diff --git a/ino/contact_printer/ContactPrinter.cpp b/ino/contact_printer/ContactPrinter.cpp
index d9e38bf..f904086 100644
--- a/ino/contact_printer/ContactPrinter.cpp
+++ b/ino/contact_printer/ContactPrinter.cpp
@@ -31,15 +31,15 @@ void ContactPrinter::Setup () {
 void ContactPrinter::Start () {
 	RampTakeup(0, takeup_pwm_duty_cycle, takeup_ramp_time);
 	delay(100);
-	//drive_motor.Start();
+	drive_motor.Start();
 }
 
 void ContactPrinter::Stop () {
-	//drive_motor.Start();
+	drive_motor.Start();
 	delay(100);
 	RampTakeup( takeup_pwm_duty_cycle, 0, takeup_ramp_time);
 	digitalWrite(takeup_picture_pin_cw, LOW);
-	digitalWrite(takeup_picture_pin_ccw, LOW)
+	digitalWrite(takeup_picture_pin_ccw, LOW);
 	digitalWrite(takeup_stock_pin_cw, LOW);
 	digitalWrite(takeup_stock_pin_ccw, LOW);
 } 
@@ -63,10 +63,10 @@ void ContactPrinter::SetDirectionPicture(bool clockwise) {
 
 //linear
 void ContactPrinter::RampTakeup(uint16_t start, uint16_t end, uint16_t time) {
-	uint16_t steps = abs(start - end);
-	uint16_t step = round(time / steps);
-	uint16_t pwm = start;
-	bool dir = end < start;
+	takeup_ramp_steps = abs(start - end);
+	takeup_ramp_step = round(time / takeup_ramp_steps);
+	takeup_pwm_duty_cycle  = start;
+	takeup_ramp_dir = end < start;
 
 	if (takeup_picture_cw) {
 		digitalWrite(takeup_picture_pin_cw, HIGH);
@@ -82,20 +82,23 @@ void ContactPrinter::RampTakeup(uint16_t start, uint16_t end, uint16_t time) {
 		digitalWrite(takeup_stock_pin_cw, LOW);
 		digitalWrite(takeup_stock_pin_ccw, HIGH);
 	}
+	takeup_ramping = true;
 
-	for (uint16_t i = 0; i < steps; i++) {
-		if (pwm <= 0 || pwm >= 256) {
+	for (uint16_t i = 0; i < takeup_ramp_steps; i++) {
+		if (takeup_pwm_duty_cycle <= 0 || takeup_pwm_duty_cycle >= 255) {
+			takeup_ramping = false;
 			break;
 		}
-		ledcWrite(takeup_picture_pwm_channel, pwm);
-		ledcWrite(takeup_stock_pwm_channel, pwm);
-		delay(step);
-		if (dir) {
-			pwm++;
+		ledcWrite(takeup_picture_pwm_channel, takeup_pwm_duty_cycle);
+		ledcWrite(takeup_stock_pwm_channel, takeup_pwm_duty_cycle);
+		delay(takeup_ramp_step);
+		if (takeup_ramp_dir) {
+			takeup_pwm_duty_cycle++;
 		} else {
-			pwm--;
+			takeup_pwm_duty_cycle--;
 		}
 	}
+	takeup_ramping = false;
 }
 
 bool ContactPrinter::IsRunning () {
diff --git a/ino/contact_printer/ContactPrinter.h b/ino/contact_printer/ContactPrinter.h
index 466227d..99fc1ef 100644
--- a/ino/contact_printer/ContactPrinter.h
+++ b/ino/contact_printer/ContactPrinter.h
@@ -30,6 +30,10 @@ class ContactPrinter {
 	volatile float takeup_speed = 1.0; //estimated rpm
 
 	volatile uint16_t takeup_pwm_duty_cycle = 0;
+	volatile uint16_t takeup_ramp_steps = 0;  //# of steps
+	volatile uint16_t takeup_ramp_step = 0;   //length of step (ms)
+	volatile boolean takeup_ramp_dir = true;  //true = up, false = down
+	volatile boolean takeup_ramping = false;
 
 	volatile bool takeup_picture_cw = false;
 	volatile bool takeup_picture_ccw = true;