diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index 51ce0ff..bda178e 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -10,7 +10,7 @@
         self.formatToType['%f'] = "double";
         self.formatToType['%d'] = "int";
     def __str__ (self):
-        return str("\nstatic const %s %s = "+ self.formatt +";\n") % \
+        return str("\nstatic constexpr %s %s = "+ self.formatt +";\n") % \
             (self.formatToType[self.formatt], self.name, self.value)
 
 
@@ -39,9 +39,14 @@
         ['}  // namespace %s' % name for name in reversed(self._namespaces)])
     
     self._constant_list = []
-    if (write_constants):
-        self._constant_list.append(Constant("kMaxExtension", "%f", 0.32385));
-        self._constant_list.append(Constant("kSpringConstant", "%f", 0.28));
+
+  def AddConstant(self, constant):
+    """Adds a constant to write.
+
+    Args:
+      constant: Constant, the constant to add to the header.
+    """
+    self._constant_list.append(constant)
 
   def _TopDirectory(self):
     return self._namespaces[0]
diff --git a/frc971/control_loops/python/shooter.py b/frc971/control_loops/python/shooter.py
index 6b8c224..69f2599 100755
--- a/frc971/control_loops/python/shooter.py
+++ b/frc971/control_loops/python/shooter.py
@@ -30,6 +30,9 @@
     self.Kt = self.stall_torque / self.stall_current
     # Spring constant for the springs, N/m
     self.Ks = 2800.0
+    # Maximum extension distance (Distance from the 0 force point on the
+    # spring to the latch position.)
+    self.max_extension = 0.32385
     # Gear ratio multiplied by radius of final sprocket.
     self.G = 10.0 / 40.0 * 20.0 / 54.0 * 24.0 / 54.0 * 20.0 / 84.0 * 16.0 * (3.0 / 8.0) / (2.0 * numpy.pi) * 0.0254
 
@@ -236,8 +239,12 @@
     sprung_shooter = SprungShooterDeltaU()
     shooter = ShooterDeltaU()
     loop_writer = control_loop.ControlLoopWriter("Shooter", [sprung_shooter,
-                                                             shooter],
-                                                             write_constants=True)
+                                                             shooter])
+
+    loop_writer.AddConstant(control_loop.Constant("kMaxExtension", "%f",
+                                                  sprung_shooter.max_extension))
+    loop_writer.AddConstant(control_loop.Constant("kSpringConstant", "%f",
+                                                  sprung_shooter.Ks))
     if argv[1][-3:] == '.cc':
       loop_writer.Write(argv[2], argv[1])
     else:
diff --git a/frc971/control_loops/shooter/shooter.h b/frc971/control_loops/shooter/shooter.h
index 195894b..db40f43 100755
--- a/frc971/control_loops/shooter/shooter.h
+++ b/frc971/control_loops/shooter/shooter.h
@@ -97,7 +97,7 @@
  private:
   // The offset between what is '0' (0 rate on the spring) and the 0 (all the
   // way cocked).
-  constexpr static double kPositionOffset = 0.305054 + 0.0254;
+  constexpr static double kPositionOffset = kMaxExtension;
   // The accumulated voltage to apply to the motor.
   double voltage_;
   double last_voltage_;
diff --git a/frc971/control_loops/shooter/shooter_lib_test.cc b/frc971/control_loops/shooter/shooter_lib_test.cc
index 4fc5e23..c171912 100755
--- a/frc971/control_loops/shooter/shooter_lib_test.cc
+++ b/frc971/control_loops/shooter/shooter_lib_test.cc
@@ -50,7 +50,7 @@
 
   // The difference between the position with 0 at the back, and the position
   // with 0 measured where the spring has 0 force.
-  constexpr static double kPositionOffset = 0.305054 + 0.0254;
+  constexpr static double kPositionOffset = kMaxExtension;
 
   void Reinitialize(double initial_position) {
     LOG(INFO, "Reinitializing to {pos: %f}\n", initial_position);
@@ -353,20 +353,21 @@
 TEST_F(ShooterTest, PowerConversion) {
   const frc971::constants::Values &values = constants::GetValues();
   // test a couple of values return the right thing
-  EXPECT_NEAR(0.254001, shooter_motor_.PowerToPosition(0.014), 0.00001);
-  EXPECT_NEAR(0.00058, shooter_motor_.PowerToPosition(0.000053),0.00001);
-  EXPECT_NEAR(0.095251238129837101, shooter_motor_.PowerToPosition(0.007367),0.00001);
+  EXPECT_NEAR(0.254001, shooter_motor_.PowerToPosition(140.0), 0.00001);
+  EXPECT_NEAR(0.00058, shooter_motor_.PowerToPosition(0.53), 0.00001);
+  EXPECT_NEAR(0.095251238129837101, shooter_motor_.PowerToPosition(73.67),
+              0.00001);
 
