diff --git a/src/main/java/frc/robot/shooter/FlywheelMotorIOTalonFX.java b/src/main/java/frc/robot/shooter/FlywheelMotorIOTalonFX.java
new file mode 100644
index 0000000..dde5595
--- /dev/null
+++ b/src/main/java/frc/robot/shooter/FlywheelMotorIOTalonFX.java
@@ -0,0 +1,40 @@
+package frc.robot.shooter;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+public class FlywheelMotorIOTalonFX implements FlywheelMotorIO {
+
+    private final TalonFX talonFX;
+
+    public FlywheelMotorIOTalonFX() {
+        int canId = 39;
+
+        talonFX = new TalonFX(canId);
+    }
+
+
+    @Override
+    public void configure() {
+        talonFX.setInverted(false);
+
+        talonFX.setNeutralMode(NeutralModeValue.Coast);
+    }
+
+    @Override
+    public void update(FlywheelMotorIOValues values) {
+        values.angularVelocityRotationsPerSecond = talonFX.getVelocity().getValue(); // TODO convert?
+        values.currentAmps = talonFX.getStatorCurrent().getValue();
+    }
+
+    @Override
+    public void setVoltage(double volts) {
+        talonFX.setVoltage(volts);
+    }
+
+    @Override
+    public void stop() {
+        setVoltage(0);
+    }
+    
+}
diff --git a/src/main/java/frc/robot/shooter/ShooterFactory.java b/src/main/java/frc/robot/shooter/ShooterFactory.java
index 2ff2c4d..75083a7 100644
--- a/src/main/java/frc/robot/shooter/ShooterFactory.java
+++ b/src/main/java/frc/robot/shooter/ShooterFactory.java
@@ -38,7 +38,7 @@ public static SerializerMotorIO createSerializerMotor() {
    */
   public static FlywheelMotorIO createFlywheelMotor() {
     if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.SHOOTER))
-      return new FlywheelMotorIOSparkMax(); // TODO
+      return new FlywheelMotorIOTalonFX();
 
     return new FlywheelMotorIOSim();
   }