diff --git a/y2020/control_loops/python/hood.py b/y2020/control_loops/python/hood.py
index db6b727..eacb7fd 100644
--- a/y2020/control_loops/python/hood.py
+++ b/y2020/control_loops/python/hood.py
@@ -21,9 +21,9 @@
 # joint.  We are currently electing to ignore potential non-linearity.
 
 range_of_travel_radians = (38.0 * numpy.pi / 180.0)
-# 0.472441 inches/turn (12 mm)
+# 0.5 inches/turn
 # 6.7725 inches of travel
-turns_of_leadscrew_per_range_of_travel = 6.7725 / 0.472441
+turns_of_leadscrew_per_range_of_travel = 6.7725 / 0.5
 
 radians_per_turn = range_of_travel_radians / turns_of_leadscrew_per_range_of_travel
 
@@ -33,13 +33,13 @@
     name='Hood',
     motor=control_loop.BAG(),
     G=radians_per_turn_of_motor / (2.0 * numpy.pi),
-    J=4.0,
+    J=0.1,
     q_pos=0.15,
-    q_vel=5.0,
+    q_vel=10.0,
     kalman_q_pos=0.12,
     kalman_q_vel=10.0,
-    kalman_q_voltage=15.0,
-    kalman_r_position=0.05)
+    kalman_q_voltage=30.0,
+    kalman_r_position=0.02)
 
 
 def main(argv):
diff --git a/y2020/control_loops/superstructure/BUILD b/y2020/control_loops/superstructure/BUILD
index 885bf78..7ad8f97 100644
--- a/y2020/control_loops/superstructure/BUILD
+++ b/y2020/control_loops/superstructure/BUILD
@@ -156,3 +156,13 @@
         "//aos/network/www:proxy",
     ],
 )
+
+ts_library(
+    name = "hood_plotter",
+    srcs = ["hood_plotter.ts"],
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        "//aos/network/www:aos_plotter",
+        "//aos/network/www:proxy",
+    ],
+)
diff --git a/y2020/control_loops/superstructure/hood_plotter.ts b/y2020/control_loops/superstructure/hood_plotter.ts
new file mode 100644
index 0000000..6de8883
--- /dev/null
+++ b/y2020/control_loops/superstructure/hood_plotter.ts
@@ -0,0 +1,54 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+const RED = AosPlotter.RED;
+const GREEN = AosPlotter.GREEN;
+const BLUE = AosPlotter.BLUE;
+const BROWN = AosPlotter.BROWN;
+const PINK = AosPlotter.PINK;
+const CYAN = AosPlotter.CYAN;
+const WHITE = AosPlotter.WHITE;
+
+export function plotHood(conn: Connection, element: Element) : void {
+  const aosPlotter = new AosPlotter(conn);
+  const goal = aosPlotter.addMessageSource('/superstructure', 'y2020.control_loops.superstructure.Goal');
+  const output = aosPlotter.addMessageSource('/superstructure', 'y2020.control_loops.superstructure.Output');
+  const status = aosPlotter.addMessageSource('/superstructure', 'y2020.control_loops.superstructure.Status');
+  const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+  var currentTop = 0;
+
+  // Robot Enabled/Disabled and Mode
+  const positionPlot =
+      aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+  currentTop += DEFAULT_HEIGHT / 2;
+  positionPlot.plot.getAxisLabels().setTitle('Position');
+  positionPlot.plot.getAxisLabels().setXLabel(TIME);
+  positionPlot.plot.getAxisLabels().setYLabel('rad');
+  positionPlot.plot.setDefaultYRange([-0.1, 0.7]);
+
+  positionPlot.addMessageLine(goal, ['hood', 'unsafe_goal']).setColor(BLUE).setPointSize(0.0);
+  positionPlot.addMessageLine(status, ['hood', 'goal_position']).setColor(RED).setPointSize(0.0);
+  positionPlot.addMessageLine(status, ['hood', 'position']).setColor(GREEN).setPointSize(0.0);
+  positionPlot.addMessageLine(status, ['hood', 'velocity']).setColor(PINK).setPointSize(0.0);
+  positionPlot.addMessageLine(status, ['hood', 'calculated_velocity']).setColor(BROWN).setPointSize(0.0);
+  positionPlot.addMessageLine(status, ['hood', 'estimator_state', 'position']).setColor(CYAN).setPointSize(0.0);
+
+  const voltagePlot =
+      aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+  currentTop += DEFAULT_HEIGHT / 2;
+  voltagePlot.plot.getAxisLabels().setTitle('Voltage');
+  voltagePlot.plot.getAxisLabels().setXLabel(TIME);
+  voltagePlot.plot.getAxisLabels().setYLabel('Volts');
+  voltagePlot.plot.setDefaultYRange([-4.0, 16.0]);
+
+  voltagePlot.addMessageLine(output, ['hood_voltage']).setColor(BLUE).setPointSize(0.0);
+  voltagePlot.addMessageLine(status, ['hood', 'voltage_error']).setColor(RED).setPointSize(0.0);
+  voltagePlot.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(0.0);
+}
diff --git a/y2020/control_loops/superstructure/shooter/shooter.cc b/y2020/control_loops/superstructure/shooter/shooter.cc
index 6e48a21..8cdcf8c 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.cc
+++ b/y2020/control_loops/superstructure/shooter/shooter.cc
@@ -30,8 +30,10 @@
       std::abs(goal->velocity_accelerator() -
                accelerator_left_.avg_angular_velocity()) < kVelocityTolerance &&
       std::abs(goal->velocity_accelerator() -
-               accelerator_right_.avg_angular_velocity()) < kVelocityTolerance &&
-      std::abs(goal->velocity_finisher() - finisher_.velocity()) < kVelocityTolerance &&
+               accelerator_right_.avg_angular_velocity()) <
+          kVelocityTolerance &&
+      std::abs(goal->velocity_finisher() - finisher_.velocity()) <
+          kVelocityTolerance &&
       std::abs(goal->velocity_accelerator() - accelerator_left_.velocity()) <
           kVelocityTolerance &&
       std::abs(goal->velocity_accelerator() - accelerator_right_.velocity()) <
diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index e6c1375..c408f67 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -139,17 +139,6 @@
     output_struct.turret_voltage =
         std::clamp(output_struct.turret_voltage, -turret_.operating_voltage(),
                    turret_.operating_voltage());
-
-    // Friction is a pain and putting a really high burden on the integrator.
-    const double hood_velocity_sign =
-        hood_status->velocity() * kHoodFrictionGain;
-    output_struct.hood_voltage +=
-        std::clamp(hood_velocity_sign, -kHoodFrictionVoltageLimit,
-                   kHoodFrictionVoltageLimit);
-
-    // And dither the output.
-    time_ += 0.00505;
-    output_struct.hood_voltage += 1.3 * std::sin(time_ * 2.0 * M_PI * 30.0);
   }
 
