diff --git a/vision/GoalMaster.cpp b/vision/GoalMaster.cpp
index be42084..d5e8822 100644
--- a/vision/GoalMaster.cpp
+++ b/vision/GoalMaster.cpp
@@ -7,28 +7,47 @@
 #include "frc971/queues/CameraTarget.q.h"
 
 #include "vision/RingBuffer.h"
+#include "vision/SensorProcessor.h"
 
-using frc971::vision::RingBuffer;
-using frc971::sensors::gyro;
-using frc971::vision::targets;
-using frc971::vision::target_angle;
+using ::frc971::vision::RingBuffer;
+using ::frc971::sensors::gyro;
+using ::frc971::vision::targets;
+using ::frc971::vision::target_angle;
+using ::frc971::kPixelsToMeters;
+using ::frc971::kMetersToShooterSpeeds;
+using ::frc971::kMetersToShooterAngles;
+using ::frc971::interpolate;
 
 int main() {
-  RingBuffer< ::aos::time::Time, double> buff;
+  //RingBuffer< ::aos::time::Time, double> buff;
   ::aos::InitNRT();
   while (true) {
-    gyro.FetchNextBlocking();
-    buff.Sample(gyro->sent_time, gyro->angle);
+    //gyro.FetchNextBlocking();
+    //buff.Sample(gyro->sent_time, gyro->angle);
     if (targets.FetchNext()) {
-      ::aos::time::Time stamp = ::aos::time::Time::InNS(targets->timestamp);
+      /*::aos::time::Time stamp = ::aos::time::Time::InNS(targets->timestamp);
       double angle_goal =
           buff.ValueAt(stamp) -
 					M_PI / 2.0 * targets->percent_azimuth_off_center / 2.0;
       printf("%g ",angle_goal);
-      printf("%g\n",gyro->angle);
+      printf("%g\n",gyro->angle);*/
+
+      double meters = interpolate(
+          sizeof(kPixelsToMeters) / sizeof(kPixelsToMeters[0]),
+          kPixelsToMeters,
+          targets->percent_elevation_off_center);
 
       target_angle.MakeWithBuilder()
-          .target_angle(angle_goal).Send();
+          .target_angle(/*angle_goal*/0)
+          .shooter_speed(interpolate(
+                  sizeof(kMetersToShooterSpeeds) / sizeof(kMetersToShooterSpeeds[0]),
+                  kMetersToShooterSpeeds,
+                  meters))
+          .shooter_angle(interpolate(
+                  sizeof(kMetersToShooterAngles) / sizeof(kMetersToShooterAngles[0]),
+                  kMetersToShooterAngles,
+                  meters))
+          .Send();
     }
   }
   ::aos::Cleanup();