cbd38a 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
@@ -12,6 +12,7 @@ public class Flywheel {
     public double velo1 = 0.0;
     public double velo2 = 0.0;
     double targetVelocity = 0.0;
+    double previousTargetVelocity = 0.0;
     double powPID = 0.0;
     boolean steady = false;
     public Flywheel (HardwareMap hardwareMap) {
@@ -55,20 +56,21 @@ public class Flywheel {
     private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}
 
     public double manageFlywheel(double commandedVelocity) {
-        // Add code here to set PIDF based on desired RPM
 
-        if (targetVelocity != commandedVelocity){
-            robot.shooter1.setVelocity(RPM_to_TPS(commandedVelocity));
-            robot.shooter2.setVelocity(RPM_to_TPS(commandedVelocity));
+        if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
+            targetVelocity = commandedVelocity;
+            // Add code here to set PIDF based on desired RPM
+            //robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
+            //robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
+            robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
+            robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
+
+            // Record Current Velocity
+            velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
+            velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
+            velo = Math.max(velo1, velo2);
+
         }
-
-        targetVelocity = commandedVelocity;
-
-        // Record Current Velocity
-        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
-        velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
-        velo = Math.max(velo1,velo2);
-
         // really should be a running average of the last 5
         steady = (Math.abs(targetVelocity - velo) < 200.0);
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java
index e150405..c66ff79 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java
@@ -91,4 +91,8 @@ public class Servos {
     public double setTurrPos(double pos) {
         return 1.0;
     }
+
+    public boolean turretEqual(double pos) {
+        return true;
+    }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
index a00b76b..30b5af6 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
@@ -11,6 +11,7 @@ import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.util.ElapsedTime;
 
 import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
 
@@ -38,7 +39,7 @@ public class Turret {
 
     public static double clampTolerance = 0.03;
     //public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
-    public static double B_PID_P = 0.095, B_PID_I = 0.0, B_PID_D = 0.0090;
+    public static double B_PID_P = 0.066, B_PID_I = 0.0, B_PID_D = 0.007;
     Robot robot;
     MultipleTelemetry TELE;
     Limelight3A webcam;
@@ -56,6 +57,9 @@ public class Turret {
     private double permanentOffset = 0.0;
     private PIDController bearingPID;
 
+    private double prevTurretPos = 0.0;
+    private boolean firstTurretPos = true;
+
     public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
         this.TELE = tele;
         this.robot = rob;