   bool zeroed;
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index c0f3798..af15be6 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -29,9 +29,6 @@
   static constexpr double kTurretFrictionGain = 10.0;
   static constexpr double kTurretFrictionVoltageLimit = 1.5;
 
-  static constexpr double kHoodFrictionGain = 40.0;
-  static constexpr double kHoodFrictionVoltageLimit = 1.5;
-
   using PotAndAbsoluteEncoderSubsystem =
       ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
           ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
@@ -73,8 +70,6 @@
   aos::monotonic_clock::time_point shooting_start_time_ =
       aos::monotonic_clock::min_time;
 
-  double time_ = 0.0;
-
   DISALLOW_COPY_AND_ASSIGN(Superstructure);
 };
 
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index 151146f..d6f5532 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -261,14 +261,9 @@
                 voltage_check_turret);
 
     // Invert the friction model.
-    const double hood_velocity_sign =
-        hood_plant_->X(1) * Superstructure::kHoodFrictionGain;
     ::Eigen::Matrix<double, 1, 1> hood_U;
     hood_U << superstructure_output_fetcher_->hood_voltage() +
-                  hood_plant_->voltage_offset() -
-                  std::clamp(hood_velocity_sign,
-                             -Superstructure::kHoodFrictionVoltageLimit,
-                             Superstructure::kHoodFrictionVoltageLimit);
+                  hood_plant_->voltage_offset();
 
     ::Eigen::Matrix<double, 1, 1> intake_U;
     intake_U << superstructure_output_fetcher_->intake_joint_voltage() +