   // value too large should get max
-  EXPECT_EQ(shooter_motor_.PowerToPosition(values.shooter.upper_limit),
-            shooter_motor_.PowerToPosition(505050.99));
+  EXPECT_NEAR(values.shooter.upper_limit,
+              shooter_motor_.PowerToPosition(505050.99), 0.00001);
   // negative values should zero
   EXPECT_NEAR(0, shooter_motor_.PowerToPosition(-123.4), 0.00001);
 }
 
 // Tests that the wrist zeros correctly and goes to a position.
 TEST_F(ShooterTest, GoesToValue) {
-  shooter_queue_group_.goal.MakeWithBuilder().shot_power(0.007).Send();
+  shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 200; ++i) {
     shooter_motor_plant_.SendPositionMessage();
     shooter_motor_.Iterate();
@@ -375,13 +376,15 @@
   }
   // EXPECT_NEAR(0.0, shooter_motor_.GetPosition(), 0.01);
   double pos = shooter_motor_plant_.GetAbsolutePosition();
-  EXPECT_NEAR(shooter_motor_.PowerToPosition(shooter_queue_group_.goal->shot_power), pos, 0.05);
+  EXPECT_NEAR(
+      shooter_motor_.PowerToPosition(shooter_queue_group_.goal->shot_power),
+      pos, 0.05);
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
 }
 
 // Tests that the wrist zeros correctly and goes to a position.
 TEST_F(ShooterTest, Fire) {
-  shooter_queue_group_.goal.MakeWithBuilder().shot_power(0.007).Send();
+  shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 120; ++i) {
     shooter_motor_plant_.SendPositionMessage();
     shooter_motor_.Iterate();
@@ -390,7 +393,7 @@
   }
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
   shooter_queue_group_.goal.MakeWithBuilder()
-      .shot_power(0.0035)
+      .shot_power(35.0)
       .shot_requested(true)
       .Send();
 
@@ -407,7 +410,7 @@
     if (shooter_motor_.state() == ShooterMotor::STATE_FIRE) {
       if (!hit_fire) {
         shooter_queue_group_.goal.MakeWithBuilder()
-            .shot_power(0.0017)
+            .shot_power(17.0)
             .shot_requested(false)
             .Send();
       }
@@ -416,7 +419,9 @@
   }
 
   double pos = shooter_motor_plant_.GetAbsolutePosition();
-  EXPECT_NEAR(shooter_motor_.PowerToPosition(shooter_queue_group_.goal->shot_power), pos, 0.05);
+  EXPECT_NEAR(
+      shooter_motor_.PowerToPosition(shooter_queue_group_.goal->shot_power),
+      pos, 0.05);
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
   EXPECT_TRUE(hit_preparefire);
   EXPECT_TRUE(hit_fire);
@@ -424,7 +429,7 @@
 
 // Tests that the wrist zeros correctly and goes to a position.
 TEST_F(ShooterTest, FireLong) {
-  shooter_queue_group_.goal.MakeWithBuilder().shot_power(0.007).Send();
+  shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 150; ++i) {
     shooter_motor_plant_.SendPositionMessage();
     shooter_motor_.Iterate();
@@ -464,7 +469,7 @@
 
 // Tests that the wrist zeros correctly and goes to a position.
 TEST_F(ShooterTest, MoveGoal) {
-  shooter_queue_group_.goal.MakeWithBuilder().shot_power(0.007).Send();
+  shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 150; ++i) {
     shooter_motor_plant_.SendPositionMessage();
     shooter_motor_.Iterate();
@@ -472,7 +477,7 @@
     SendDSPacket(true);
   }
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
-  shooter_queue_group_.goal.MakeWithBuilder().shot_power(0.0014).Send();
+  shooter_queue_group_.goal.MakeWithBuilder().shot_power(14.0).Send();
 
   for (int i = 0; i < 100; ++i) {
     shooter_motor_plant_.SendPositionMessage();
@@ -482,14 +487,16 @@
   }
 
   double pos = shooter_motor_plant_.GetAbsolutePosition();
-  EXPECT_NEAR(shooter_motor_.PowerToPosition(shooter_queue_group_.goal->shot_power), pos, 0.05);
+  EXPECT_NEAR(
+      shooter_motor_.PowerToPosition(shooter_queue_group_.goal->shot_power),
+      pos, 0.05);
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
 }
 
 
 // Tests that the wrist zeros correctly and goes to a position.
 TEST_F(ShooterTest, Unload) {
-  shooter_queue_group_.goal.MakeWithBuilder().shot_power(0.007).Send();
+  shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 150; ++i) {
     shooter_motor_plant_.SendPositionMessage();
     shooter_motor_.Iterate();
@@ -515,7 +522,7 @@
 
