diff --git a/src/Robot.cpp b/src/Robot.cpp
index 2cc4f0a..e63ffd9 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -19,16 +19,14 @@ class Robot: public IterativeRobot
 	RobotDrive drive;
 	Shooter shooter;
 	Joystick driver_stick, operator_stick;
-	Counter ramp_height;
 public:
 	Robot():
-		left_drive(0),			// Left DriveTrain Talons plug into PWM channel 1 with a Y-spliter
+		left_drive(0),			// Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
 		right_drive(1),			// Right DriveTrain Talons plug  	// left wheel 2
 		shooter1(10),  			// shooter drive 1
 		shooter2(11),   		// shooter drive 2
 		ramp(12),
 		drive(&left_drive, &right_drive),
-		ramp_height(),
 		shooter(				// initialize Shooter object.
 				&shooter1, &shooter2, &ramp, &ramp_height),
 		driver_stick(0), 				// right stick (operator)
diff --git a/src/Shooter.h b/src/Shooter.h
index 8b7a833..7d498cd 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -34,12 +34,11 @@ public:
 	 * s2 is also for the pickup-mechanism and can be controlled independently.
 	 *
 	 */
-	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r, Counter *h) {
+	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) {
 		shooterDrive = new RobotDrive(s1, s2);
 		pickup = s2;
 		ramp = r;
 		rampState = Uncalibrated;
-		rampHeight = h;
 	}
 
 	/**
@@ -58,7 +57,6 @@ public:
 		delete shooterDrive;
 		delete pickup;
 		delete ramp;
-		delete rampHeight;
 	}
 
 	void PickUp(bool state = true) {
@@ -77,7 +75,6 @@ public:
 			} else
 			{
 				ramp->Set(0);
-				rampHeight->Reset();
 			}
 		}
 	}
@@ -98,7 +95,6 @@ private:
 	RobotDrive *shooterDrive;
 	CANTalon *pickup;
 	CANTalon *ramp;
-	Counter *rampHeight;
 
 	RampState rampState;
 	RampState targetState;