diff --git a/VERSION.txt b/VERSION.txt
index 341cf11..0c62199 100644
--- a/VERSION.txt
+++ b/VERSION.txt
@@ -1 +1 @@
-0.2.0
\ No newline at end of file
+0.2.1
diff --git a/ino/contact_printer/ContactPrinter.cpp b/ino/contact_printer/ContactPrinter.cpp
index 570efd0..23505e0 100644
--- a/ino/contact_printer/ContactPrinter.cpp
+++ b/ino/contact_printer/ContactPrinter.cpp
@@ -7,65 +7,77 @@ ContactPrinter::ContactPrinter () {
 
 void ContactPrinter::Setup () {
 
-	pinMode(takeup_picture_pin_cw, OUTPUT);
-	pinMode(takeup_picture_pin_ccw, OUTPUT);
-	pinMode(takeup_stock_pin_cw, OUTPUT);
-	pinMode(takeup_stock_pin_ccw, OUTPUT);
+	pinMode(takeup_pin_dir_a, OUTPUT);
+	pinMode(takeup_pin_dir_b, OUTPUT);
 
 	pinMode(start_button_pin, INPUT_PULLUP);
 
 	drive_motor.Setup();
 
-	ledcSetup(takeup_picture_pwm_channel, pwm_frequency, pwm_resolution);
-	ledcSetup(takeup_stock_pwm_channel, pwm_frequency, pwm_resolution);
+	ledcSetup(takeup_pwm_channel, pwm_frequency, pwm_resolution);
+	Serial.print("Attaching pin ");
+	Serial.print(takeup_pin_enable);
+	Serial.print(" to ledc channel ");
+	Serial.print(takeup_pwm_channel);
+	Serial.println(" for takeup");
+	ledcAttachPin(takeup_pin_enable, takeup_pwm_channel);
+	ledcWrite(takeup_pwm_channel, takeup_pwm_duty_cycle);
 
-	ledcAttachPin(takeup_picture_pin_enable, takeup_picture_pwm_channel);
-	ledcAttachPin(takeup_stock_pin_enable, takeup_stock_pwm_channel);
+	digitalWrite(takeup_pin_dir_a, LOW);
+	digitalWrite(takeup_pin_dir_b, LOW);
 
-	ledcWrite(takeup_picture_pwm_channel, takeup_pwm_duty_cycle);
-	ledcWrite(takeup_stock_pwm_channel, takeup_pwm_duty_cycle);
-
-	digitalWrite(takeup_picture_pin_cw, LOW);
-	digitalWrite(takeup_picture_pin_ccw, LOW);
-	digitalWrite(takeup_stock_pin_cw, LOW);
-	digitalWrite(takeup_stock_pin_ccw, LOW);
-
-	SetSpeedTakeup(0.4);
-	SetSpeedDrive(1.0);
+	SetDirectionTakeup(true);
+	SetSpeedTakeup(0.9);
+	SetSpeedDrive(0.8);
+	start_time = millis();
 }
 
 void ContactPrinter::Start () {
 	Serial.println("Start()");
 	drive_motor.Start();
-	//RampTakeup(0, takeup_pwm_duty_cycle, takeup_ramp_time);
-	
+	StartTakeup();
+	run_time = timer;
 	running = true;
 }
 
 void ContactPrinter::Stop () {
+	Serial.println("Stop()");
 	drive_motor.Stop();
-	RampTakeup(takeup_pwm_duty_cycle, 0, takeup_ramp_time);
-	digitalWrite(takeup_picture_pin_cw, LOW);
-	digitalWrite(takeup_picture_pin_ccw, LOW);
-	digitalWrite(takeup_stock_pin_cw, LOW);
-	digitalWrite(takeup_stock_pin_ccw, LOW);
+	StopTakeup();
+	run_time = timer;
+	running = false;
 } 
 
