[Jeffrafa]

For our shooter wheel last year we had 2 motors on the same gearbox with PID on the Jaguars. We had a hall-effect sensor with a magnet on the wheel for RPM feedback, then just fed that signal into both jaguar's encoder input running the same PID routine. The same could be done with a normal encoder feedback.

You do have to be careful about how you wire the sensor to 2 Jags, as I recall the electrical team created an optocoupler splitter for the sensor, as there is a problem with directly connecting the encoder inputs between multiple Jags.

Initially we had just one motor on the shooter wheel, but upgraded to 2 for faster recovery while full-court shooting. It took re-tuning PID parameters for the new setup, but was otherwise the simplest solution for us. I think our tolerance band for shooting was ~80 RPM or less, and we could shoot again in less than a second with 2 motors, so this setup worked well with reasonably tight requirements.