From 3a86b1a511ebbed2d97a8f33092e22599d675d24 Mon Sep 17 00:00:00 2001
From: Cindy Zhang <cindyzyx9@gmail.com>
Date: Thu, 9 Feb 2017 20:05:48 -0800
Subject: [PATCH] add second motor controller for shooter

---
 src/org/usfirst/frc/team3501/robot/Constants.java     |  3 ++-
 .../frc/team3501/robot/subsystems/Shooter.java        | 11 +++++++----
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 671de15..13e8b27 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -27,7 +27,8 @@ public class Constants {
 
   public static class Shooter {
     // MOTOR CONTROLLERS
-    public static final int FLY_WHEEL = 0;
+    public static final int FLY_WHEEL1 = 0;
+    public static final int FLY_WHEEL2 = 0;
     public static final int INDEX_WHEEL = 0;
     public final static int TOGGLE_WINCH_PORT = 0;
 
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index d786d22..0c58ba3 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -11,7 +11,7 @@ public class Shooter extends Subsystem {
   public double wheelP = 0, wheelI = 0, wheelD = -0;
   private static Shooter shooter;
   private static HallEffectSensor hallEffect;
-  private final CANTalon flyWheel, indexWheel;
+  private final CANTalon flyWheel1, flyWheel2, indexWheel;
 
   public static final double DEFAULT_INDEXING_SPEED = 0;
   public static final double DEFAULT_SHOOTING_SPEED = 0;
@@ -20,7 +20,8 @@ public class Shooter extends Subsystem {
   public static final double SHOOTING_SPEED_INCREMENT = 0;
 
   private Shooter() {
-    flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL);
+    flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
+    flyWheel2 = new CANTalon(Constants.Shooter.FLY_WHEEL2);
     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
 
     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
@@ -49,14 +50,16 @@ public class Shooter extends Subsystem {
    *          motor value from -1 to 1(fastest forward)
    */
   public void setFlyWheelMotorVal(final double val) {
-    flyWheel.set(val);
+    flyWheel1.set(val);
+    flyWheel2.set(val);
   }
 
   /**
    * Stops fly wheel motor.
    */
   public void stopFlyWheel() {
-    flyWheel.set(0);
+    flyWheel1.set(0);
+    flyWheel2.set(0);
   }
 
   /**
-- 
2.30.2