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')