protected void execute() {

		if(oi.getButton(RobotMap.shooterAngleController, RobotMap.shooterAngleAutoButton)){
			autonomous();
		}
		else{
			boolean buttonUp = oi.getButton(RobotMap.shooterAngleController, RobotMap.shooterAngleButtonUp);
			boolean buttonDown = oi.getButton(RobotMap.shooterAngleController, RobotMap.shooterAngleButtonDown);
			if(buttonUp != buttonDown){
				if(buttonUp)
					moveUp();
			
				else
					moveDown();
				
			}
			else
				stopMove();
			
		}
		
		// TODO Auto-generated method stub

	}