diff --git a/y2017/control_loops/superstructure/shooter/shooter.cc b/y2017/control_loops/superstructure/shooter/shooter.cc
index 03abd99..f8bfecf 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.cc
+++ b/y2017/control_loops/superstructure/shooter/shooter.cc
@@ -23,7 +23,8 @@
 // TODO(austin): Pseudo current limit?
 
 ShooterController::ShooterController()
-    : loop_(new StateFeedbackLoop<4, 1, 1, StateFeedbackHybridPlant<4, 1, 1>,
+    : loop_(new StateFeedbackLoop<4, 1, 1, double,
+                                  StateFeedbackHybridPlant<4, 1, 1>,
                                   HybridKalman<4, 1, 1>>(
           superstructure::shooter::MakeIntegralShooterLoop())) {
   history_.fill(0);
diff --git a/y2017/control_loops/superstructure/shooter/shooter.h b/y2017/control_loops/superstructure/shooter/shooter.h
index d13d94c..3a9f3f9 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.h
+++ b/y2017/control_loops/superstructure/shooter/shooter.h
@@ -50,8 +50,9 @@
   // The current sensor measurement.
   Eigen::Matrix<double, 1, 1> Y_;
   // The control loop.
-  ::std::unique_ptr<StateFeedbackLoop<
-      4, 1, 1, StateFeedbackHybridPlant<4, 1, 1>, HybridKalman<4, 1, 1>>>
+  ::std::unique_ptr<
+      StateFeedbackLoop<4, 1, 1, double, StateFeedbackHybridPlant<4, 1, 1>,
+                        HybridKalman<4, 1, 1>>>
       loop_;
 
   // History array for calculating a filtered angular velocity.