diff --git a/src/org/impact2585/frc2016/systems/WheelSystem.java b/src/org/impact2585/frc2016/systems/WheelSystem.java
index 1a6072e..7a8fd83 100644
--- a/src/org/impact2585/frc2016/systems/WheelSystem.java
+++ b/src/org/impact2585/frc2016/systems/WheelSystem.java
@@ -17,7 +17,7 @@ public class WheelSystem implements RobotSystem, Runnable{
 	private double currentRampForward;
 	private double rotationValue;
 	public static final double DEADZONE = 0.15;
-	public static final double RAMP = 0.5;
+	public static final double RAMP = 0.6;
 	private InputMethod input;
 	private boolean inverted;
 	private boolean prevInvert;
diff --git a/test/org/impact2585/frc2016/tests/WheelSystemTest.java b/test/org/impact2585/frc2016/tests/WheelSystemTest.java
index 5fc1646..9caf52d 100644
--- a/test/org/impact2585/frc2016/tests/WheelSystemTest.java
+++ b/test/org/impact2585/frc2016/tests/WheelSystemTest.java
@@ -1,6 +1,5 @@
 package org.impact2585.frc2016.tests;
 
-
 import org.impact2585.frc2016.input.InputMethod;
 import org.impact2585.frc2016.systems.WheelSystem;
 import org.junit.Assert;
@@ -17,8 +16,18 @@ public class WheelSystemTest {
 	private double currentRampForward;
 	private double rotate;
 	private boolean invert;
-	
-	
+
+	/**
+	 * method to calculate the ramping
+	 * @return correct ramping
+	 */
+	public double rampForward() {
+		double realRampForward = (currentRampForward - driveForward) * WheelSystem.RAMP + currentRampForward;
+		if (driveForward < WheelSystem.DEADZONE && driveForward > -WheelSystem.DEADZONE)
+			realRampForward = 0;
+		return -realRampForward;
+	}
+
 	/**
 	 * Initializes the test wheel system and input
 	 */
@@ -38,84 +47,111 @@ public void setUp() {
 	 */
 	@Test
 	public void test() {
-				
-		//tests if the robot isn't moving at the start
+
+		// tests if the robot isn't moving at the start
+		double ramp = rampForward();
+		ramp = rampForward();
 		drivetrain.run();
 		Assert.assertTrue(currentRampForward == 0 && rotate == 0);
-		
-		//tests deadzone
+
+		// tests deadzone
 		driveForward = 0.14;
 		rotate = 0.14;
+		ramp = rampForward();
 		drivetrain.run();
 		Assert.assertTrue(currentRampForward == 0 && rotate == 0);
-		
-		//tests forward driving
+
+		// tests forward driving
 		driveForward = -0.5;
+		ramp = rampForward();
 		drivetrain.run();
-		Assert.assertTrue(-0.25 == currentRampForward && rotate == 0);
-		
-		//tests turning and if currentRampForward immediately goes to 0 if the input is 0
+		Assert.assertTrue(ramp == currentRampForward && rotate == 0);
+
+		// tests turning and if currentRampForward immediately goes to 0 if the input is 0
+
 		rotate = 1;
 		driveForward = 0;
+		ramp = rampForward();
 		drivetrain.run();
 		Assert.assertTrue(currentRampForward == 0 && rotate == 1);
-		
-		//tests turning and driving simultaneously
+
+
+		// tests turning and driving simultaneously
 		rotate = 1;
 		driveForward = 0.5;
 		drivetrain.setCurrentRampForward(0);
+		ramp = rampForward();
 		drivetrain.run();
-		Assert.assertTrue(currentRampForward == 0.25 && rotate == 1);
-		
-		//tests invert
+		Assert.assertTrue(currentRampForward == ramp && rotate == 1);
+
+		// tests invert
 		invert = true;
 		rotate = -0.5;
 		driveForward = 0.5;
+		ramp = rampForward();
 		drivetrain.run();
-		Assert.assertTrue(currentRampForward == -0.125 && rotate == -0.5);
-		
-		
-		//tests if it does not invert if the button is still pressed
+		Assert.assertTrue(currentRampForward == ramp && rotate == -0.5);
+
+
+		// tests if it does not invert if the button is still pressed
 		invert = true;
 		rotate = -0.5;
 		driveForward = 0.5;
+		drivetrain.setCurrentRampForward(0.5);
+		ramp = rampForward();
+		drivetrain.setCurrentRampForward(-0.5);
 		drivetrain.run();
-		Assert.assertTrue(currentRampForward == -0.3125 && rotate == -0.5);
-		
-		//tests if drivetrain continues to be inverted
+		Assert.assertTrue(currentRampForward == ramp && rotate == -0.5);
+
+		// tests if drivetrain continues to be inverted
 		invert = false;
 		rotate = -0.5;
 		driveForward = 0.5;
+		drivetrain.setCurrentRampForward(0.5);
+		ramp = rampForward();
+		drivetrain.setCurrentRampForward(-0.5);
 		drivetrain.run();
-		Assert.assertTrue(currentRampForward ==  -0.40625 && rotate == -0.5);
-		
-		//tests if it inverts to the original position
+		Assert.assertTrue(currentRampForward == ramp && rotate == -0.5);
+
+		// tests if it inverts to the original position
 		invert = true;
 		rotate = 0.7;
 		driveForward = 0.5;
+		drivetrain.setCurrentRampForward(0.5);
+		ramp = rampForward();
+		drivetrain.setCurrentRampForward(0.5);
 		drivetrain.run();
-		Assert.assertTrue(currentRampForward == 0.046875 && rotate == 0.7);
-		
+		Assert.assertTrue(currentRampForward == -ramp && rotate == 0.7);
+
 		// see if movement and rotation go back to 0 again
 		rotate = driveForward = 0;
+		drivetrain.setCurrentRampForward(0.5);
+		ramp = rampForward();
+		drivetrain.setCurrentRampForward(0.5);
 		drivetrain.run();
-		Assert.assertTrue(currentRampForward == 0 && rotate == 0);
+		Assert.assertTrue(currentRampForward == ramp && rotate == 0);
 	}
-	
+
 	/**
 	 * testable version of wheelsystem
 	 */
 	private class TestWheelSystem extends WheelSystem {
 
