This is a shooter for the 2020 season of FRC. It is designed to launch 7 inch diameter foam balls over 25 feet. I designed it to be manufactured with polycarbonate plates with aluminum stand-offs. It makes use of two brushless DC motors from Rev Robotics. One runs the flywheels with a direct timing belt connection . The second motor acts as an index/queue for the next ball. It is geared down with a planetary gearbox and runs the queuing roller with a timing belt connection. I selected the gear ration to allow the roller to pass on the ball to the flywheel without resisting while also having enough torque to hold the ball in place. The aiming is controlled by PID control of the flywheel speed and the rotating turret that it is mounted on. It was assisted by a vision system running on a PixyCam.