Added New Ramp Motor.

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Constants.java

@@ -10,7 +10,8 @@ public static class Drivetrain {
 
     public static class Shooter {
         public static final String shooterMotorName = "shooterMotor";
-        public static final String rampMotorName = "rampMotor";
+        public static final String rampMotorOneName = "rampMotorOne";
+        public static final String rampMotorTwoName = "rampMotorTwo";
         public static final double shooterSpeed = 1;
         public static final double rampSpeed = 0.5;
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/BackupOpMode.java

@@ -34,7 +34,7 @@ public void initialize() {
         drivetrain.setDefaultCommand(new UserDrive(drivetrain, driverOp));
         register(drivetrain);
 
-        shooter = new Shooter(hardwareMap, Constants.Shooter.shooterMotorName, Constants.Shooter.rampMotorName);
+        shooter = new Shooter(hardwareMap, Constants.Shooter.shooterMotorName, Constants.Shooter.rampMotorOneName, Constants.Shooter.rampMotorTwoName);
         register(shooter);
         coOp.getGamepadButton(GamepadKeys.Button.A).whileHeld(
                 new RunShooter(shooter, Constants.Shooter.shooterSpeed, Constants.Shooter.rampSpeed));

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/PrimaryOpMode.java

@@ -36,7 +36,7 @@ public void initialize() {
         );
         drivetrain.setDefaultCommand(new UserDrive(drivetrain, driverOp));
         register(drivetrain);
-        shooter = new Shooter(hardwareMap, Constants.Shooter.shooterMotorName, Constants.Shooter.rampMotorName);
+        shooter = new Shooter(hardwareMap, Constants.Shooter.shooterMotorName, Constants.Shooter.rampMotorOneName, Constants.Shooter.rampMotorTwoName);
         register(shooter);
         intake = new Intake(hardwareMap, Constants.Intake.intakeMotorName);
         register(intake);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/commands/RunShooter.java

@@ -17,7 +17,7 @@ public RunShooter(Shooter _subsystem, double _shooterSpeed, double _rampSpeed) {
 
     @Override
     public void initialize() {
-        subsystem.run(shooterSpeed, rampSpeed);
+        subsystem.runBase(shooterSpeed, rampSpeed);
     }
 
     @Override

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java

@@ -5,25 +5,29 @@
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
 public class Shooter extends SubsystemBase {
-    private final Motor shooterMotor, rampMotor;
+    private final Motor shooterMotor, rampMotorOne, rampMotorTwo;
 
-    public Shooter(HardwareMap map, String shooterMotorName, String rampMotorName) {
+    public Shooter(HardwareMap map, String shooterMotorName, String rampMotorOneName, String rampMotorTwoName) {
         shooterMotor = new Motor(map, shooterMotorName);
         shooterMotor.setRunMode(Motor.RunMode.RawPower);
-        rampMotor = new Motor(map, rampMotorName);
-        rampMotor.setRunMode(Motor.RunMode.RawPower);
+        rampMotorOne = new Motor(map, rampMotorOneName);
+        rampMotorOne.setRunMode(Motor.RunMode.RawPower);
+        rampMotorTwo = new Motor(map, rampMotorTwoName);
+        rampMotorTwo.setRunMode(Motor.RunMode.RawPower);
     }
 
-    public void run(double shooterSpeed, double rampSpeed) {
+    public void runBase(double shooterSpeed, double rampSpeedOne) {
         // Clamp speed to valid motor range [-1.0, 1.0]
-        double clampedSpeed = Math.max(-1.0, Math.min(1.0, shooterSpeed));
-        double _rampSpeed = Math.max(-1.0, Math.min(1.0, rampSpeed));
-        shooterMotor.set(clampedSpeed);
-        rampMotor.set(_rampSpeed);
+        double baseSpeed = Math.max(-1.0, Math.min(1.0, shooterSpeed));
+        double _rampSpeed = Math.max(-0.5, Math.min(0.5, rampSpeedOne));
+        shooterMotor.set(baseSpeed);
+        rampMotorOne.set(_rampSpeed);
+        rampMotorTwo.set(_rampSpeed * -1.0);
     }
 
     public void stop() {
         shooterMotor.stopMotor();
-        rampMotor.stopMotor();
+        rampMotorOne.stopMotor();
+        rampMotorTwo.stopMotor();
     }
 }