diff --git a/src/Robot.cpp b/src/Robot.cpp
index 5e25294..f735af2 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -1,13 +1,14 @@
 #include "WPILib.h"
 #include "Shooter.h"
+#include <math.h>
 
 #ifndef BUTTON_LAYOUT
 #define BUTTON_LAYOUT
 
 #define TRIGGER 	1  	// Trigger button number
 #define THUMB 		2	// Thumb button number
-#define RAMP_RAISE  3   // Button 3 for Raising Ramp
-#define RAMP_LOWER  4	// Button 4 to lower ramp.
+#define RAMP_RAISE  5   // Button 3 for Raising Ramp
+#define RAMP_LOWER  3	// Button 4 to lower ramp.
 #define UNJAM		11
 
 #define DEADZONE_RADIUS 0.01 	// Deadzone Radius prevents tiny twitches in the joystick's value from
@@ -63,8 +64,8 @@ private:
 		SmartDashboard::PutData("Auto Modes", chooser);
 		shooter1.Enable();
 		shooter2.Enable();
-		left_drive.SetInverted(true);
-		right_drive.SetInverted(true);
+		//left_drive.SetInverted(true);
+		//right_drive.SetInverted(true);
 		//launch_spinny.SetInverted(true);
 		inverting = false;
 		pickupRunning = false;
@@ -100,11 +101,7 @@ private:
 
 	void AutonomousPeriodic()
 	{
-		if(autoSelected == autoNameCustom){
-			//Custom Auto goes here
-		} else {
-			//Default Auto goes here
-		}
+
 	}
 
 	void TeleopInit()
@@ -115,8 +112,7 @@ private:
 	void TeleopPeriodic()
 	{
 		//std::cout << "Ramp position: "<< launch_spinny.GetEncPosition() << std::endl;
-		drive.ArcadeDrive(&driver_stick, true);
-
+		drive.ArcadeDrive(-driver_stick.GetY(), -driver_stick.GetX() * 0.75);
 		//bool rampDoing = false;
 		//  This is shit code for testing.  Replace it with real code.
 		if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))
diff --git a/src/Shooter.h b/src/Shooter.h
index c8980f5..31ec588 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -64,12 +64,12 @@ public:
 
 	void LowerRamp()
 	{
-		launch_spinny->Set(-1);
+		launch_spinny->Set(-0.5);
 	}
 
 	void RaiseRamp()
 	{
-		launch_spinny->Set(1);
+		launch_spinny->Set(0.5);
 	}
 
 	void StopRamp()