 void ContactPrinter::SetSpeedTakeup(float speed) {
 	takeup_speed = speed;
-	takeup_pwm_duty_cycle = floor(speed * 255);
+	takeup_pwm_duty_cycle = floor(speed * pwm_maximum);
+	Serial.print("Set takeup motors PWM = ");
+	Serial.println(takeup_pwm_duty_cycle);
+}
+
+void ContactPrinter::StartTakeup () {
+	ledcWrite(takeup_pwm_channel, takeup_pwm_duty_cycle);
+	if (takeup_dir) {
+		digitalWrite(takeup_pin_dir_a, LOW);
+		digitalWrite(takeup_pin_dir_b, HIGH);
+	} else {
+		digitalWrite(takeup_pin_dir_a, HIGH);
+		digitalWrite(takeup_pin_dir_b, LOW);
+	}
+}
+
+void ContactPrinter::StopTakeup() {
+	digitalWrite(takeup_pin_dir_a, LOW);
+	digitalWrite(takeup_pin_dir_b, LOW);
+	ledcWrite(takeup_pwm_channel, 0);
 }
 
 void ContactPrinter::SetSpeedDrive(float speed) {
 	drive_motor.SetSpeed(speed);
 }
 
-void ContactPrinter::SetDirectionStock(bool clockwise) {
-	takeup_stock_cw = clockwise;
-}
-
-void ContactPrinter::SetDirectionPicture(bool clockwise) {
-	takeup_picture_cw = clockwise;
+void ContactPrinter::SetDirectionTakeup(bool dir) {
+	takeup_dir = dir;
 }
 
 //linear
@@ -77,28 +89,11 @@ void ContactPrinter::RampTakeup(uint16_t start_pwm, uint16_t end_pwm, uint16_t t
 	takeup_ramp_current_step = 0;
 	takeup_ramping = true;
 
-	if (takeup_picture_cw) {
-		digitalWrite(takeup_picture_pin_cw, HIGH);
-		digitalWrite(takeup_picture_pin_ccw, LOW);
-	} else {
-		digitalWrite(takeup_picture_pin_cw, LOW);
-		digitalWrite(takeup_picture_pin_ccw, HIGH);
-	}
-	if (takeup_stock_cw) {
-		digitalWrite(takeup_stock_pin_cw, HIGH);
-		digitalWrite(takeup_stock_pin_ccw, LOW);
-	} else {
-		digitalWrite(takeup_stock_pin_cw, LOW);
-		digitalWrite(takeup_stock_pin_ccw, HIGH);
-	}
-
 	for (uint16_t i = 0; i < takeup_ramp_steps; i++) {
-		if (takeup_pwm_duty_cycle <= 0 || takeup_pwm_duty_cycle >= 255) {
-			takeup_ramping = false;
+		if (takeup_pwm_duty_cycle <= 0 || takeup_pwm_duty_cycle >= pwm_maximum) {
 			break;
 		}
-		ledcWrite(takeup_picture_pwm_channel, takeup_pwm_duty_cycle);
-		ledcWrite(takeup_stock_pwm_channel, takeup_pwm_duty_cycle);
+		ledcWrite(takeup_pwm_channel, takeup_pwm_duty_cycle);
 		delay(takeup_ramp_step);
 		if (takeup_ramp_dir) {
 			takeup_pwm_duty_cycle++;
@@ -109,13 +104,12 @@ void ContactPrinter::RampTakeup(uint16_t start_pwm, uint16_t end_pwm, uint16_t t
 	takeup_ramping = false;
 }
 
-void ContactPrinter::RampTakeupLoop () {
-
-}
 
 void ContactPrinter::ButtonLoop () {
-	if (!running && digitalRead(start_button_pin) == LOW) {
+	if (!running && timer >= run_time + button_delay && digitalRead(start_button_pin) == LOW) {
 		Start();
+	} else if (running && timer >= run_time + button_delay && digitalRead(start_button_pin) == LOW) {
+		Stop();
 	}
 }
 
