diff --git a/y2017/control_loops/python/drivetrain.py b/y2017/control_loops/python/drivetrain.py
index 17e0079..8a65128 100755
--- a/y2017/control_loops/python/drivetrain.py
+++ b/y2017/control_loops/python/drivetrain.py
@@ -23,8 +23,9 @@
     self.stall_torque = 2.42 * self.num_motors * 0.60
     # Stall Current in Amps
     self.stall_current = 133.0 * self.num_motors
-    # Free Speed in RPM. Used number from last year.
-    self.free_speed = 5500.0
+    self.free_speed_rpm = 5500.0
+    # Free Speed in rotations/second.
+    self.free_speed = self.free_speed_rpm / 60
     # Free Current in Amps
     self.free_current = 4.7 * self.num_motors
     # Moment of inertia of the drivetrain in kg m^2
@@ -38,7 +39,7 @@
     # Resistance of the motor, divided by the number of motors.
     self.resistance = 12.0 / self.stall_current
     # Motor velocity constant
-    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+    self.Kv = ((self.free_speed * 2.0 * numpy.pi) /
                (12.0 - self.resistance * self.free_current))
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
@@ -321,7 +322,7 @@
           drivetrain_low_low.stall_torque))
     dog_loop_writer.AddConstant(control_loop.Constant("kStallCurrent", "%f",
           drivetrain_low_low.stall_current))
-    dog_loop_writer.AddConstant(control_loop.Constant("kFreeSpeedRPM", "%f",
+    dog_loop_writer.AddConstant(control_loop.Constant("kFreeSpeed", "%f",
           drivetrain_low_low.free_speed))
     dog_loop_writer.AddConstant(control_loop.Constant("kFreeCurrent", "%f",
           drivetrain_low_low.free_current))
@@ -343,6 +344,8 @@
           drivetrain_low_low.G_low))
     dog_loop_writer.AddConstant(control_loop.Constant("kHighGearRatio", "%f",
           drivetrain_high_high.G_high))
+    dog_loop_writer.AddConstant(control_loop.Constant("kHighOutputRatio", "%f",
+          drivetrain_high_high.G_high * drivetrain_high_high.r))
 
     dog_loop_writer.Write(argv[1], argv[2])
 
diff --git a/y2017/control_loops/python/hood.py b/y2017/control_loops/python/hood.py
index 6ab8072..52eec8e 100755
--- a/y2017/control_loops/python/hood.py
+++ b/y2017/control_loops/python/hood.py
@@ -24,15 +24,16 @@
     self.stall_torque = 0.43
     # Stall Current in Amps
     self.stall_current = 53.0
-    # Free Speed in RPM
-    self.free_speed = 13180.0
+    self.free_speed_rpm = 13180.0
+    # Free Speed in rotations/second.
+    self.free_speed = self.free_speed_rpm / 60
     # Free Current in Amps
     self.free_current = 1.8
 
     # Resistance of the motor
     self.R = 12.0 / self.stall_current
     # Motor velocity constant
-    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+    self.Kv = ((self.free_speed * 2.0 * numpy.pi) /
                (12.0 - self.R * self.free_current))
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
@@ -316,6 +317,10 @@
     hood = Hood('Hood')
     loop_writer = control_loop.ControlLoopWriter('Hood', [hood],
                                                  namespaces=namespaces)
+    loop_writer.AddConstant(control_loop.Constant(
+        'kFreeSpeed', '%f', hood.free_speed))
+    loop_writer.AddConstant(control_loop.Constant(
+        'kOutputRatio', '%f', hood.G))
     loop_writer.Write(argv[1], argv[2])
 