-		/* (non-Javadoc)
-		 * @see org.impact2585.frc2016.systems.WheelSystem#setInput(org.impact2585.frc2016.input.InputMethod)
+		/*
+		 * (non-Javadoc)
+		 * 
+		 * @see
+		 * org.impact2585.frc2016.systems.WheelSystem#setInput(org.impact2585.
+		 * frc2016.input.InputMethod)
 		 */
 		@Override
 		protected synchronized void setInput(InputMethod controller) {
 			super.setInput(controller);
 		}
 
-		/* (non-Javadoc)
+		/*
+		 * (non-Javadoc)
+		 * 
 		 * @see org.impact2585.frc2016.systems.WheelSystem#getInput()
 		 */
 		@Override
@@ -123,7 +159,9 @@ public InputMethod getInput() {
 			return super.getInput();
 		}
 
-		/* (non-Javadoc)
+		/*
+		 * (non-Javadoc)
+		 * 
 		 * @see org.impact2585.frc2016.systems.WheelSystem#drive(double, double)
 		 */
 		@Override
@@ -132,23 +170,29 @@ public void drive(double movement, double currentRotate) {
 			rotate = currentRotate;
 		}
 
-		/* (non-Javadoc)
-		 * @see org.impact2585.frc2016.systems.WheelSystem#setCurrentRampForward(double)
+		/*
+		 * (non-Javadoc)
+		 * 
+		 * @see
+		 * org.impact2585.frc2016.systems.WheelSystem#setCurrentRampForward(
+		 * double)
 		 */
 		@Override
 		public void setCurrentRampForward(double rampForward) {
 			super.setCurrentRampForward(rampForward);
 			currentRampForward = rampForward;
 		}
-		
+
 	}
-	
+
 	/**
 	 * input version for testing
 	 */
 	private class InputTest extends InputMethod {
 
-		/* (non-Javadoc)
+		/*
+		 * (non-Javadoc)
+		 * 
 		 * @see org.impact2585.frc2016.input.InputMethod#forwardMovement()
 		 */
 		@Override
@@ -156,7 +200,9 @@ public double forwardMovement() {
 			return driveForward;
 		}
 
-		/* (non-Javadoc)
+		/*
+		 * (non-Javadoc)
+		 * 
 		 * @see org.impact2585.frc2016.input.InputMethod#getInvert()
 		 */
 		@Override
@@ -164,14 +210,15 @@ public boolean invert() {
 			return invert;
 		}
 
-		/* (non-Javadoc)
+		/*
+		 * (non-Javadoc)
+		 * 
 		 * @see org.impact2585.frc2016.input.InputMethod#rotationValue()
 		 */
 		@Override
 		public double rotationValue() {
 			return rotate;
 		}
-		
+
 	}
 }
-