diff --git a/Robot2016/src/Robot.cpp b/Robot2016/src/Robot.cpp
index 8e4b800..36cef0c 100644
--- a/Robot2016/src/Robot.cpp
+++ b/Robot2016/src/Robot.cpp
@@ -9,6 +9,10 @@
 #define RAMP_RAISE  3   // Button 3 for Raising Ramp
 #define RAMP_LOWER  4	// Button 4 to lower ramp.
 
+#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.
+
 #endif  // BUTTON_LAYOUT
 
 class Robot: public IterativeRobot
@@ -153,16 +157,23 @@ private:
 			inverting = false;
 		}
 
+		float opThrottle = SaneThrottle(operator_stick.GetThrottle());
 		
-		
-		if(((1.0 - operator_stick.GetThrottle()) / 2.0) > shooter_power + 0.005
-				||	((1.0 - operator_stick.GetThrottle()) / 2.0) < shooter_power -0.005)
+		if( opThrottle > shooter_power + DEADZONE_RADIUS
+				||	opThrottle < shooter_power - DEADZONE_RADIUS)
 		{
-			shooter_power = (1.0 - operator_stick.GetThrottle()) / 2.0;
-			shooter.SetPower(shooter_power);
+			shooter.SetPower(opThrottle);
 		}
 	}
 
+	/**
+	 *	Takes the gross raw throttle input from joystick and returns a 
+	 *	value between 0.0-1.0 (no negative values)
+	 */
+	float SaneThrottle(float rawThrottle)
+	{
+		return ((1.0 - rawThrottle) / 2.0);
+	}
 
 	void TestPeriodic()
 	{