     integral_hood = IntegralHood('IntegralHood')
diff --git a/y2017/control_loops/python/indexer.py b/y2017/control_loops/python/indexer.py
index 4797600..01d9797 100755
--- a/y2017/control_loops/python/indexer.py
+++ b/y2017/control_loops/python/indexer.py
@@ -20,8 +20,9 @@
     self.stall_torque = 0.71
     # Stall Current in Amps
     self.stall_current = 134
-    # Free Speed in RPM
-    self.free_speed = 18730.0
+    self.free_speed_rpm = 18730.0
+    # Free Speed in rotations/second.
+    self.free_speed = self.free_speed_rpm / 60.0
     # Free Current in Amps
     self.free_current = 0.7
     # Moment of inertia of the indexer halves in kg m^2
@@ -54,7 +55,7 @@
     # Resistance of the motor, divided by 2 to account for the 2 motors
     self.R = 12.0 / self.stall_current
     # Motor velocity constant
-    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+    self.Kv = ((self.free_speed * 2.0 * numpy.pi) /
               (12.0 - self.R * self.free_current))
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
@@ -284,6 +285,10 @@
     indexer = Indexer('Indexer')
     loop_writer = control_loop.ControlLoopWriter('Indexer', [indexer],
                                                  namespaces=namespaces)
+    loop_writer.AddConstant(control_loop.Constant(
+        'kFreeSpeed', '%f', indexer.free_speed))
+    loop_writer.AddConstant(control_loop.Constant(
+        'kOutputRatio', '%f', indexer.G))
     loop_writer.Write(argv[1], argv[2])
 
     integral_indexer = IntegralIndexer('IntegralIndexer')
diff --git a/y2017/control_loops/python/intake.py b/y2017/control_loops/python/intake.py
index 41cfc0d..712dfa4 100755
--- a/y2017/control_loops/python/intake.py
+++ b/y2017/control_loops/python/intake.py
@@ -24,15 +24,16 @@
     self.stall_torque = 0.71
     # Stall Current in Amps
     self.stall_current = 134.0
-    # Free Speed in RPM
-    self.free_speed = 18730.0
+    self.free_speed_rpm = 18730.0
+    # Free Speed in rotations/second.
+    self.free_speed = self.free_speed_rpm / 60.0
     # Free Current in Amps
     self.free_current = 0.7
 
     # Resistance of the motor
     self.R = 12.0 / self.stall_current
     # Motor velocity constant
-    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+    self.Kv = ((self.free_speed * 2.0 * numpy.pi) /
                (12.0 - self.R * self.free_current))
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
@@ -308,6 +309,10 @@
     intake = Intake('Intake')
     loop_writer = control_loop.ControlLoopWriter('Intake', [intake],
                                                  namespaces=namespaces)
+    loop_writer.AddConstant(control_loop.Constant('kFreeSpeed', '%f',
+                                                  intake.free_speed))
+    loop_writer.AddConstant(control_loop.Constant('kOutputRatio', '%f',
+                                                  intake.G * intake.r))
     loop_writer.Write(argv[1], argv[2])
 
     integral_intake = IntegralIntake('IntegralIntake')
diff --git a/y2017/control_loops/python/shooter.py b/y2017/control_loops/python/shooter.py
index d7c505b..25e4b24 100755
--- a/y2017/control_loops/python/shooter.py
+++ b/y2017/control_loops/python/shooter.py
@@ -23,7 +23,9 @@
     # Stall Current in Amps
     self.stall_current = 134.0 * self.num_motors
     # Free Speed in RPM
-    self.free_speed = 18730.0
+    self.free_speed_rpm = 18730.0
+    # Free Speed in rotations/second.
+    self.free_speed = self.free_speed_rpm / 60.0
     # Free Current in Amps
     self.free_current = 0.7 * self.num_motors
     # Moment of inertia of the shooter wheel in kg m^2
@@ -33,7 +35,7 @@
     # Resistance of the motor, divided by 2 to account for the 2 motors
     self.R = 12.0 / self.stall_current
     # Motor velocity constant
-    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+    self.Kv = ((self.free_speed * 2.0 * numpy.pi) /
               (12.0 - self.R * self.free_current))
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
@@ -266,6 +268,10 @@
     shooter = Shooter('Shooter')
     loop_writer = control_loop.ControlLoopWriter('Shooter', [shooter],
                                                  namespaces=namespaces)
+    loop_writer.AddConstant(control_loop.Constant(
+        'kFreeSpeed', '%f', shooter.free_speed))
+    loop_writer.AddConstant(control_loop.Constant(
+        'kOutputRatio', '%f', shooter.G))
     loop_writer.Write(argv[1], argv[2])
 
     integral_shooter = IntegralShooter('IntegralShooter')
diff --git a/y2017/control_loops/python/turret.py b/y2017/control_loops/python/turret.py
index 454be9e..a69e3e1 100755
--- a/y2017/control_loops/python/turret.py
+++ b/y2017/control_loops/python/turret.py
@@ -24,15 +24,16 @@
     self.stall_torque = 0.43
     # Stall Current in Amps
     self.stall_current = 53
-    # Free Speed in RPM
-    self.free_speed = 13180
+    self.free_speed_rpm = 13180
+    # Free Speed in rotations/second.
+    self.free_speed = self.free_speed_rpm / 60.0
     # Free Current in Amps
     self.free_current = 1.8
 
