diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index 7910859..89de4b9 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -40,6 +40,7 @@
 const ButtonLocation kTurret(3, 15);
 const ButtonLocation kHood(3, 3);
 const ButtonLocation kShootSlow(4, 2);
+const ButtonLocation kFeed(4, 1);
 const ButtonLocation kIntakeExtend(3, 9);
 const ButtonLocation kIntakeIn(4, 4);
 const ButtonLocation kSpit(4, 5);
@@ -84,8 +85,8 @@
     }
 
     if (data.IsPressed(kShootFast)) {
-      accelerator_speed = 600.0;
-      finisher_speed = 200.0;
+      accelerator_speed = 500.0;
+      finisher_speed = 500.0;
     } else if (data.IsPressed(kShootSlow)) {
       accelerator_speed = 30.0;
       finisher_speed = 30.0;
@@ -95,6 +96,9 @@
       intake_pos = 1.0;
     }
 
+    if (data.IsPressed(kFeed)) {
+    }
+
     if (data.IsPressed(kIntakeIn)) {
       roller_speed = 6.0f;
     } else if (data.IsPressed(kSpit)) {
@@ -132,6 +136,7 @@
       superstructure_goal_builder.add_turret(turret_offset);
       superstructure_goal_builder.add_roller_voltage(roller_speed);
       superstructure_goal_builder.add_shooter(shooter_offset);
+      superstructure_goal_builder.add_shooting(data.IsPressed(kFeed));
 
       if (!builder.Send(superstructure_goal_builder.Finish())) {
         AOS_LOG(ERROR, "Sending superstructure goal failed.\n");