diff --git a/Makefile b/Makefile
index 36efedf..514df4d 100644
--- a/Makefile
+++ b/Makefile
@@ -11,12 +11,12 @@ all: deploy
 
 build: FRCUserProgram
 
-FRCUserProgram: src/Robot.cpp
+FRCUserProgram: src/Robot.cpp src/Shooter.o
 	@echo "Building FRCUserProgram"
-	$(CXX) $(CPPFLAGS) $< -o $@ $(LDFLAGS)
+	$(CXX) $(CPPFLAGS) $^ -o $@ $(LDFLAGS)
 
 clean:
-	rm FRCUserProgram
+	rm FRCUserProgram src/Shooter.o
 
 deploy: build
 	@echo "Copying FRCUserProgram"
diff --git a/src/Shooter.cpp b/src/Shooter.cpp
new file mode 100644
index 0000000..5909d48
--- /dev/null
+++ b/src/Shooter.cpp
@@ -0,0 +1,151 @@
+#include <WPILib.h>
+#include "Shooter.h"
+
+Shooter::Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) :
+	launcher(s1),
+	pickup(s2),
+	ramp(r),
+	ready(true),
+	state(READY)
+{
+	//	shooterDrive = new RobotDrive(s1, s2);
+}
+
+/**
+ * Call this method on TeleopInit so that the ramp is properly
+ * set at the beginning of the match.
+ */
+
+Shooter::~Shooter()
+{
+	delete launcher;
+	delete pickup;
+	delete ramp;
+}
+
+void Shooter::StopShooter()
+{
+	ready = true;
+	ramp->Set(0);
+	launcher->Set(0);
+	pickup->Set(0);
+}
+
+void Shooter::LowerRamp()
+{
+	ramp->Set(-RAMP_POWER);
+	if(ramp->Limits::kReverseLimit){
+		SmartDashboard::PutNumber("ramp", 2); //going to put a circlar dial to show where the ramp could be
+	} else {
+		SmartDashboard::PutNumber("ramp", 1);
+	}
+}
+
+void Shooter::RaiseRamp()
+{
+	ramp->Set(RAMP_POWER);
+	if(ramp->Limits::kForwardLimit){
+		SmartDashboard::PutNumber("ramp", 0); //going to put a circlar dial to show where the ramp could be
+	} else {
+		SmartDashboard::PutNumber("ramp", 1);
+	}
+}
+
+void Shooter::StopRamp()
+{
+	ramp->Set(0);
+}
+void Shooter::Shoot()
+{
+	if (shotClock.Get() > (SPINUP_TIME + 0.1))
+	{
+		state = RESETTING;
+	}
+	switch (state)
+	{
+	case READY:
+	{
+		state = SPINNINGUP;
+		ramp->Set(-1);
+		launcher->Set(LAUNCH_POWER);
+		pickup->Set(LAUNCH_POWER);
+		shotClock.Reset();
+		shotClock.Start();
+		break;
+	}
+	case SPINNINGUP:
+	{
+		if (shotClock.Get() > SPINUP_TIME)
+		{
+			state = LAUNCH;
+			shotClock.Reset();
+			shotClock.Start();
+		} else
+		{
+			//std::cout << "*Goku noises*\n";
+		}
+		break;
+	}
+	case LAUNCH:
+	{
+		ramp->Set(LAUNCH_POWER);
+		state = LAUNCHING;
+		break;
+	}
+	case LAUNCHING:
+	{
+		if (shotClock.Get() > LAUNCH_TIME)
+		{
+
+			state = RESETTING;
+		}
+		break;
+	}
+	case RESETTING:
+	{
+		ramp->Set(0);
+		launcher->Set(0);
+		pickup->Set(0);
+		state = READY;
+		break;
+	}
+	case ON_FIRE:
+	{
+		std::cout << "Something is wrong with the launch sequence.\n";
+		break;
+	}
+	}
+
+}
+
+void Shooter::PickUp(bool state /*= true*/)
+{
+	pickup->Set((float) (state * PICKUP_POWER));
+	launcher->Set((float) (state * PICKUP_POWER * -1));
+	//std::cout << "picking up!\n";
+}
+
+/**
+ * Call this to run the pickup backwards if the ball gets jammed somehow...
+ */
+void Shooter::Unjam()
+{
+	pickup->Set(-1 * PICKUP_POWER);
+}
+
+void Shooter::ShootLow()
+{
+	pickup->Set(-1);
+}
+
+void Shooter::SetPower(float power)
+{
+	pickup->Set(power);
+	launcher->Set(power);
+	//std::cout << "setting shooter power" << std::endl;
+}
+
+int Shooter::GetState()
+{
+	return state;
+}
diff --git a/src/Shooter.h b/src/Shooter.h
index 8339baf..ad505b6 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -14,7 +14,7 @@
 #define LAUNCH_TIME 0.5
 #define RAMP_POWER 0.3
 