@@ -125,11 +119,13 @@ bool ContactPrinter::IsRunning () {
 
 void ContactPrinter::Loop () {
 	timer = millis();
-	ButtonLoop();
-	if (running) {
-		drive_motor.Loop();
-		if (takeup_ramping) {
-			RampTakeupLoop();
+	if (initialized) {
+		ButtonLoop();
+		if (running) {
+			drive_motor.Loop();
 		}
+	} else if (timer >= start_time + 100) {
+		initialized = true;
 	}
-}
\ No newline at end of file
+}
+
diff --git a/ino/contact_printer/ContactPrinter.h b/ino/contact_printer/ContactPrinter.h
index 976aeba..6175a5b 100644
--- a/ino/contact_printer/ContactPrinter.h
+++ b/ino/contact_printer/ContactPrinter.h
@@ -17,25 +17,26 @@ class ContactPrinter {
 	const uint16_t baud = 115200;
 
 	/* PINS */
-	const uint8_t takeup_picture_pin_enable = 23;
-	const uint8_t takeup_picture_pin_cw = 22;
-	const uint8_t takeup_picture_pin_ccw = 21;
-
-	const uint8_t takeup_stock_pin_enable = 19;
-	const uint8_t takeup_stock_pin_cw = 18;
-	const uint8_t takeup_stock_pin_ccw = 5;
+	const uint8_t takeup_pin_enable = 21;
+	const uint8_t takeup_pin_dir_a = 22;
+	const uint8_t takeup_pin_dir_b = 23;
 
 	const uint8_t start_button_pin = 15;
 
 	/* MOTOR PWM */
-	const uint32_t pwm_frequency = 30000;
-	const uint8_t takeup_picture_pwm_channel = 1;
-	const uint8_t takeup_stock_pwm_channel = 2;
+	const uint32_t pwm_frequency = 5000;
+	const uint8_t takeup_pwm_channel = 1;
 	const uint8_t pwm_resolution = 8;
+	const uint16_t pwm_maximum = 255; //8 = 255, 16 = 65535
+
+	/* BUTTONS */
+	const uint16_t button_delay = 500;
 
 	/* MEMORY */
 
 	volatile long timer = 0;
+	volatile long start_time = 0;
+	volatile long run_time = 0;
 
 	volatile float drive_speed = 1.0;  //calculated rpm
 	volatile float takeup_speed = 1.0; //estimated rpm
@@ -52,12 +53,9 @@ class ContactPrinter {
 
 	volatile boolean takeup_ramping = false;
 
-	volatile bool takeup_picture_cw = false;
-	volatile bool takeup_picture_ccw = true;
-
-	volatile bool takeup_stock_cw = true;
-	volatile bool takeup_stock_ccw = true;
+	volatile bool takeup_dir = true;
 
+	volatile bool initialized = false;
 	volatile bool running = false;
 
 	public:
@@ -70,8 +68,11 @@ class ContactPrinter {
 	void Stop();
 	void SetSpeedTakeup(float speed);
 	void SetSpeedDrive(float speed);
-	void SetDirectionStock(bool clockwise);
-	void SetDirectionPicture(bool clockwise);
+	void SetDirectionTakeup(bool dir);
+
+	void StartTakeup();
+	void StopTakeup();
+	void EnableTakeup();
 
 	void RampTakeup(uint16_t start, uint16_t end, uint16_t time);
 	void RampTakeupLoop();
diff --git a/ino/contact_printer/DriveMotor.cpp b/ino/contact_printer/DriveMotor.cpp
index 671235a..7479aa5 100644
--- a/ino/contact_printer/DriveMotor.cpp
+++ b/ino/contact_printer/DriveMotor.cpp
@@ -21,6 +21,11 @@ void DriveMotor::Setup () {
   	pinMode(encoder_b_pin, INPUT);
 
 	ledcSetup(pwm_channel, pwm_frequency, pwm_resolution);
+	Serial.print("Attaching pin ");
+	Serial.print(enable_pin);
+	Serial.print(" to ledc channel ");
+	Serial.print(pwm_channel);
+	Serial.println(" for drive");
 	ledcAttachPin(enable_pin, pwm_channel);
 	ledcWrite(pwm_channel, pwm_duty_cycle);
 
