diff --git a/frc971/control_loops/shooter.h b/frc971/control_loops/shooter.h
index f26c42d..7358de2 100644
--- a/frc971/control_loops/shooter.h
+++ b/frc971/control_loops/shooter.h
@@ -17,34 +17,33 @@
   explicit ShooterMotor(
       control_loops::ShooterLoop *my_shooter = &control_loops::shooter);
 
+  // Control loop time step.
+  static const double dt;
+
+  // Maximum speed of the shooter wheel which the encoder is rated for in
+  // rad/sec.
+  static const double kMaxSpeed;
+
  protected:
   virtual void RunIteration(
       const control_loops::ShooterLoop::Goal *goal,
       const control_loops::ShooterLoop::Position *position,
       ::aos::control_loops::Output *output,
       control_loops::ShooterLoop::Status *status);
+
  private:
-  // Timestep of the control loop (in seconds)
-  static constexpr double dt = 0.01;
-
-  // Maximum speed of the shooter wheel which the encoder is rated for.
-  // 10000 rpm * (2 * M_PI radians / rotation) / (60 sec / min) * 15 / 34
-  static constexpr double max_speed = 461.998919646;
-
   // The state feedback control loop to talk to.
   ::std::unique_ptr<StateFeedbackLoop<2, 1, 1>> loop_;
 
   // History array and stuff for determining average velocity and whether
   // we are ready to shoot.
-  static const int kHistoryLength = 10;
-  double history[kHistoryLength];
+  static const int kHistoryLength = 5;
+  double history_[kHistoryLength];
   ptrdiff_t history_position_;
   double average_velocity_;
 
   double position_goal_;
-
-  // time_ is used for recording data so that we have a time.
-  double time_;
+  double last_position_;
 
   DISALLOW_COPY_AND_ASSIGN(ShooterMotor);
 };