diff --git a/frc971/control_loops/python/shooter.py b/frc971/control_loops/python/shooter.py
index ab7b163..663a6b2 100755
--- a/frc971/control_loops/python/shooter.py
+++ b/frc971/control_loops/python/shooter.py
@@ -9,11 +9,11 @@
   def __init__(self):
     super(Shooter, self).__init__("Shooter")
     # Stall Torque in N m
-    self.stall_torque = 0.49819248 
+    self.stall_torque = 0.49819248
     # Stall Current in Amps
-    self.stall_current = 85 
+    self.stall_current = 85
     # Free Speed in RPM
-    self.free_speed = 19300.0 
+    self.free_speed = 19300.0
     # Free Current in Amps
     self.free_current = 1.4
     # Moment of inertia of the shooter wheel in kg m^2
@@ -21,7 +21,7 @@
     # Resistance of the motor, divided by 2 to account for the 2 motors
     self.R = 12.0 / self.stall_current / 2
     # Motor velocity constant
-    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) / 
+    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
               (12.0 - self.R * self.free_current))
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
@@ -31,19 +31,19 @@
     self.dt = 0.01
 
     # State feedback matrices
-    self.A_continuous = numpy.matrix( 
+    self.A_continuous = numpy.matrix(
         [[0, 1],
          [0, -self.Kt / self.Kv / (self.J * self.G * self.G * self.R)]])
-    self.B_continuous = numpy.matrix( 
+    self.B_continuous = numpy.matrix(
         [[0],
          [self.Kt / (self.J * self.G * self.R)]])
-    self.C = numpy.matrix([[1, 0]]) 
-    self.D = numpy.matrix([[0]]) 
+    self.C = numpy.matrix([[1, 0]])
+    self.D = numpy.matrix([[0]])
 
-    self.ContinuousToDiscrete(self.A_continuous, self.B_continuous, 
+    self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
                               self.dt, self.C)
 
-    self.PlaceControllerPoles([.2, .15])
+    self.PlaceControllerPoles([.6, .981])
 
     self.rpl = .45
     self.ipl = 0.07
@@ -69,50 +69,57 @@
   shooter = Shooter()
   close_loop_x = []
   close_loop_U = []
-  velocity_goal = 1050.0
+  velocity_goal = 300
   R = numpy.matrix([[0.0], [velocity_goal]])
   for _ in pylab.linspace(0,1.99,200):
     # Iterate the position up.
     R = numpy.matrix([[R[0, 0] + 10.5], [velocity_goal]])
     # Prevents the position goal from going beyond what is necessary.
     velocity_weight_scalar = 0.35
-    max_reference = ((shooter.U_max[0, 0] - velocity_weight_scalar *
-                    (velocity_goal - shooter.X_hat[1, 0]) * shooter.K[0, 1]) / shooter.K[0, 0]
-                    + shooter.X_hat[0, 0])
-    min_reference = ((shooter.U_min[0, 0] - velocity_weight_scalar *
-                    (velocity_goal - shooter.X_hat[1, 0]) * shooter.K[0, 1]) / shooter.K[0, 0]
-                    + shooter.X_hat[0, 0])
-    R[0, 0] = max(min(R[0, 0], max_reference), min_reference)
-    U = numpy.clip(shooter.K * (R - shooter.X_hat), shooter.U_min, shooter.U_max)
+    max_reference = (
+        (shooter.U_max[0, 0] - velocity_weight_scalar *
+         (velocity_goal - shooter.X_hat[1, 0]) * shooter.K[0, 1]) /
+         shooter.K[0, 0] +
+         shooter.X_hat[0, 0])
+    min_reference = (
+        (shooter.U_min[0, 0] - velocity_weight_scalar *
+         (velocity_goal - shooter.X_hat[1, 0]) * shooter.K[0, 1]) /
+         shooter.K[0, 0] +
+         shooter.X_hat[0, 0])
+    R[0, 0] = numpy.clip(R[0, 0], min_reference, max_reference)
+    U = numpy.clip(shooter.K * (R - shooter.X_hat),
+                   shooter.U_min, shooter.U_max)
     shooter.UpdateObserver(U)
     shooter.Update(U)
     close_loop_x.append(shooter.X[1, 0])
     close_loop_U.append(U[0, 0])
 
-#  pylab.plotfile("shooter.csv", (0,1))
-#  pylab.plot(pylab.linspace(0,1.99,200), close_loop_U, 'ro')
-#  pylab.plotfile("shooter.csv", (0,2))
+  #pylab.plotfile("shooter.csv", (0,1))
+  #pylab.plot(pylab.linspace(0,1.99,200), close_loop_U, 'ro')
+  #pylab.plotfile("shooter.csv", (0,2))
   pylab.plot(pylab.linspace(0,1.99,200), close_loop_x, 'ro')
   pylab.show()
 
   # Simulate spin down.
   spin_down_x = [];
-  R = numpy.matrix([[0.0], [0.0]])
+  R = numpy.matrix([[50.0], [0.0]])
   for _ in xrange(150):
     U = 0
     shooter.UpdateObserver(U)
     shooter.Update(U)
     spin_down_x.append(shooter.X[1, 0])
 
-#  pylab.plot(range(150), spin_down_x)
-#  pylab.show()
+  #pylab.plot(range(150), spin_down_x)
+  #pylab.show()
 
-
-  if len(argv) != 3: 
-    print "Expected .cc file name and .h file name"
+  if len(argv) != 3:
+    print "Expected .h file name and .cc file name"
   else:
-    shooter.DumpHeaderFile(argv[1])
-    shooter.DumpCppFile(argv[2], argv[1])
+    if argv[1][-3:] == '.cc':
+      print '.cc file is second'
+    else:
+      shooter.DumpHeaderFile(argv[1])
+      shooter.DumpCppFile(argv[2], argv[1])
 
 
 if __name__ == '__main__':