@@ -34,15 +39,14 @@ void DriveMotor::Start() {
 	digitalWrite(backward_pin, LOW);
 }
 
-void DriveMotor::Stop() {
-	pwm_duty_cycle = 0;
+void DriveMotor::Stop() {;
 	digitalWrite(forward_pin, LOW);
 	digitalWrite(backward_pin, LOW);
-	ledcWrite(pwm_channel, pwm_duty_cycle);
+	ledcWrite(pwm_channel, 0);
 }
 
 void DriveMotor::SetSpeed(float speed) {
-	pwm_duty_cycle = floor(255 * speed);
+	pwm_duty_cycle = floor(pwm_maximum * speed);
 	Serial.print("Set drive motor PWM = ");
 	Serial.println(pwm_duty_cycle);
 }
diff --git a/ino/contact_printer/DriveMotor.h b/ino/contact_printer/DriveMotor.h
index 80deb5c..3b8fb3a 100644
--- a/ino/contact_printer/DriveMotor.h
+++ b/ino/contact_printer/DriveMotor.h
@@ -16,9 +16,10 @@ class DriveMotor {
 
 	volatile uint8_t pwm_duty_cycle = 0;
 
-	const uint32_t pwm_frequency = 30000;
+	const uint32_t pwm_frequency = 5000;
 	const uint8_t pwm_channel = 0;
 	const uint8_t pwm_resolution = 8;
+	const uint16_t pwm_maximum = 255; //8 = 255, 16 = 65535
 
 	const uint8_t ppr = 11;
 	const float ratio = 187.0 / 3.0;
diff --git a/ino/contact_printer/contact_printer.ino b/ino/contact_printer/contact_printer.ino
index 640dd02..a4a3e39 100644
--- a/ino/contact_printer/contact_printer.ino
+++ b/ino/contact_printer/contact_printer.ino
@@ -1,6 +1,6 @@
 #include "ContactPrinter.h";
 
- #define VERSION "0.2.0"
+ #define VERSION "0"
 
 /**
  * 
@@ -9,23 +9,19 @@
  * 
  * Pins
  * 
- * 23 Takeup Picture Enable - set duty rate
- * 22 Takeup Picture Clockwise
- * 21 Takeup Picture Counter Clockwise
+ * 21 Takeup Picture Enable - set duty rate
+ * 22 Takeup Direction A - Stock Clockwise, Picture Counter Clockwise
+ * 23 Takeup Direction B  - Stock Counter Clockwise, Picture Clockwise
  * 
- * 19 Takeup Stock Enable - set duty rate
- * 18 Takeup Stock Clockwise
- *  5 Takeup Stock Counter Clockwise
- * 
- * 13 Drive Enable
- * 12 Drive Forward (Clockwise)
+ * 26 Drive Enable
+ * 27 Drive Forward (Clockwise)
  * 14 Drive Backward (Counter Clockwise)
- * 27 Drive Encoder A
- * 26 Drive Encoder B
+ * 33 Drive Encoder A
+ * 25 Drive Encoder B
  * 
  * 15 Start Button
  * 
- * 33 Lamp
+ * 32 Lamp
  * 
  **/
 
@@ -33,10 +29,10 @@ ContactPrinter contact_printer;
 
 void setup () {
 	Serial.begin(115200);
-	contact_printer.Setup();
 	Serial.print("contact_printer v");
 	Serial.println(VERSION);
+	contact_printer.Setup();
 }
 void loop () {
 	contact_printer.Loop();
-}
\ No newline at end of file
+}
diff --git a/scripts/version.sh b/scripts/version.sh
index b327610..84846f4 100644
--- a/scripts/version.sh
+++ b/scripts/version.sh
@@ -15,7 +15,7 @@ if [[ "${1}" == "major" ]]; then
 elif [[ "${1}" == "minor" ]]; then
   let "VERSION[1]=${VERSION[1]}+1"
   let "VERSION[2]=0"
-else; then
+else
   let "VERSION[2]=${VERSION[2]}+1"
 fi