diff --git a/Robot2016/src/Robot.cpp b/Robot2016/src/Robot.cpp
index f867ef5..e362cc1 100644
--- a/Robot2016/src/Robot.cpp
+++ b/Robot2016/src/Robot.cpp
@@ -19,6 +19,8 @@
 #define RAMP_LOWER  3	// Button 4 to lower ramp.
 #define UNJAM		11
 
+#define ARMS_SCALE  0.75
+
 #define DEADZONE_RADIUS 0.05 	// Deadzone Radius prevents tiny twitches in the joystick's value from
 								// affecting the robot.  Use this for cleaning up drive train and shooter.
 								// Also used for detecting changes in an axis' value.
@@ -389,38 +391,13 @@ public:
 		{
 			inverting = false;
 		}
-		
-		
-		/*
-		 * Unlike the previous actions, this method does need to be called every iteration of
-		 *	TeleopPeriodic.  This is because the logic running this operation needs to be checked
-		 *	Every time the method is called.  This cannot be a loop in the Shoot method because
-		 *  that would lock the robot every time the trigger is hit.
-		 */
-		if(operator_stick.GetRawButton(TRIGGER) || (shooter.GetState() != 0))
+
+		if(operator_stick.GetRawButton(4))
 		{
-			shooting = true;
-			shooter.Shoot();
+			arms.Set(-operator_stick.GetY() * ARMS_SCALE);
 		}
-		else if(shooting  && !operator_stick.GetRawButton(TRIGGER))
+		else
 		{
-			shooting = false;
-			shooter.StopShooter();
-		}
-		
-		if(!arming && driver_stick.GetRawButton(RAMP_RAISE))
-		{
-			arming = true;
-			arms.Set(1);
-		}
-		else if(!arming && driver_stick.GetRawButton(RAMP_LOWER))
-		{
-			arming = true;
-			arms.Set(-1);
-		}
-		else if(arming && !driver_stick.GetRawButton(RAMP_RAISE) && !driver_stick.GetRawButton(RAMP_LOWER))
-		{
-			arming = false;
 			arms.Set(0);
 		}