diff --git a/src/Robot.cpp b/src/Robot.cpp
index 6dd945d..7688ac4 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -9,7 +9,7 @@
 #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	
+#define DEADZONE_RADIUS 0.01 	// 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.
 
@@ -118,24 +118,28 @@ private:
 		//  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))
 		{
+			std::cout << "Lowering Ramp.";
 			//launch_spinny.Set(-1);
 			shooter.LowerRamp();
 			ramping = true;
 		}
-		else if(!ramping && operator_stick.GetRawButton(TRIGGER))
+		/*else if(!ramping && operator_stick.GetRawButton(TRIGGER))
 		{
 			shooter.BoostRamp();
 			ramping = true;
-		}
+		}*/
 		else if(ramping)
 		{
-			launch_spinny.Set(0);
+			std::cout << "Stopping Ramp.";
+			shooter.StopRamp();
+			ramping = false;
 		}
 
 
@@ -182,7 +186,7 @@ private:
 		 *	Every time the method is called.  This cannot be a loop in the Shoot method because
 		 *  that would lock the robot every time the trigger is hit.
 		 */
-		if(operator_stick.GetRawButton(TRIGGER) && !shooting)
+		if(operator_stick.GetRawButton(TRIGGER))
 		{
 			shooting = true;
 			shooter.Shoot();
diff --git a/src/Shooter.h b/src/Shooter.h
index 8dbdc57..a388f33 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -8,7 +8,7 @@
 #ifndef SRC_SHOOTER_H_
 #define SRC_SHOOTER_H_
 
-#define PICKUP_POWER 1.0
+#define PICKUP_POWER 0.5
 #define SPINUP_TIME 1.5 // seconds.
 
 class Shooter 
@@ -84,6 +84,7 @@ public:
 	void PickUp(bool state = true) 
 	{
 		pickup->Set((float) (state * PICKUP_POWER));
+		launcher->Set((float) (state * PICKUP_POWER * -1));
 		//launch_spinny->Set(-1.0*PICKUP_POWER);
 		std::cout << "picking up!\n";
 	}