diff --git a/y2015/control_loops/claw/claw.cc b/y2015/control_loops/claw/claw.cc
index 25b5b9d..6a56105 100644
--- a/y2015/control_loops/claw/claw.cc
+++ b/y2015/control_loops/claw/claw.cc
@@ -25,7 +25,7 @@
 
 double ClawCappedStateFeedbackLoop::UnsaturateOutputGoalChange() {
   // Compute K matrix to compensate for position errors.
-  double Kp = K(0, 0);
+  double Kp = controller().K(0, 0);
 
   // Compute how much we need to change R in order to achieve the change in U
   // that was observed.
diff --git a/y2015/control_loops/fridge/fridge.cc b/y2015/control_loops/fridge/fridge.cc
index a6acae7..d34cd33 100644
--- a/y2015/control_loops/fridge/fridge.cc
+++ b/y2015/control_loops/fridge/fridge.cc
@@ -39,8 +39,8 @@
   // Compute the K matrix used to compensate for position errors.
   Eigen::Matrix<double, 2, 2> Kp;
   Kp.setZero();
-  Kp.col(0) = this->K().col(0);
-  Kp.col(1) = this->K().col(2);
+  Kp.col(0) = this->controller().K().col(0);
+  Kp.col(1) = this->controller().K().col(2);
 
   Eigen::Matrix<double, 2, 2> Kp_inv = Kp.inverse();