diff --git a/src/Robot.cpp b/src/Robot.cpp
index 224e2f4..fea8d6f 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -68,6 +68,7 @@ private:
 	void AutonomousInit()
 	{
 		shooter.CalibrateRamp();
+		shooter.SetRamp(Shoot);
 
 		autoSelected = *((std::string*)chooser->GetSelected());
 		//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
@@ -92,6 +93,7 @@ private:
 	void TeleopInit()
 	{
 		shooter.CalibrateRamp();
+		shooter.SetRamp(Shoot); // start in the full up position!
 	}
 
 	void TeleopPeriodic()
diff --git a/src/Shooter.h b/src/Shooter.h
index 6971715..1fe8b0e 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -21,9 +21,10 @@
  */
 enum RampState {
 	Shoot = 0, // 0 rotations
-	Half = 1,  // 1 rotation?
-	Down = 2,   // 2 rotations?
-	Uncalibrated = -1
+	Half = (RAMP_LOWER_DURATION / 2),  // 1 rotation?
+	Down = RAMP_LOWER_DURATION,   // 2 rotations?
+	Uncalibrated = -1,
+	Transitioning = -2
 };
 
 class Shooter {
@@ -85,6 +86,8 @@ private:
 	CANTalon *ramp;
 
 	RampState rampState;
+	RampState targetState;
+	RampState previousState;
 };
 
 #endif /* SRC_SHOOTER_H_ */