use List::MoreUtils qw( natatime zip );

## ...
my $iterator = natatime 2, zip @{ $self->{ endpoints } }, @{ $self->{ wheels } };
while( my( $wheel, $pname ) = $iterator->next( ) ) {
  if( $wheel->ID == $wheel_id ) {
    frobnicate( $pname, $wheel );
  }
}