From d8cf5948282cccb1e5a5f143fbec7dc541cf5b4c Mon Sep 17 00:00:00 2001
From: Keshav Anand <keshavanand.dev@gmail.com>
Date: Wed, 3 Jun 2026 14:08:49 -0500
Subject: [PATCH] Fix some intrinsic bugs, refactor constructor in shooter

---
 .../ftc/teamcode/teleop/TeleopV4.java           |  8 +++++++-
 .../ftc/teamcode/tests/NewShooterTest.java      | 15 ++++++++++++---
 .../ftc/teamcode/utilsv2/Shooter.java           | 17 +++++++++--------
 3 files changed, 28 insertions(+), 12 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
index a061c24..2e604b3 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV4.java
@@ -25,6 +25,8 @@ public class TeleopV4 extends LinearOpMode {
     MultipleTelemetry TELE;
     Follower follower;
     SpindexerTransferIntake spindexerTransferIntake;
+    Turret turret;
+    Flywheel flywheel;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -40,7 +42,11 @@ public class TeleopV4 extends LinearOpMode {
         Pose start = new Pose(teleStartPoseX, teleStartPoseY, Math.toRadians(teleStartPoseH));
         follower.setStartingPose(start);
 
-        shooter = new Shooter(robot, TELE, follower, Color.redAlliance);
+        flywheel = new Flywheel(robot);
+        turret = new Turret(robot);
+
+
+        shooter = new Shooter(robot, TELE, follower, Color.redAlliance, turret, flywheel);
         shooter.setState(Shooter.ShooterState.TRACK_GOAL);
         spindexerTransferIntake = new SpindexerTransferIntake(robot, TELE);
         spindexerTransferIntake.setSpindexerMode(SpindexerTransferIntake.SpindexerMode.RAPID);
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 fafc88c..3ab756f 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
@@ -8,14 +8,18 @@ import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.constants.ServoPositions;
 import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.firstinspires.ftc.teamcode.utilsv2.Flywheel;
 import org.firstinspires.ftc.teamcode.utilsv2.Robot;
 import org.firstinspires.ftc.teamcode.utilsv2.Shooter;
+import org.firstinspires.ftc.teamcode.utilsv2.Turret;
 
 @Config
 @TeleOp
 public class NewShooterTest extends LinearOpMode {
 
     Robot robot;
+    Flywheel flywheel;
+    Turret turret;
 
     public static boolean intake = true;
     public static boolean shoot = false;
@@ -24,7 +28,7 @@ public class NewShooterTest extends LinearOpMode {
     public static double transferIntakePower = -1.0;
     public static double turretPos = 0.51;
     public static double hoodPos = 0.51;
-    public static double flywheel = 0;
+    public static double flywheel_velo = 0;
 
     private enum ShootState {
         IDLE,
@@ -42,6 +46,9 @@ public class NewShooterTest extends LinearOpMode {
 
         robot = Robot.getInstance(hardwareMap);
 
+        flywheel = new Flywheel(robot);
+        turret = new Turret(robot);
+
         Shooter shooter = new Shooter(
                 robot,
                 new MultipleTelemetry(
@@ -49,7 +56,9 @@ public class NewShooterTest extends LinearOpMode {
                         FtcDashboard.getInstance().getTelemetry()
                 ),
                 Constants.createFollower(hardwareMap),
-                true
+                true,
+                turret,
+                flywheel
         );
 
         shooter.setState(Shooter.ShooterState.MANUAL);
@@ -62,7 +71,7 @@ public class NewShooterTest extends LinearOpMode {
 
             robot.setHoodPos(hoodPos);
             shooter.setTurretPosition(turretPos);
-            shooter.setFlywheelVelocity(flywheel);
+            shooter.setFlywheelVelocity(flywheel_velo);
             robot.setSpinPos(ServoPositions.spindexer_A2);
 
             if (intake && !shoot) {
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..3e4c735 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
@@ -21,16 +21,21 @@ public class Shooter {
 
     Follower follow;
 
-    public Shooter(Robot rob, MultipleTelemetry TELE, Follower follower, boolean redAlliance) {
+    public Shooter(Robot rob, MultipleTelemetry TELE, Follower follower, boolean redAlliance, Turret turret, Flywheel flywheel) {
         this.robot = rob;
-        this.fly = new Flywheel(rob);
-        this.turr = new Turret(rob);
+        this.fly = flywheel;
+        this.turr = turret;
         this.follow = follower;
         this.commander = new VelocityCommander();
 
         setRedAlliance(redAlliance);
 
-        if (redAlliance) {
+    }
+
+    public void setRedAlliance(boolean input) {
+        this.red = input;
+
+        if (this.red) {
             goalX = 144;
         } else {
             goalX = 0;
@@ -38,10 +43,6 @@ public class Shooter {
         goalY = 144;
     }
 
-    public void setRedAlliance(boolean input) {
-        this.red = input;
-    }
-
     private double flywheelVelocity = 0.0;
     private double turretPosition = 0.5;