diff --git a/frc971/control_loops/python/arm.py b/frc971/control_loops/python/arm.py
index 812a0c3..e17990a 100755
--- a/frc971/control_loops/python/arm.py
+++ b/frc971/control_loops/python/arm.py
@@ -10,6 +10,7 @@
 import matplotlib
 from matplotlib import pylab
 
+
 class Arm(control_loop.ControlLoop):
   def __init__(self, name="Arm", mass=None):
     super(Arm, self).__init__(name)
@@ -52,19 +53,19 @@
     # Position difference is 1 - 2
     # Input is [Voltage 1, Voltage 2]
 
-    C1 = self.spring / (self.J * 0.5)
-    C2 = self.Kt * self.G / (self.J * 0.5 * self.R)
-    C3 = self.G * self.G * self.Kt / (self.R  * self.J * 0.5 * self.Kv)
+    self.C1 = self.spring / (self.J * 0.5)
+    self.C2 = self.Kt * self.G / (self.J * 0.5 * self.R)
+    self.C3 = self.G * self.G * self.Kt / (self.R  * self.J * 0.5 * self.Kv)
 
     self.A_continuous = numpy.matrix(
         [[0, 1, 0, 0],
-         [0, -C3, 0, 0],
+         [0, -self.C3, 0, 0],
          [0, 0, 0, 1],
-         [0, 0, -C1 * 2.0, -C3]])
+         [0, 0, -self.C1 * 2.0, -self.C3]])
 
-    print 'Full speed is', C2 / C3 * 12.0
+    print 'Full speed is', self.C2 / self.C3 * 12.0
 
-    print 'Stall arm difference is', 12.0 * C2 / C1
+    print 'Stall arm difference is', 12.0 * self.C2 / self.C1
     print 'Stall arm difference first principles is', self.stall_torque * self.G / self.spring
 
     print '5 degrees of arm error is', self.spring / self.r * (math.pi * 5.0 / 180.0)
@@ -72,9 +73,9 @@
     # Start with the unmodified input
     self.B_continuous = numpy.matrix(
         [[0, 0],
-         [C2 / 2.0, C2 / 2.0],
+         [self.C2 / 2.0, self.C2 / 2.0],
          [0, 0],
-         [C2 / 2.0, -C2 / 2.0]])
+         [self.C2 / 2.0, -self.C2 / 2.0]])
 
     self.C = numpy.matrix([[1, 0, 1, 0],
                            [1, 0, -1, 0]])
@@ -118,6 +119,65 @@
     self.U_max = numpy.matrix([[12.0], [12.0]])
     self.U_min = numpy.matrix([[-12.0], [-12.0]])
 
+    print 'Observer (Converted to a KF)', numpy.linalg.inv(self.A) * self.L
+
+    self.InitializeState()
+
+
+class IntegralArm(Arm):
+  def __init__(self, name="IntegralArm", mass=None):
+    super(IntegralArm, self).__init__(name=name, mass=mass)
+
+    self.A_continuous_unaugmented = self.A_continuous
+    self.A_continuous = numpy.matrix(numpy.zeros((5, 5)))
+    self.A_continuous[0:4, 0:4] = self.A_continuous_unaugmented
+    self.A_continuous[1, 4] = self.C2
+
+    # Start with the unmodified input
+    self.B_continuous_unaugmented = self.B_continuous
+    self.B_continuous = numpy.matrix(numpy.zeros((5, 2)))
+    self.B_continuous[0:4, 0:2] = self.B_continuous_unaugmented
+
+    self.C_unaugmented = self.C
+    self.C = numpy.matrix(numpy.zeros((2, 5)))
+    self.C[0:2, 0:4] = self.C_unaugmented
+
+    self.A, self.B = self.ContinuousToDiscrete(
+        self.A_continuous, self.B_continuous, self.dt)
+    print 'A cont', self.A_continuous
+    print 'B cont', self.B_continuous
+    print 'A discrete', self.A
+
+    q_pos = 0.08
+    q_vel = 0.40
+
+    q_pos_diff = 0.08
+    q_vel_diff = 0.40
+    q_voltage = 6.0
+    self.Q = numpy.matrix([[(q_pos ** 2.0), 0.0, 0.0, 0.0, 0.0],
+                           [0.0, (q_vel ** 2.0), 0.0, 0.0, 0.0],
+                           [0.0, 0.0, (q_pos_diff ** 2.0), 0.0, 0.0],
+                           [0.0, 0.0, 0.0, (q_vel_diff ** 2.0), 0.0],
+                           [0.0, 0.0, 0.0, 0.0, (q_voltage ** 2.0)]])
+
+    r_volts = 0.05
+    self.R = numpy.matrix([[(r_volts ** 2.0), 0.0],
+                           [0.0, (r_volts ** 2.0)]])
+
+    self.KalmanGain, self.Q_steady = controls.kalman(
+        A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
+
+    self.U_max = numpy.matrix([[12.0], [12.0]])
+    self.U_min = numpy.matrix([[-12.0], [-12.0]])
+
+    self.K_unaugmented = self.K
+    self.K = numpy.matrix(numpy.zeros((2, 5)));
+    self.K[0:2, 0:4] = self.K_unaugmented
+    self.K[0, 4] = 1;
+    self.K[1, 4] = 1;
+    print 'Kal', self.KalmanGain
+    self.L = self.A * self.KalmanGain
+
     self.InitializeState()
 
