diff --git a/Robot2016/src/Robot.cpp b/Robot2016/src/Robot.cpp
index f93c676..17f8986 100644
--- a/Robot2016/src/Robot.cpp
+++ b/Robot2016/src/Robot.cpp
@@ -155,13 +155,16 @@ private:
 			unjamming = true;
 			shooter.Unjam();
 		}
-		else if(unjamming && !operator_stick.GetRawButton(UNJAM))
+		else if(!unjamming && operator_stick.GetRawButton(TRIGGER))
+		{
+			shooter.ShootLow();
+			unjamming = true;
+		}
+		else if(unjamming && !operator_stick.GetRawButton(UNJAM) && !operator_stick.GetRawButton(TRIGGER))
 		{
 			shooter.PickUp(false);
 			unjamming = false;
 		}
-
-
 		/*
 		 * 	Run the Shooter only while the THUMB button is held down on the operator stick.
 		 *	the 'pickupRunning' boolean is there to prevent the shooter from calling PickUp
diff --git a/Robot2016/src/Shooter.h b/Robot2016/src/Shooter.h
index 0b9d9ee..2b729cc 100644
--- a/Robot2016/src/Shooter.h
+++ b/Robot2016/src/Shooter.h
@@ -8,7 +8,7 @@
 #ifndef SRC_SHOOTER_H_
 #define SRC_SHOOTER_H_
 
-#define PICKUP_POWER 0.5
+#define PICKUP_POWER 0.75
 #define LAUNCH_POWER 1
 #define SPINUP_TIME 1.5 // seconds.
 #define LAUNCH_TIME 0.5
@@ -155,7 +155,7 @@ public:
 	void PickUp(bool state = true) 
 	{
 		pickup->Set((float) (state * PICKUP_POWER));
-		launcher->Set((float) (state * PICKUP_POWER * -1));
+		launcher->Set((float) (state * PICKUP_POWER * -0.75));
 		//ramp->Set(-1.0*PICKUP_POWER);
 		//std::cout << "picking up!\n";
 	}
@@ -168,6 +168,11 @@ public:
 		pickup->Set(-1 * PICKUP_POWER);
 	}
 
+	void ShootLow()
+	{
+		pickup->Set(-1);
+	}
+
 	void SetPower(float power) 
 	{
 		pickup->Set(power);