diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index aa489da..c94b579 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -17,7 +17,9 @@ public class Robot extends TimedRobot
     
     
     @Override
-    public void robotInit() {}
+    public void robotInit() {
+        robotContainer = new RobotContainer();
+    }
     
     
     @Override
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4013790..c558423 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -1,28 +1,22 @@
-// Copyright (c) FIRST and other WPILib contributors.
-
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.subsystems.Shooter.Shooter;
 import frc.robot.subsystems.Transporter.Transporter;
 
-
 public class RobotContainer {
+    public static final Shooter SHOOTER = new Shooter();
     public static final Transporter TRANSPORTER = new Transporter();
 
     public RobotContainer() {
         configureBindings();
     }
 
-
     private void configureBindings() {
     }
 
-
     public Command getAutonomousCommand() {
         return Commands.print("No autonomous command configured");
     }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Shooter/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter/Shooter.java
new file mode 100644
index 0000000..a095573
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Shooter/Shooter.java
@@ -0,0 +1,26 @@
+package frc.robot.subsystems.Shooter;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Shooter extends SubsystemBase {
+    private final TalonSRX
+            rightMotor = ShooterConstants.RIGHT_MOTOR,
+            leftMotor = ShooterConstants.LEFT_MOTOR;
+    private ShooterConstants.ShooterState currentState;
+
+    void stopMotors() {
+        setMotorOutput(0);
+    }
+
+    void setTargetState(ShooterConstants.ShooterState targetState) {
+        currentState = targetState;
+        setMotorOutput(targetState.voltagePercentage);
+    }
+
+    void setMotorOutput(double targetVoltagePercentage) {
+        rightMotor.set(ControlMode.PercentOutput, targetVoltagePercentage);
+        leftMotor.set(ControlMode.PercentOutput, targetVoltagePercentage);
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Shooter/ShooterCommands.java b/src/main/java/frc/robot/subsystems/Shooter/ShooterCommands.java
new file mode 100644
index 0000000..cb116eb
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Shooter/ShooterCommands.java
@@ -0,0 +1,23 @@
+package frc.robot.subsystems.Shooter;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.StartEndCommand;
+import frc.robot.RobotContainer;
+
+public class ShooterCommands {
+    public static Command getSetTargetStateCommand(ShooterConstants.ShooterState targetState) {
+        return new StartEndCommand(
+                () -> RobotContainer.SHOOTER.setTargetState(targetState),
+                RobotContainer.SHOOTER::stopMotors,
+                RobotContainer.SHOOTER
+        );
+    }
+
+    private static Command getSetMotorOutputCommand(double targetVoltagePercentage) {
+        return new StartEndCommand(
+                () -> RobotContainer.SHOOTER.setMotorOutput(targetVoltagePercentage),
+                RobotContainer.SHOOTER::stopMotors,
+                RobotContainer.SHOOTER
+        );
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Shooter/ShooterConstants.java b/src/main/java/frc/robot/subsystems/Shooter/ShooterConstants.java
new file mode 100644
index 0000000..c9c0b00
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Shooter/ShooterConstants.java
@@ -0,0 +1,56 @@
+package frc.robot.subsystems.Shooter;
+
+import com.ctre.phoenix.motorcontrol.InvertType;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+public class ShooterConstants {
+    private static final int
+            RIGHT_MOTOR_ID = 6,
+            LEFT_MOTOR_ID = 7;
+    static final WPI_TalonSRX
+            RIGHT_MOTOR = new WPI_TalonSRX(RIGHT_MOTOR_ID),
+            LEFT_MOTOR = new WPI_TalonSRX(LEFT_MOTOR_ID);
+
+    private static final InvertType RIGHT_MOTOR_INVERTED_VALUE = InvertType.None;
+    private static final InvertType LEFT_MOTOR_INVERTED_VALUE = InvertType.InvertMotorOutput;
+    private static final NeutralMode NEUTRAL_MODE = NeutralMode.Coast;
+    private static final double VOLTAGE_COMPENSATION_SATURATION = 12;
+
+    static {
+        configureRightMotor();
+        configureLeftMotor();
+    }
+
+    private static final void configureRightMotor() {
+        RIGHT_MOTOR.configFactoryDefault();
+
+        RIGHT_MOTOR.setInverted(RIGHT_MOTOR_INVERTED_VALUE);
+        RIGHT_MOTOR.setNeutralMode(NEUTRAL_MODE);
+
+        RIGHT_MOTOR.enableVoltageCompensation(true);
+        RIGHT_MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_SATURATION);
+    }
+
+    private static final void configureLeftMotor() {
+        LEFT_MOTOR.configFactoryDefault();
+
+        LEFT_MOTOR.setInverted(LEFT_MOTOR_INVERTED_VALUE);
+        LEFT_MOTOR.setNeutralMode(NEUTRAL_MODE);
+
+        LEFT_MOTOR.enableVoltageCompensation(true);
+        LEFT_MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_SATURATION);
+    }
+
+    public enum ShooterState {
+        SHOOT(1),
+        EJECT(0.3),
+        STOP(0);
+
+        final double voltagePercentage;
+
+        ShooterState(double voltagePercentage) {
+            this.voltagePercentage = voltagePercentage;
+        }
+    }
+}
\ No newline at end of file