 
@@ -225,31 +285,125 @@
     pylab.show()
 
 
+def run_integral_test(arm, initial_X, goal, observer_arm, disturbance,
+                      max_separation_error=0.01, show_graph=True,
+                      iterations=400):
+  """Runs the integral control arm plant with an initial condition and goal.
+
+    The tests themselves are not terribly sophisticated; I just test for
+    whether the goal has been reached and whether the separation goes
+    outside of the initial and goal values by more than max_separation_error.
+    Prints out something for a failure of either condition and returns
+    False if tests fail.
+    Args:
+      arm: arm object to use.
+      initial_X: starting state.
+      goal: goal state.
+      observer_arm: arm object to use for the observer.
+      show_graph: Whether or not to display a graph showing the changing
+           states and voltages.
+      iterations: Number of timesteps to run the model for.
+      disturbance: Voltage missmatch between controller and model.
+  """
+
+  arm.X = initial_X
+
+  # Various lists for graphing things.
+  t = []
+  x_avg = []
+  x_sep = []
+  x_hat_avg = []
+  x_hat_sep = []
+  v_avg = []
+  v_sep = []
+  u_left = []
+  u_right = []
+  u_error = []
+
+  sep_plot_gain = 100.0
+
+  unaugmented_goal = goal
+  goal = numpy.matrix(numpy.zeros((5, 1)))
+  goal[0:4, 0] = unaugmented_goal
+
+  for i in xrange(iterations):
+    X_hat = observer_arm.X_hat[0:4]
+
+    x_hat_avg.append(observer_arm.X_hat[0, 0])
+    x_hat_sep.append(observer_arm.X_hat[2, 0] * sep_plot_gain)
+
+    U = observer_arm.K * (goal - observer_arm.X_hat)
+    u_error.append(observer_arm.X_hat[4,0])
+    U = CapU(U)
+    x_avg.append(arm.X[0, 0])
+    v_avg.append(arm.X[1, 0])
+    x_sep.append(arm.X[2, 0] * sep_plot_gain)
+    v_sep.append(arm.X[3, 0])
+
+    observer_arm.PredictObserver(U)
+
+    arm.Update(U + disturbance)
+    observer_arm.Y = arm.Y
+    observer_arm.CorrectObserver(U)
+
+    t.append(i * arm.dt)
+    u_left.append(U[0, 0])
+    u_right.append(U[1, 0])
+
+  print 'End is', observer_arm.X_hat[4, 0]
+
+  if show_graph:
+    pylab.subplot(2, 1, 1)
+    pylab.plot(t, x_avg, label='x avg')
+    pylab.plot(t, x_sep, label='x sep')
+    if observer_arm is not None:
+      pylab.plot(t, x_hat_avg, label='x_hat avg')
+      pylab.plot(t, x_hat_sep, label='x_hat sep')
+    pylab.legend()
+
+    pylab.subplot(2, 1, 2)
+    pylab.plot(t, u_left, label='u left')
+    pylab.plot(t, u_right, label='u right')
+    pylab.plot(t, u_error, label='u error')
+    pylab.legend()
+    pylab.show()
+
+
 def main(argv):
   loaded_mass = 25
   #loaded_mass = 0
   arm = Arm(mass=13 + loaded_mass)
-  arm_controller = Arm(mass=13 + 15)
-  observer_arm = Arm(mass=13 + 15)
+  #arm_controller = Arm(mass=13 + 15)
+  #observer_arm = Arm(mass=13 + 15)
   #observer_arm = None
 
+  integral_arm = IntegralArm(mass=13 + loaded_mass)
+  integral_arm.X_hat[0, 0] += 0.02
+  integral_arm.X_hat[2, 0] += 0.02
+  integral_arm.X_hat[4] = 0
+
   # Test moving the arm with constant separation.
-  initial_X = numpy.matrix([[0.0], [0.0], [0.01], [0.0]])
-  #initial_X = numpy.matrix([[0.0], [0.0], [0.00], [0.0]])
-  R = numpy.matrix([[1.0], [0.0], [0.0], [0.0]])
-  run_test(arm, initial_X, R, controller_arm=arm_controller,
-           observer_arm=observer_arm)
+  initial_X = numpy.matrix([[0.0], [0.0], [0.0], [0.0]])
+  R = numpy.matrix([[0.0], [0.0], [0.0], [0.0]])
+  run_integral_test(arm, initial_X, R, integral_arm, disturbance=2)
 
   # Write the generated constants out to a file.
-  if len(argv) != 3:
-    print "Expected .h file name and .cc file name for the arm."
+  if len(argv) != 5:
+    print "Expected .h file name and .cc file name for the arm and augmented arm."
   else:
-    arm = Arm("Arm", 2)
+    arm = Arm("Arm", mass=13)
     loop_writer = control_loop.ControlLoopWriter("Arm", [arm])
     if argv[1][-3:] == '.cc':
       loop_writer.Write(argv[2], argv[1])
     else:
       loop_writer.Write(argv[1], argv[2])
 
+    integral_arm = IntegralArm("IntegralArm", mass=13)
+    loop_writer = control_loop.ControlLoopWriter("IntegralArm", [integral_arm])
+    if argv[3][-3:] == '.cc':
+      loop_writer.Write(argv[4], argv[3])
+    else:
+      loop_writer.Write(argv[3], argv[4])
+
 if __name__ == '__main__':
   sys.exit(main(sys.argv))