diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index 6704526..c5316e7 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -83,13 +83,15 @@
     ans = ["  Eigen::Matrix<double, %d, %d> %s;\n" % (
         matrix.shape[0], matrix.shape[1], matrix_name)]
     first = True
-    for element in numpy.nditer(matrix, order='C'):
-      if first:
-        ans.append("  %s << " % matrix_name)
-        first = False
-      else:
-        ans.append(", ")
-      ans.append(str(element))
+    for x in xrange(matrix.shape[0]):
+      for y in xrange(matrix.shape[1]):
+	element = matrix[x, y]
+        if first:
+          ans.append("  %s << " % matrix_name)
+          first = False
+        else:
+          ans.append(", ")
+        ans.append(str(element))
 
     ans.append(";\n")
     return "".join(ans)
diff --git a/frc971/control_loops/python/wrist.py b/frc971/control_loops/python/wrist.py
index 498a485..6fc9c27 100755
--- a/frc971/control_loops/python/wrist.py
+++ b/frc971/control_loops/python/wrist.py
@@ -19,7 +19,7 @@
     # Moment of inertia of the wrist in kg m^2
     # TODO(aschuh): Measure this in reality.  It doesn't seem high enough.
     # James measured 0.51, but that can't be right given what I am seeing.
-    self.J = 1.51
+    self.J = 2.0
     # Resistance of the motor
     self.R = 12.0 / self.stall_current + 0.024 + .003
     # Motor velocity constant
@@ -45,7 +45,7 @@
     self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
                               self.dt, self.C)
 
-    self.PlaceControllerPoles([.84, .84])
+    self.PlaceControllerPoles([.72, .72])
 
     print self.K