diff --git a/src/Robot.cpp b/src/Robot.cpp
index b12359c..3e4dc1b 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -119,14 +119,7 @@ private:
 
 		//bool rampDoing = false;
 		//  This is shit code for testing.  Replace it with real code.
-		if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))
-		{
-			std::cout << "Raising Ramp.";
-			//launch_spinny.Set(1);
-			shooter.RaiseRamp();
-			ramping =true;
-		}
-		else if(!ramping && operator_stick.GetRawButton(RAMP_LOWER))
+		if(operator_stick.GetRawButton(RAMP_LOWER))
 		{
 			std::cout << "Lowering Ramp.";
 			//launch_spinny.Set(-1);
@@ -140,10 +133,12 @@ private:
 		}*/
 		else if(ramping
 				&& !operator_stick.GetRawButton(RAMP_LOWER)
-				&& !operator_stick.GetRawButton(RAMP_RAISE))
+				&& launch_spinny.GetForwardLimitOK())
+		{
+			shooter.RaiseRamp();
+		}
+		else
 		{
-			std::cout << "Stopping Ramp.";
-			shooter.StopRamp();
 			ramping = false;
 		}