diff --git a/Robot2024/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java b/Robot2024/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
index d0bc6f6..c2afd37 100644
--- a/Robot2024/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
+++ b/Robot2024/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
@@ -127,8 +127,6 @@ public void set(ControlMode controlMode, double demand, double feedForward) {
 			case MOTION_MAGIC:
 				demand = Units2813.motorRevsToTicks(demand, 2048);
 				break;
-			case DUTY_CYCLE:
-				break;
 			default:
 				break;
 		}
diff --git a/Robot2024/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java b/Robot2024/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
index 413e880..953e6b8 100644
--- a/Robot2024/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
+++ b/Robot2024/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
@@ -40,8 +40,8 @@ public static class MotorSubsystemConfiguration {
 		 * The default starting position if one is not defined
 		 */
 		public static final double DEFAULT_STARTING_POSITION = 0.0;
-		private Motor motor;
-		private Encoder encoder;
+		protected Motor motor;
+		protected Encoder encoder;
 		private PIDController controller;
 		private double acceptableError;
 		private double startingPosition;
diff --git a/Robot2024/src/main/java/com/team2813/Constants.java b/Robot2024/src/main/java/com/team2813/Constants.java
index 1785760..3bde732 100644
--- a/Robot2024/src/main/java/com/team2813/Constants.java
+++ b/Robot2024/src/main/java/com/team2813/Constants.java
@@ -51,7 +51,8 @@ public static class DriverConstants {
     //Mechanism CAN IDs
     public static final int INTAKE = 14;
     public static final int KICKER = 15;
-    public static final int SHOOTER = 16;
+    public static final int SHOOTER_1 = 16;
+	public static final int SHOOTER_2 = -1;
     public static final int SHOOTER_PIVOT= 17;
     public static final int SHOOTER_ENCODER = 18;
     public static final int CLIMBER = 19;
diff --git a/Robot2024/src/main/java/com/team2813/subsystems/Shooter.java b/Robot2024/src/main/java/com/team2813/subsystems/Shooter.java
index 7a03198..1678fc8 100644
--- a/Robot2024/src/main/java/com/team2813/subsystems/Shooter.java
+++ b/Robot2024/src/main/java/com/team2813/subsystems/Shooter.java
@@ -1,15 +1,24 @@
 package com.team2813.subsystems;
 
+import com.team2813.lib2813.control.Motor;
 import com.team2813.lib2813.control.motors.TalonFXWrapper;
 import com.team2813.lib2813.subsystems.MotorSubsystem;
 import static com.team2813.Constants.*;
 
+import com.ctre.phoenix.motorcontrol.FollowerType;
 import com.ctre.phoenix.motorcontrol.TalonFXInvertType;
 
 public class Shooter extends MotorSubsystem<Shooter.Angle> {
+	Motor shooterMotor;
 	public Shooter() {
 		// TODO: fix invert type
-		super(new MotorSubsystemConfiguration(new TalonFXWrapper(0, TalonFXInvertType.Clockwise)));
+		super(new MotorSubsystemConfiguration(
+			new TalonFXWrapper(SHOOTER_PIVOT, TalonFXInvertType.Clockwise),
+			null //TODO: write encoder class (embarassing wow)
+			));
+		TalonFXWrapper m = new TalonFXWrapper(SHOOTER_1, TalonFXInvertType.Clockwise);
+		m.addFollower(SHOOTER_2, TalonFXInvertType.OpposeMaster);
+		shooterMotor = m;
 	}
 	public static enum Angle implements MotorSubsystem.Position {
 		TEST(0.0);