diff --git a/y2014/control_loops/claw/claw.cc b/y2014/control_loops/claw/claw.cc
index 9320e6b..86ec084 100644
--- a/y2014/control_loops/claw/claw.cc
+++ b/y2014/control_loops/claw/claw.cc
@@ -106,11 +106,11 @@
     // (H * position_K) * position_error <= k - H * UVel
 
     Eigen::Matrix<double, 2, 2> position_K;
-    position_K << K(0, 0), K(0, 1),
-                  K(1, 0), K(1, 1);
+    position_K << controller().K(0, 0), controller().K(0, 1),
+        controller().K(1, 0), controller().K(1, 1);
     Eigen::Matrix<double, 2, 2> velocity_K;
-    velocity_K << K(0, 2), K(0, 3),
-                  K(1, 2), K(1, 3);
+    velocity_K << controller().K(0, 2), controller().K(0, 3),
+        controller().K(1, 2), controller().K(1, 3);
 
     Eigen::Matrix<double, 2, 1> position_error;
     position_error << error(0, 0), error(1, 0);
@@ -924,19 +924,19 @@
     case FINE_TUNE_TOP:
     case UNKNOWN_LOCATION: {
       if (claw_.uncapped_average_voltage() > values.claw.max_zeroing_voltage) {
-        double dx_bot = (claw_.U_uncapped(0, 0) -
-                     values.claw.max_zeroing_voltage) /
-                    claw_.K(0, 0);
-        double dx_top = (claw_.U_uncapped(1, 0) -
-                     values.claw.max_zeroing_voltage) /
-                    claw_.K(0, 0);
+        double dx_bot =
+            (claw_.U_uncapped(0, 0) - values.claw.max_zeroing_voltage) /
+            claw_.controller().K(0, 0);
+        double dx_top =
+            (claw_.U_uncapped(1, 0) - values.claw.max_zeroing_voltage) /
+            claw_.controller().K(0, 0);
         double dx = ::std::max(dx_top, dx_bot);
         bottom_claw_goal_ -= dx;
         top_claw_goal_ -= dx;
         Eigen::Matrix<double, 4, 1> R;
         R << bottom_claw_goal_, top_claw_goal_ - bottom_claw_goal_, claw_.R(2, 0),
             claw_.R(3, 0);
-        claw_.mutable_U() = claw_.K() * (R - claw_.X_hat());
+        claw_.mutable_U() = claw_.controller().K() * (R - claw_.X_hat());
         capped_goal_ = true;
         LOG(DEBUG, "Moving the goal by %f to prevent windup."
             " Uncapped is %f, max is %f, difference is %f\n",
@@ -946,19 +946,19 @@
              values.claw.max_zeroing_voltage));
       } else if (claw_.uncapped_average_voltage() <
                  -values.claw.max_zeroing_voltage) {
-        double dx_bot = (claw_.U_uncapped(0, 0) +
-                     values.claw.max_zeroing_voltage) /
-                    claw_.K(0, 0);
-        double dx_top = (claw_.U_uncapped(1, 0) +
-                     values.claw.max_zeroing_voltage) /
-                    claw_.K(0, 0);
+        double dx_bot =
+            (claw_.U_uncapped(0, 0) + values.claw.max_zeroing_voltage) /
+            claw_.controller().K(0, 0);
+        double dx_top =
+            (claw_.U_uncapped(1, 0) + values.claw.max_zeroing_voltage) /
+            claw_.controller().K(0, 0);
         double dx = ::std::min(dx_top, dx_bot);
         bottom_claw_goal_ -= dx;
         top_claw_goal_ -= dx;
         Eigen::Matrix<double, 4, 1> R;
         R << bottom_claw_goal_, top_claw_goal_ - bottom_claw_goal_, claw_.R(2, 0),
             claw_.R(3, 0);
-        claw_.mutable_U() = claw_.K() * (R - claw_.X_hat());
+        claw_.mutable_U() = claw_.controller().K() * (R - claw_.X_hat());
         capped_goal_ = true;
         LOG(DEBUG, "Moving the goal by %f to prevent windup\n", dx);
       }
diff --git a/y2014/control_loops/claw/claw_lib_test.cc b/y2014/control_loops/claw/claw_lib_test.cc
index d51049d..8444cea 100644
--- a/y2014/control_loops/claw/claw_lib_test.cc
+++ b/y2014/control_loops/claw/claw_lib_test.cc
@@ -542,7 +542,8 @@
               claw_motor_.top_claw_goal_ - claw_motor_.bottom_claw_goal_, 0.0,
               0.0;
           Eigen::Matrix<double, 2, 1> uncapped_voltage =
-              claw_motor_.claw_.K() * (R - claw_motor_.claw_.X_hat());
+              claw_motor_.claw_.controller().K() *
+              (R - claw_motor_.claw_.X_hat());
           // Use a factor of 1.8 because so long as it isn't actually running
           // away, the CapU function will deal with getting the actual output
           // down.
diff --git a/y2014/control_loops/shooter/shooter.cc b/y2014/control_loops/shooter/shooter.cc
index 9c6b182..70a6cad 100644
--- a/y2014/control_loops/shooter/shooter.cc
+++ b/y2014/control_loops/shooter/shooter.cc
@@ -58,11 +58,12 @@
     double dx;
     if (index() == 0) {
       dx = (uncapped_voltage() - max_voltage_) /
-           (K(0, 0) - plant().A(1, 0) * K(0, 2) / plant().A(1, 2));
+           (controller().K(0, 0) -
+            plant().A(1, 0) * controller().K(0, 2) / plant().A(1, 2));
       mutable_R(0, 0) -= dx;
       mutable_R(2, 0) -= -plant().A(1, 0) / plant().A(1, 2) * dx;
     } else {
-      dx = (uncapped_voltage() - max_voltage_) / K(0, 0);
+      dx = (uncapped_voltage() - max_voltage_) / controller().K(0, 0);
       mutable_R(0, 0) -= dx;
     }
     capped_goal_ = true;
@@ -72,11 +73,12 @@
     double dx;
     if (index() == 0) {
       dx = (uncapped_voltage() + max_voltage_) /
-           (K(0, 0) - plant().A(1, 0) * K(0, 2) / plant().A(1, 2));
+           (controller().K(0, 0) -
+            plant().A(1, 0) * controller().K(0, 2) / plant().A(1, 2));
       mutable_R(0, 0) -= dx;
       mutable_R(2, 0) -= -plant().A(1, 0) / plant().A(1, 2) * dx;
     } else {
-      dx = (uncapped_voltage() + max_voltage_) / K(0, 0);
+      dx = (uncapped_voltage() + max_voltage_) / controller().K(0, 0);
       mutable_R(0, 0) -= dx;
     }
     capped_goal_ = true;