public void setSpeed(double rpm) throws CANTimeoutException { // Right now, we're using voltage control mode // guess voltage to rpm relationship double voltage = rpm / 0; // Check to see if 'rpm' works if ((firstShootingMotor.getControlMode() == CANJaguar.ControlMode.kVoltage) && (secondShootingMotor.getControlMode() == CANJaguar.ControlMode.kVoltage)) { firstShootingMotor.setX(voltage); } else { firstShootingMotor.setX(rpm); secondShootingMotor.setX(rpm); } }