 // Tests that the wrist zeros correctly and goes to a position.
 TEST_F(ShooterTest, UnloadWindupNegative) {
-  shooter_queue_group_.goal.MakeWithBuilder().shot_power(0.007).Send();
+  shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 150; ++i) {
     shooter_motor_plant_.SendPositionMessage();
     shooter_motor_.Iterate();
@@ -555,7 +562,7 @@
 
 // Tests that the wrist zeros correctly and goes to a position.
 TEST_F(ShooterTest, UnloadWindupPositive) {
-  shooter_queue_group_.goal.MakeWithBuilder().shot_power(0.007).Send();
+  shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 150; ++i) {
     shooter_motor_plant_.SendPositionMessage();
     shooter_motor_.Iterate();
@@ -600,7 +607,7 @@
 // Tests that the wrist zeros correctly and goes to a position.
 TEST_F(ShooterTest, StartsOnDistal) {
   Reinitialize(HallEffectMiddle(constants::GetValues().shooter.pusher_distal));
-  shooter_queue_group_.goal.MakeWithBuilder().shot_power(0.007).Send();
+  shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 200; ++i) {
     shooter_motor_plant_.SendPositionMessage();
     shooter_motor_.Iterate();
@@ -609,7 +616,9 @@
   }
   // EXPECT_NEAR(0.0, shooter_motor_.GetPosition(), 0.01);
   double pos = shooter_motor_plant_.GetAbsolutePosition();
-  EXPECT_NEAR(shooter_motor_.PowerToPosition(shooter_queue_group_.goal->shot_power), pos, 0.05);
+  EXPECT_NEAR(
+      shooter_motor_.PowerToPosition(shooter_queue_group_.goal->shot_power),
+      pos, 0.05);
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
 }
 
@@ -618,7 +627,7 @@
 TEST_F(ShooterTest, StartsOnProximal) {
   Reinitialize(
       HallEffectMiddle(constants::GetValues().shooter.pusher_proximal));
-  shooter_queue_group_.goal.MakeWithBuilder().shot_power(0.007).Send();
+  shooter_queue_group_.goal.MakeWithBuilder().shot_power(70.0).Send();
   for (int i = 0; i < 300; ++i) {
     shooter_motor_plant_.SendPositionMessage();
     shooter_motor_.Iterate();
@@ -627,7 +636,9 @@
   }
   // EXPECT_NEAR(0.0, shooter_motor_.GetPosition(), 0.01);
   double pos = shooter_motor_plant_.GetAbsolutePosition();
-  EXPECT_NEAR(shooter_motor_.PowerToPosition(shooter_queue_group_.goal->shot_power), pos, 0.05);
+  EXPECT_NEAR(
+      shooter_motor_.PowerToPosition(shooter_queue_group_.goal->shot_power),
+      pos, 0.05);
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
 }
 
@@ -645,7 +656,7 @@
 	//		latch, brake, plunger_back, start_pos);
   bool initialized = false;
   Reinitialize(start_pos);
-  shooter_queue_group_.goal.MakeWithBuilder().shot_power(0.25).Send();
+  shooter_queue_group_.goal.MakeWithBuilder().shot_power(120.0).Send();
   for (int i = 0; i < 200; ++i) {
     shooter_motor_plant_.SendPositionMessage(!initialized, plunger_back, latch, brake);
     initialized = true;
@@ -655,7 +666,9 @@
   }
   // EXPECT_NEAR(0.0, shooter_motor_.GetPosition(), 0.01);
   double pos = shooter_motor_plant_.GetAbsolutePosition();
-  ASSERT_NEAR(shooter_queue_group_.goal->shot_power, pos, 0.05);
+  EXPECT_NEAR(
+      shooter_motor_.PowerToPosition(shooter_queue_group_.goal->shot_power),
+      pos, 0.05);
   ASSERT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
 }
 
diff --git a/frc971/control_loops/shooter/shooter_motor_plant.h b/frc971/control_loops/shooter/shooter_motor_plant.h
index 40a2f25..606395a 100644
--- a/frc971/control_loops/shooter/shooter_motor_plant.h
+++ b/frc971/control_loops/shooter/shooter_motor_plant.h
@@ -5,9 +5,9 @@
 
 namespace frc971 {
 namespace control_loops {
-static const double kMaxExtension = 0.323850;
+static constexpr double kMaxExtension = 0.323850;
 
-static const double kSpringConstant = 0.280000;
+static constexpr double kSpringConstant = 2800.000000;
 
 
 StateFeedbackPlantCoefficients<3, 1, 1> MakeSprungShooterPlantCoefficients();