     # Resistance of the motor
     self.R = 12.0 / self.stall_current
     # Motor velocity constant
-    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+    self.Kv = ((self.free_speed * 2.0 * numpy.pi) /
                (12.0 - self.R * self.free_current))
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
@@ -302,6 +303,10 @@
     turret = Turret('Turret')
     loop_writer = control_loop.ControlLoopWriter('Turret', [turret],
                                                  namespaces=namespaces)
+    loop_writer.AddConstant(control_loop.Constant(
+        'kFreeSpeed', '%f', turret.free_speed))
+    loop_writer.AddConstant(control_loop.Constant(
+        'kOutputRatio', '%f', turret.G))
     loop_writer.Write(argv[1], argv[2])
 
     integral_turret = IntegralTurret('IntegralTurret')
diff --git a/y2017/control_loops/superstructure/hood/BUILD b/y2017/control_loops/superstructure/hood/BUILD
index 7b03141..8f27d80 100644
--- a/y2017/control_loops/superstructure/hood/BUILD
+++ b/y2017/control_loops/superstructure/hood/BUILD
@@ -1,8 +1,5 @@
-package(default_visibility = ['//visibility:public'])
-
 genrule(
   name = 'genrule_hood',
-  visibility = ['//visibility:private'],
   cmd = '$(location //y2017/control_loops/python:hood) $(OUTS)',
   tools = [
     '//y2017/control_loops/python:hood',
@@ -17,6 +14,7 @@
 
 cc_library(
   name = 'hood_plants',
+  visibility = ['//visibility:public'],
   srcs = [
     'hood_plant.cc',
     'hood_integral_plant.cc',
diff --git a/y2017/control_loops/superstructure/indexer/BUILD b/y2017/control_loops/superstructure/indexer/BUILD
index 01a52c4..3df0810 100644
--- a/y2017/control_loops/superstructure/indexer/BUILD
+++ b/y2017/control_loops/superstructure/indexer/BUILD
@@ -1,8 +1,5 @@
-package(default_visibility = ['//visibility:public'])
-
 genrule(
   name = 'genrule_indexer',
-  visibility = ['//visibility:private'],
   cmd = '$(location //y2017/control_loops/python:indexer) $(OUTS)',
   tools = [
     '//y2017/control_loops/python:indexer',
@@ -17,6 +14,7 @@
 
 cc_library(
   name = 'indexer_plants',
+  visibility = ['//visibility:public'],
   srcs = [
     'indexer_plant.cc',
     'indexer_integral_plant.cc',
diff --git a/y2017/control_loops/superstructure/intake/BUILD b/y2017/control_loops/superstructure/intake/BUILD
index 41e6869..68faeba 100644
--- a/y2017/control_loops/superstructure/intake/BUILD
+++ b/y2017/control_loops/superstructure/intake/BUILD
@@ -1,8 +1,5 @@
-package(default_visibility = ['//visibility:public'])
-
 genrule(
   name = 'genrule_intake',
-  visibility = ['//visibility:private'],
   cmd = '$(location //y2017/control_loops/python:intake) $(OUTS)',
   tools = [
     '//y2017/control_loops/python:intake',
@@ -17,6 +14,7 @@
 
 cc_library(
   name = 'intake_plants',
+  visibility = ['//visibility:public'],
   srcs = [
     'intake_plant.cc',
     'intake_integral_plant.cc',
diff --git a/y2017/control_loops/superstructure/shooter/BUILD b/y2017/control_loops/superstructure/shooter/BUILD
index 588e12c..cb9fcf4 100644
--- a/y2017/control_loops/superstructure/shooter/BUILD
+++ b/y2017/control_loops/superstructure/shooter/BUILD
@@ -1,8 +1,5 @@
-package(default_visibility = ['//visibility:public'])
-
 genrule(
   name = 'genrule_shooter',
-  visibility = ['//visibility:private'],
   cmd = '$(location //y2017/control_loops/python:shooter) $(OUTS)',
   tools = [
     '//y2017/control_loops/python:shooter',
@@ -17,6 +14,7 @@
 
 cc_library(
   name = 'shooter_plants',
+  visibility = ['//visibility:public'],
   srcs = [
     'shooter_plant.cc',
     'shooter_integral_plant.cc',
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index b1e63bb..be5b824 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -7,8 +7,8 @@
 //import "frc971/control_loops/control_loops.q";
 
 struct IntakeGoal {
-  // Zero on the intake is when the intake is retracted inside the robot,
-  // unable to intake. Positive is out.
+  // Zero for the intake is when the front tube is tangent with the front of the
+  // frame. Positive is out.
 
