diff --git a/y2016/control_loops/python/arm.py b/y2016/control_loops/python/arm.py
index ae14b04..9e12b6b 100755
--- a/y2016/control_loops/python/arm.py
+++ b/y2016/control_loops/python/arm.py
@@ -156,10 +156,10 @@
 
     q_pos_shoulder = 0.08
     q_vel_shoulder = 4.00
-    q_voltage_shoulder = 6.0
+    q_voltage_shoulder = 3.0
     q_pos_shooter = 0.08
     q_vel_shooter = 4.00
-    q_voltage_shooter = 6.0
+    q_voltage_shooter = 1.0
     self.Q = numpy.matrix(numpy.zeros((6, 6)))
     self.Q[0, 0] = q_pos_shoulder ** 2.0
     self.Q[1, 1] = q_vel_shoulder ** 2.0
@@ -302,7 +302,7 @@
         #observer.X_hat[0, 0] += 0.20
         #arm.X[0, 0] += 0.20
         pass
-      U_error = numpy.matrix([[0.0], [0.0]])
+      U_error = numpy.matrix([[2.0], [2.0]])
       # Kick it and see what happens.
       #if (initial_t + i * arm.dt) % 0.4 > 0.2:
         #U_error = numpy.matrix([[4.0], [0.0]])
diff --git a/y2016/control_loops/python/intake.py b/y2016/control_loops/python/intake.py
index a1be86a..1fcf393 100755
--- a/y2016/control_loops/python/intake.py
+++ b/y2016/control_loops/python/intake.py
@@ -40,7 +40,10 @@
     # Gear ratio
     self.G = (56.0 / 12.0) * (54.0 / 14.0) * (64.0 / 18.0) * (48.0 / 16.0)
 
-    self.J = 0.9
+    # Measured in CAD
+    # self.J = 0.9
+    # With extra mass to compensate for friction.
+    self.J = 1.2
 
     # Control loop time step
     self.dt = 0.005
@@ -96,8 +99,8 @@
 
     glog.debug('L is %s', repr(self.L))
 
-    q_pos = 0.05
-    q_vel = 2.65
+    q_pos = 0.10
+    q_vel = 1.65
     self.Q = numpy.matrix([[(q_pos ** 2.0), 0.0],
                            [0.0, (q_vel ** 2.0)]])
 
@@ -138,8 +141,8 @@
 
     self.A, self.B = self.ContinuousToDiscrete(self.A_continuous, self.B_continuous, self.dt)
 
-    q_pos = 0.08
-    q_vel = 4.00
+    q_pos = 0.12
+    q_vel = 2.00
     q_voltage = 3.0
     self.Q = numpy.matrix([[(q_pos ** 2.0), 0.0, 0.0],
                            [0.0, (q_vel ** 2.0), 0.0],