-class Shooter 
+class Shooter
 {
 public:
 
@@ -33,154 +33,19 @@ public:
 		RESETTING
 	};
 
-	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r)
-	{
-	//	shooterDrive = new RobotDrive(s1, s2);
-		launcher = s1;
-		pickup = s2;
-		ramp = r;
-		ready = true;
-		state = READY;
-	}
+    Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r);
+	virtual ~Shooter();
+	void StopShooter();
+	void LowerRamp();
+	void RaiseRamp();
+	void StopRamp();
+	void Shoot();
+	void PickUp(bool state = true);
+	void Unjam();
+	void ShootLow();
+	void SetPower(float power);
+	int GetState();
 
-	/**
-	 * Call this method on TeleopInit so that the ramp is properly
-	 * set at the beginning of the match.
-	 */
-
-	virtual ~Shooter() 
-	{
-		delete launcher;
-		delete pickup;
-		delete ramp;
-	}
-	
-	void StopShooter()
-	{
-		ready = true;
-		ramp->Set(0);
-		launcher->Set(0);
-		pickup->Set(0);
-	}
-
-	void LowerRamp()
-	{
-		ramp->Set(-RAMP_POWER);
-		if(ramp->Limits::kReverseLimit){
-			SmartDashboard::PutNumber("ramp", 2); //going to put a circlar dial to show where the ramp could be
-		} else {
-			SmartDashboard::PutNumber("ramp", 1);
-		}
-	}
-
-	void RaiseRamp()
-	{
-		ramp->Set(RAMP_POWER);
-		if(ramp->Limits::kForwardLimit){
-			SmartDashboard::PutNumber("ramp", 0); //going to put a circlar dial to show where the ramp could be
-		} else {
-			SmartDashboard::PutNumber("ramp", 1);
-		}
-	}
-
-	void StopRamp()
-	{
-		ramp->Set(0);
-	}
-	void Shoot()
-	{
-		if (shotClock.Get() > (SPINUP_TIME + 0.1))
-		{
-			state = RESETTING;
-		}
-		switch (state)
-		{
-			case READY:
-			{
-				state = SPINNINGUP;
-				ramp->Set(-1);
-				launcher->Set(LAUNCH_POWER);
-				pickup->Set(LAUNCH_POWER);
-				shotClock.Reset();
-				shotClock.Start();
-				break;
-			}
-			case SPINNINGUP:
-			{
-				if (shotClock.Get() > SPINUP_TIME)
-				{
-					state = LAUNCH;
-					shotClock.Reset();
-					shotClock.Start();
-				} else
-				{
-					//std::cout << "*Goku noises*\n";
-				}
-				break;
-			}
-			case LAUNCH:
-			{
-				ramp->Set(LAUNCH_POWER);
-				state = LAUNCHING;
-				break;
-			}
-			case LAUNCHING:
-			{
-				if (shotClock.Get() > LAUNCH_TIME)
-				{
-
-					state = RESETTING;
-				}
-				break;
-			}
-			case RESETTING:
-			{
-				ramp->Set(0);
-				launcher->Set(0);
-				pickup->Set(0);
-				state = READY;
-				break;
-			}
-			case ON_FIRE:
-			{
-				std::cout << "Something is wrong with the launch sequence.\n";
-				break;
-			}
-		}
-		
-	}
-	
-	void PickUp(bool state = true) 
-	{
-		pickup->Set((float) (state * PICKUP_POWER));
-		launcher->Set((float) (state * PICKUP_POWER * -1));
-		//std::cout << "picking up!\n";
-	}
-
-	/**
-	 * Call this to run the pickup backwards if the ball gets jammed somehow...
-	 */
-	void Unjam()
-	{
-		pickup->Set(-1 * PICKUP_POWER);
-	}
-
-	void ShootLow()
-	{
-		pickup->Set(-1);
-	}
-
-	void SetPower(float power) 
-	{
-		pickup->Set(power);
-		launcher->Set(power);
-		//std::cout << "setting shooter power" << std::endl;
-	}
-
-	int GetState()
-	{
-		return state;
-	}
 private:
 
 	//RobotDrive *shooterDrive;
@@ -188,8 +53,8 @@ private:
 	CANTalon *pickup;
 	CANTalon *ramp;
 	ShooterState state;
-	
-	Timer shotClock;  
+
+	Timer shotClock;
 	bool ready;
 	int fake_position;
 };