@Abhiram pls fix this

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Blue_V2.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Red_V2.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/PositionalServoProgrammer.java

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/PIDServoTest.java

@@ -6,8 +6,6 @@ import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.CRServo;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 
 import org.firstinspires.ftc.teamcode.utils.Robot;
 
@@ -71,4 +69,5 @@ public class PIDServoTest extends LinearOpMode {
         }
 
     }
+
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/FlywheelV2.java

@@ -73,12 +73,18 @@ public class FlywheelV2 {
         targetVelocity = commandedVelocity;
         velo = getVelo(shooter1CurPos, shooter2CurPos);
         // Flywheel PID code here
-        if (targetVelocity - velo > 500) {
+        if (targetVelocity - velo > 4500) {
             powPID = 1.0;
-        } else if (velo - targetVelocity > 500) {
+        } else if (velo - targetVelocity > 4500) {
             powPID = 0.0;
         } else {
-            double feed = Math.log((668.39 / (targetVelocity + 591.96)) - 0.116) / -4.18;
+
+            double a = 2539.07863;
+            double c = 1967.6498;
+            double d = -0.289647;
+            double h = -1.1569;
+
+            double feed = Math.log((a / (targetVelocity + c)) + d) / h;
 
             // --- PROPORTIONAL CORRECTION ---
             double error = targetVelocity - velo;
@@ -88,7 +94,7 @@ public class FlywheelV2 {
             correction = Math.max(-maxStep, Math.min(maxStep, correction));
 
             // --- FINAL MOTOR POWER ---
-            powPID = feed + correction;
+            powPID = feed;
 
             // clamp to allowed range
             powPID = Math.max(0, Math.min(1, powPID));

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java

@@ -14,7 +14,7 @@ public class Servos {
 
     //PID constants
     // TODO: get PIDF constants
-    public static double spinP = 3.4, spinI = 0, spinD = 0.075, spinF = 0.02;
+    public static double spinP = 3.3, spinI = 0, spinD = 0.1, spinF = 0.02;
     public static double turrP = 4.0, turrI = 0.0, turrD = 0.0, turrF = 0.0;
 
     public static double spin_scalar = 1.0086;