diff --git a/frc971/control_loops/angle_adjust/angle_adjust.cc b/frc971/control_loops/angle_adjust/angle_adjust.cc
index 06e3719..7670e08 100644
--- a/frc971/control_loops/angle_adjust/angle_adjust.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust.cc
@@ -51,6 +51,7 @@
   }
 
   config_data->max_zeroing_voltage = 4.0;
+  config_data->deadband_voltage = 0.6;
   return true;
 }
 
diff --git a/frc971/control_loops/angle_adjust/unaugmented_angle_adjust_motor_plant.cc b/frc971/control_loops/angle_adjust/unaugmented_angle_adjust_motor_plant.cc
index ea84dce..9efffc3 100644
--- a/frc971/control_loops/angle_adjust/unaugmented_angle_adjust_motor_plant.cc
+++ b/frc971/control_loops/angle_adjust/unaugmented_angle_adjust_motor_plant.cc
@@ -27,7 +27,7 @@
   Eigen::Matrix<double, 2, 1> L;
   L << 1.60656297069, 51.0341417582;
   Eigen::Matrix<double, 1, 2> K;
-  K << 311.565731672, 11.2839301509;
+  K << 264.830871921, 10.681380124;
   return StateFeedbackController<2, 1, 1>(L, K, MakeAngleAdjustRawPlantCoefficients());
 }
 
diff --git a/frc971/control_loops/python/angle_adjust.py b/frc971/control_loops/python/angle_adjust.py
index 8ccf30f..6d84c0c 100755
--- a/frc971/control_loops/python/angle_adjust.py
+++ b/frc971/control_loops/python/angle_adjust.py
@@ -44,7 +44,7 @@
     self.A, self.B = self.ContinuousToDiscrete(
         self.A_continuous, self.B_continuous, self.dt)
 
-    self.PlaceControllerPoles([.45, .8])
+    self.PlaceControllerPoles([.45, .83])
 
     print "Unaugmented controller poles at"
     print self.K
diff --git a/frc971/control_loops/wrist/wrist.cc b/frc971/control_loops/wrist/wrist.cc
index 97a0cef..3c76ff8 100644
--- a/frc971/control_loops/wrist/wrist.cc
+++ b/frc971/control_loops/wrist/wrist.cc
@@ -48,6 +48,7 @@
   }
 
   config_data->max_zeroing_voltage = 5.0;
+  config_data->deadband_voltage = 0.0;
   return true;
 }
 
diff --git a/frc971/control_loops/zeroed_joint.h b/frc971/control_loops/zeroed_joint.h
index 468dc13..0fbe33e 100644
--- a/frc971/control_loops/zeroed_joint.h
+++ b/frc971/control_loops/zeroed_joint.h
@@ -117,6 +117,8 @@
     double zeroing_off_speed;
     // Maximum voltage to apply when zeroing.
     double max_zeroing_voltage;
+    // Deadband voltage.
+    double deadband_voltage;
     // Angles where we see a positive edge from the hall effect sensors.
     double hall_effect_start_angle[kNumZeroSensors];
   };
@@ -432,7 +434,18 @@
       break;
   }
   if (output_enabled) {
-    return loop_->voltage();
+    double voltage = loop_->voltage();
+    if (voltage > 0) {
+      voltage += config_data_.deadband_voltage;
+    } else if (voltage < 0) {
+      voltage -= config_data_.deadband_voltage;
+    }
+    if (voltage > 12.0) {
+      voltage = 12.0;
+    } else if (voltage < -12.0) {
+      voltage = -12.0;
+    }
+    return voltage;
   } else {
     return 0.0;
   }