diff --git a/ino/contact_printer/ContactPrinter.cpp b/ino/contact_printer/ContactPrinter.cpp
index b8734c4..f29a010 100644
--- a/ino/contact_printer/ContactPrinter.cpp
+++ b/ino/contact_printer/ContactPrinter.cpp
@@ -7,12 +7,16 @@ ContactPrinter::ContactPrinter () {
 
 void ContactPrinter::Setup () {
 	pinMode(drive_pin, OUTPUT);
-	pinMode(takeup_picture_pin, OUTPUT);
-	pinMode(takeup_stock_pin, OUTPUT);
+	pinMode(takeup_picture_pin_cw, OUTPUT);
+	pinMode(takeup_picture_pin_ccw, OUTPUT);
+	pinMode(takeup_stock_pin_cw, OUTPUT);
+	pinMode(takeup_stock_pin_ccw, OUTPUT);
 
 	digitalWrite(drive_pin, LOW);
-	digitalWrite(takeup_picture_pin, LOW);
-	digitalWrite(takeup_stock_pin, LOW);
+	digitalWrite(takeup_picture_pin_cw, LOW);
+	digitalWrite(takeup_picture_pin_ccw, LOW);
+	digitalWrite(takeup_stock_pin_cw, LOW);
+	digitalWrite(takeup_stock_pin_ccw, LOW);
 }
 
 void ContactPrinter::Start () {
@@ -23,8 +27,9 @@ void ContactPrinter::Start () {
 
 void ContactPrinter::Stop () {
 	analogWrite(drive_pin, 0);
-	analogWrite(takeup_stock_pin, 0);
-	analogWrite(takeup_picture_pin, 0);
+	delay(100);
+	RampTakeup(takeup_pwm, 0, takeup_ramp_time);
+
 } 
 
 void ContactPrinter::SetSpeedTakeup(float speed) {
@@ -38,24 +43,43 @@ void ContactPrinter::SetSpeedDrive(float speed) {
 }
 
 void ContactPrinter::SetDirectionStock(bool clockwise) {
-
+	takeup_stock_cw = clockwise;
 }
 
 void ContactPrinter::SetDirectionPicture(bool clockwise) {
-
+	takeup_picture_cw = 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;
+	uint8_t takeup_picture_pin;
+	uint8_t takeup_stock_pin;
 	bool dir = end < start;
+
+	if (takeup_picture_cw) {
+		takeup_picture_pin = takeup_picture_pin_cw;
+		analogWrite(takeup_picture_pin_ccw, 0);
+	} else {
+		takeup_picture_pin = takeup_picture_pin_ccw;
+		analogWrite(takeup_picture_pin_cw, 0);
+	}
+	if (takeup_stock_cw) {
+		takeup_stock_pin = takeup_stock_pin_cw;
+		analogWrite(takeup_stock_pin_ccw, 0);
+	} else {
+		takeup_stock_pin = takeup_stock_pin_cw;
+		analogWrite(takeup_stock_pin_cw, 0);
+	}
+
 	for (uint16_t i = 0; i < steps; i++) {
 		if (pwm <= 0 || pwm >= 256) {
 			break;
 		}
-		analogWrite(takeup_stock_pin, pwm);
 		analogWrite(takeup_picture_pin, pwm);
+		analogWrite(takeup_stock_pin, pwm);
 		delay(step);
 		if (dir) {
 			pwm++;
diff --git a/ino/contact_printer/ContactPrinter.h b/ino/contact_printer/ContactPrinter.h
index a9c99a8..9480c29 100644
--- a/ino/contact_printer/ContactPrinter.h
+++ b/ino/contact_printer/ContactPrinter.h
@@ -10,8 +10,10 @@ class ContactPrinter {
 	const uint16_t serial_delay = 5;
 	const uint16_t baud = 57600;
 	const uint8_t drive_pin = 7;
-	const uint8_t takeup_picture_pin = 8;
-	const uint8_t takeup_stock_pin = 9;
+	const uint8_t takeup_picture_pin_cw = 8;
+	const uint8_t takeup_picture_pin_ccw = 9;
+	const uint8_t takeup_stock_pin_cw = 10;
+	const uint8_t takeup_stock_pin_ccw = 11;
 
 	volatile float drive_speed = 1f;
 	volatile float takeup_speed = 1f;
@@ -19,6 +21,11 @@ class ContactPrinter {
 	volatile uint16_t drive_pwm;
 	volatile uint16_t takeup_pwm;
 
+	volatile bool takeup_picture_cw = false;
+	volatile bool takeup_picture_ccw = true;
+
+	volatile uint16_t takeup_ramp_time = 500;
+
 	volatile bool running = false;
 
 	public: