diff --git a/y2017/control_loops/superstructure/shooter/BUILD b/y2017/control_loops/superstructure/shooter/BUILD
index e689237..a57a1a3 100644
--- a/y2017/control_loops/superstructure/shooter/BUILD
+++ b/y2017/control_loops/superstructure/shooter/BUILD
@@ -1,7 +1,5 @@
 package(default_visibility = ['//visibility:public'])
 
-load('/aos/build/queues', 'queue_library')
-
 genrule(
   name = 'genrule_shooter',
   cmd = '$(location //y2017/control_loops/python:shooter) $(OUTS)',
@@ -44,6 +42,7 @@
   deps = [
     ':shooter_plants',
     '//aos/common/controls:control_loop',
+    '//third_party/eigen',
     '//y2017/control_loops/superstructure:superstructure_queue',
   ],
 )
diff --git a/y2017/control_loops/superstructure/shooter/shooter.cc b/y2017/control_loops/superstructure/shooter/shooter.cc
index c73a008..d30a45c 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.cc
+++ b/y2017/control_loops/superstructure/shooter/shooter.cc
@@ -41,7 +41,10 @@
   history_[history_position_] = current_position;
   history_position_ = (history_position_ + 1) % kHistoryLength;
 
-  dt_velocity_ = (current_position - last_position_) / 0.005;
+  dt_velocity_ = (current_position - last_position_) /
+                 chrono::duration_cast<chrono::duration<double>>(
+                     ::aos::controls::kLoopFrequency)
+                     .count();
   last_position_ = current_position;
 }
 
@@ -104,7 +107,7 @@
   status->avg_angular_velocity = average_angular_velocity_;
 
   status->angular_velocity = X_hat_current_(1, 0);
-  status->ready = std::abs(error_) < kTolerance && loop_->next_R(1, 0) > 1.0;
+  status->ready = ready_;
 
   status->voltage_error = X_hat_current_(2, 0);
   status->position_error = position_error_;
diff --git a/y2017/control_loops/superstructure/shooter/shooter.h b/y2017/control_loops/superstructure/shooter/shooter.h
index 7f11267..41e24c0 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.h
+++ b/y2017/control_loops/superstructure/shooter/shooter.h
@@ -1,11 +1,13 @@
 #ifndef Y2017_CONTROL_LOOPS_SHOOTER_SHOOTER_H_
 #define Y2017_CONTROL_LOOPS_SHOOTER_SHOOTER_H_
 
+#include <array>
 #include <memory>
 
 #include "aos/common/controls/control_loop.h"
 #include "aos/common/time.h"
 #include "frc971/control_loops/state_feedback_loop.h"
+#include "third_party/eigen/Eigen/Dense"
 
 #include "y2017/control_loops/superstructure/shooter/shooter_integral_plant.h"
 #include "y2017/control_loops/superstructure/superstructure.q.h"