diff --git a/DriveBase/src/Robot.cpp b/DriveBase/src/Robot.cpp
index 877480b..4a8ad95 100644
--- a/DriveBase/src/Robot.cpp
+++ b/DriveBase/src/Robot.cpp
@@ -1,5 +1,6 @@
 #include "WPILib.h"
 #include "TankDrive.h"
+#include "Shooter.h"
 
 /**
  * This sample shows how to use the new CANTalon to just run a motor in a basic
@@ -61,8 +62,9 @@ public:
 		drive.Drive(&lstick);
 
 		float power = (1.0 - rstick.GetThrottle()) / 2.0;
-		shooter1.Set(power);
-		shooter2.Set(power);
+		//shooter1.Set(power);
+		//shooter2.Set(power);
+		shooter.SetPower(power);
 
 	}
 
diff --git a/DriveBase/src/Shooter.h b/DriveBase/src/Shooter.h
index 2cf4e41..3a44dcf 100644
--- a/DriveBase/src/Shooter.h
+++ b/DriveBase/src/Shooter.h
@@ -9,16 +9,21 @@
 #define SRC_SHOOTER_H_
 
 class Shooter {
-	RobotDrive shooterDrive;
 public:
 	Shooter(CANTalon *s1, CANTalon *s2) {
-		shooterDrive = RobotDrive(s1, s2);
+		shooterDrive = new RobotDrive(s1, s2);
+	}
+
+	virtual ~Shooter()
+	{
+		delete shooterDrive;
 	}
-	virtual ~Shooter();
 
 	void SetPower(float power) {
-		shooterDrive.ArcadeDrive(power, 0, false);
+		shooterDrive->TankDrive(power, -power, false);
 	}
+private:
+	RobotDrive *shooterDrive;
 };
 
 #endif /* SRC_SHOOTER_H_ */
diff --git a/DriveBase/src/TankDrive.h b/DriveBase/src/TankDrive.h
index bc8ad0e..b41c796 100644
--- a/DriveBase/src/TankDrive.h
+++ b/DriveBase/src/TankDrive.h
@@ -23,8 +23,8 @@ class TankDrive {
 
 public:
 	TankDrive(CANTalon *l1, CANTalon *l2, CANTalon* r1, CANTalon *r2) {
-		dt1 = RobotDrive(l1, r1);
-		dt2 = RobotDrive(l2, r2);
+		dt1 = new RobotDrive(l1, r1);
+		dt2 = new RobotDrive(l2, r2);
 	}
 	virtual ~TankDrive() {
 		delete dt1;
@@ -37,7 +37,9 @@ public:
 	 * Some math on the "rot" variable could make the driving smoother, I think.
 	 */
 	void Drive(Joystick *js) {
-		float x = js->GetX(), y = js->GetY(), th = ((1.0 - (js.GetThrottle()))
+		float x = js->GetX();
+		float y = js->GetY();
+		float th = -((1.0 - (js->GetThrottle()))
 				/ 2.0);
 
 		// set deadzone
@@ -51,12 +53,12 @@ public:
 		float speed = y * th;
 		float rot = x;  // do some math here to smooth out turning?
 
-		dt1.ArcadeDrive(speed, rot, false);
-		dt2.ArcadeDrive(speed, rot, false);
+		dt1->ArcadeDrive(speed, rot, false);
+		dt2->ArcadeDrive(speed, rot, false);
 	}
 
 private:
-	RobotDrive dt1, dt2;
+	RobotDrive *dt1, *dt2;
 };
 
 #endif /* SRC_TANKDRIVE_H_ */