   // Goal distance of the intake.
   double distance;
@@ -20,8 +20,8 @@
   double voltage_rollers;
 };
 
-struct SerializerGoal {
-  // Serializer angular velocity goals in radians/second.
+struct IndexerGoal {
+  // Indexer angular velocity goals in radians/second.
   double angular_velocity;
 };
 
@@ -38,8 +38,8 @@
 };
 
 struct HoodGoal {
-  // Angle the hood is currently at. An angle of zero hood is at the lower soft stop, angle
-  // increases as hood rises.
+  // Angle the hood is currently at. An angle of zero is at the lower hard
+  // stop, angle increases as hood rises.
   double angle;
 
   // Caps on velocity/acceleration for profiling. 0 for the default.
@@ -47,18 +47,20 @@
 };
 
 struct ShooterGoal {
-  // Angular velocity goals in radians/second.
+  // Angular velocity goals in radians/second. Positive is shooting out of the
+  // robot.
   double angular_velocity;
 };
 
-struct SerializerStatus {
-  // The current average velocity in radians/second.
+struct IndexerStatus {
+  // The current average velocity in radians/second. Positive is moving balls up
+  // towards the shooter. This is the angular velocity of the inner piece.
   double avg_angular_velocity;
 
   // The current instantaneous filtered velocity in radians/second.
   double angular_velocity;
 
-  // True if the serializer is ready.  It is better to compare the velocities
+  // True if the indexer is ready.  It is better to compare the velocities
   // directly so there isn't confusion on if the goal is up to date.
   bool ready;
 
@@ -86,7 +88,7 @@
 
   message Goal {
     IntakeGoal intake;
-    SerializerGoal serializer;
+    IndexerGoal indexer;
     TurretGoal turret;
     HoodGoal hood;
     ShooterGoal shooter;
@@ -103,7 +105,7 @@
     .frc971.control_loops.ProfiledJointStatus intake;
     .frc971.control_loops.ProfiledJointStatus turret;
     .frc971.control_loops.ProfiledJointStatus hood;
-    SerializerStatus serializer;
+    IndexerStatus indexer;
     ShooterStatus shooter;
   };
 
@@ -115,8 +117,8 @@
     // out.
     .frc971.PotAndIndexPosition intake;
 
-    // Serializer angle in radians.
-    double theta_serializer;
+    // Indexer angle in radians.
+    double theta_indexer;
 
     // The sensor readings for the turret. The units and sign are defined the
     // same as what's in the Goal message.
@@ -133,13 +135,13 @@
   message Output {
     // Voltages for some of the subsystems.
     double voltage_intake;
-    double voltage_serializer;
+    double voltage_indexer;
     double voltage_shooter;
 
     // Rollers on the intake.
     double voltage_intake_rollers;
-    // Roller on the serializer
-    double voltage_serializer_rollers;
+    // Roller on the indexer
+    double voltage_indexer_rollers;
 
     double voltage_turret;
     double voltage_hood;
diff --git a/y2017/control_loops/superstructure/turret/BUILD b/y2017/control_loops/superstructure/turret/BUILD
index 2370fd7..70b9508 100644
--- a/y2017/control_loops/superstructure/turret/BUILD
+++ b/y2017/control_loops/superstructure/turret/BUILD
@@ -1,8 +1,5 @@
-package(default_visibility = ['//visibility:public'])
-
 genrule(
   name = 'genrule_turret',
-  visibility = ['//visibility:private'],
   cmd = '$(location //y2017/control_loops/python:turret) $(OUTS)',
   tools = [
     '//y2017/control_loops/python:turret',
@@ -17,6 +14,7 @@
 
 cc_library(
   name = 'turret_plants',
+  visibility = ['//visibility:public'],
   srcs = [
     'turret_plant.cc',
     'turret_integral_plant.cc',