diff --git a/src/Shooter.h b/src/Shooter.h
index 7d498cd..7d7d618 100644
--- a/src/Shooter.h
+++ b/src/Shooter.h
@@ -35,7 +35,8 @@ public:
 	 *
 	 */
 	Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) {
-		shooterDrive = new RobotDrive(s1, s2);
+	//	shooterDrive = new RobotDrive(s1, s2);
+		launcher = s1;
 		pickup = s2;
 		ramp = r;
 		rampState = Uncalibrated;
@@ -54,13 +55,14 @@ public:
 	}
 
 	virtual ~Shooter() {
-		delete shooterDrive;
+		delete launcher;
 		delete pickup;
 		delete ramp;
 	}
 
 	void PickUp(bool state = true) {
 		pickup->Set((float) (state * PICKUP_POWER));
+		std::cout << "picking up!\n";
 	}
 
 	void SetRamp(RampState state) {
@@ -88,11 +90,14 @@ public:
 	}
 
 	void SetPower(float power) {
-		shooterDrive->TankDrive(power, -power, false);
+		pickup->Set(power);
+		launcher->Set(power);
+		std::cout << "setting shooter power" << std::endl;
 	}
 private:
 
 	RobotDrive *shooterDrive;
+	CANTalon *launcher;
 	CANTalon *pickup;
 	CANTalon *ramp;