You control the motors through the motor controller, so there are three classes to choose from in wpilib. Choose the one for the motor controller you are going to wire up to.
Talon
Victor
Jaguar
Example Code:
Code:
Talon shooterWheel = new Talon(3); //talon on PWM channel 3 on digital sidecar
shooterWheel.set(1.0); //spin the motor at full voltage in one direction
shooterWheel.set(-1.0); //spin the motor at full voltage in the other direction