diff --git a/y2017/control_loops/python/BUILD b/y2017/control_loops/python/BUILD
index 4de8144..a6277e7 100644
--- a/y2017/control_loops/python/BUILD
+++ b/y2017/control_loops/python/BUILD
@@ -58,7 +58,7 @@
         "//external:python-gflags",
         "//external:python-glog",
         "//frc971/control_loops/python:controls",
-        "@matplotlib_repo//:matplotlib2.7",
+        "@matplotlib_repo//:matplotlib3",
     ],
 )
 
@@ -106,7 +106,7 @@
         "//external:python-gflags",
         "//external:python-glog",
         "//frc971/control_loops/python:controls",
-        "@matplotlib_repo//:matplotlib2.7",
+        "@matplotlib_repo//:matplotlib3",
     ],
 )
 
@@ -123,7 +123,7 @@
         "//external:python-gflags",
         "//external:python-glog",
         "//frc971/control_loops/python:controls",
-        "@matplotlib_repo//:matplotlib2.7",
+        "@matplotlib_repo//:matplotlib3",
     ],
 )
 
@@ -168,7 +168,7 @@
         "//external:python-gflags",
         "//external:python-glog",
         "//frc971/control_loops/python:controls",
-        "@matplotlib_repo//:matplotlib2.7",
+        "@matplotlib_repo//:matplotlib3",
     ],
 )
 
diff --git a/y2017/control_loops/python/column.py b/y2017/control_loops/python/column.py
index 7c34ee6..0122b58 100755
--- a/y2017/control_loops/python/column.py
+++ b/y2017/control_loops/python/column.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 from aos.util.trapezoid_profile import TrapezoidProfile
 from frc971.control_loops.python import control_loop
diff --git a/y2017/control_loops/python/drivetrain.py b/y2017/control_loops/python/drivetrain.py
index 66adc0a..652fcf4 100755
--- a/y2017/control_loops/python/drivetrain.py
+++ b/y2017/control_loops/python/drivetrain.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 from __future__ import print_function
 from frc971.control_loops.python import drivetrain
diff --git a/y2017/control_loops/python/hood.py b/y2017/control_loops/python/hood.py
index 7f875c9..c405bb2 100755
--- a/y2017/control_loops/python/hood.py
+++ b/y2017/control_loops/python/hood.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 from aos.util.trapezoid_profile import TrapezoidProfile
 from frc971.control_loops.python import control_loop
diff --git a/y2017/control_loops/python/indexer.py b/y2017/control_loops/python/indexer.py
index 0c5cb6b..7312e57 100755
--- a/y2017/control_loops/python/indexer.py
+++ b/y2017/control_loops/python/indexer.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 from frc971.control_loops.python import control_loop
 from frc971.control_loops.python import controls
diff --git a/y2017/control_loops/python/intake.py b/y2017/control_loops/python/intake.py
index 015fdfa..ae4f257 100755
--- a/y2017/control_loops/python/intake.py
+++ b/y2017/control_loops/python/intake.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 from frc971.control_loops.python import control_loop
 from frc971.control_loops.python import linear_system
diff --git a/y2017/control_loops/python/polydrivetrain.py b/y2017/control_loops/python/polydrivetrain.py
index 7ddd630..498a2c3 100755
--- a/y2017/control_loops/python/polydrivetrain.py
+++ b/y2017/control_loops/python/polydrivetrain.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 import sys
 from y2017.control_loops.python import drivetrain
diff --git a/y2017/control_loops/python/polydrivetrain_test.py b/y2017/control_loops/python/polydrivetrain_test.py
index 434cdca..8e0176e 100755
--- a/y2017/control_loops/python/polydrivetrain_test.py
+++ b/y2017/control_loops/python/polydrivetrain_test.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 import polydrivetrain
 import numpy
diff --git a/y2017/control_loops/python/shooter.py b/y2017/control_loops/python/shooter.py
index 69f0af4..be4fb81 100755
--- a/y2017/control_loops/python/shooter.py
+++ b/y2017/control_loops/python/shooter.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 from frc971.control_loops.python import control_loop
 from frc971.control_loops.python import controls
@@ -125,7 +125,7 @@
         glog.debug('Poles are %s',
                    repr(numpy.linalg.eig(self.A - self.B * self.K)[0]))
 
-        self.PlaceObserverPoles([0.3, 0.3])
+        self.PlaceObserverPoles([0.299, 0.301])
 
         self.U_max = numpy.matrix([[12.0]])
         self.U_min = numpy.matrix([[-12.0]])
diff --git a/y2017/control_loops/python/turret.py b/y2017/control_loops/python/turret.py
index c5e4269..e67904d 100755
--- a/y2017/control_loops/python/turret.py
+++ b/y2017/control_loops/python/turret.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 
 from aos.util.trapezoid_profile import TrapezoidProfile
 from frc971.control_loops.python import control_loop