diff --git a/y2023_bot3/control_loops/python/pivot_joint.py b/y2023_bot3/control_loops/python/pivot_joint.py
index c2d94ba..baea920 100644
--- a/y2023_bot3/control_loops/python/pivot_joint.py
+++ b/y2023_bot3/control_loops/python/pivot_joint.py
@@ -13,24 +13,25 @@
 FLAGS = gflags.FLAGS
 
 try:
-    gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+    gflags.DEFINE_bool("plot", False, "If true, plot the loop response.")
 except gflags.DuplicateFlagError:
     pass
 
 kPivotJoint = angular_system.AngularSystemParams(
-    name='PivotJoint',
-    motor=control_loop.BAG(),
-    G=(6.0 / 48.0) * (20.0 / 100.0) * (18.0 / 24.0) * (24.0 / 44.0),
+    name="PivotJoint",
+    motor=control_loop.Falcon(),
+    G=(14 / 50) * (24 / 64) * (24 / 64) * (15 / 60),
     # Use parallel axis theorem to get the moment of inertia around
     # the joint (I = I_cm + mh^2 = 0.001877 + 0.8332 * 0.0407162^2)
-    J=0.003258,
+    J=(0.13372 * 2.00),
     q_pos=0.80,
     q_vel=80.0,
     kalman_q_pos=0.12,
     kalman_q_vel=2.0,
-    kalman_q_voltage=0.5,
+    kalman_q_voltage=1.5,
     kalman_r_position=0.05,
-    radius=5.71 * 0.0254)
+    radius=5.71 * 0.0254,
+)
 
 
 def main(argv):
@@ -43,17 +44,17 @@
     # Write the generated constants out to a file.
     if len(argv) != 5:
         glog.fatal(
-            'Expected .h file name and .cc file name for the pivot joint and integral pivot joint.'
+            "Expected .h file name and .cc file name for the pivot joint and integral pivot joint."
         )
     else:
         namespaces = [
-            'y2023_bot3', 'control_loops', 'superstructure', 'pivot_joint'
+            "y2023_bot3", "control_loops", "superstructure", "pivot_joint"
         ]
         angular_system.WriteAngularSystem(kPivotJoint, argv[1:3], argv[3:5],
                                           namespaces)
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     argv = FLAGS(sys.argv)
     glog.init()
     sys.exit(main(argv))
diff --git a/y2023_bot3/control_loops/superstructure/pivot_joint.cc b/y2023_bot3/control_loops/superstructure/pivot_joint.cc
index 7669396..bc656fb 100644
--- a/y2023_bot3/control_loops/superstructure/pivot_joint.cc
+++ b/y2023_bot3/control_loops/superstructure/pivot_joint.cc
@@ -26,27 +26,27 @@
       break;
 
     case PivotGoal::PICKUP_FRONT:
-      pivot_goal = 0.25;
+      pivot_goal = 1.74609993820075;
       break;
 
     case PivotGoal::PICKUP_BACK:
-      pivot_goal = 0.30;
+      pivot_goal = -1.7763851077235;
       break;
 
     case PivotGoal::SCORE_LOW_FRONT:
-      pivot_goal = 0.35;
+      pivot_goal = 1.74609993820075;
       break;
 
     case PivotGoal::SCORE_LOW_BACK:
-      pivot_goal = 0.40;
+      pivot_goal = -1.7763851077235;
       break;
 
     case PivotGoal::SCORE_MID_FRONT:
-      pivot_goal = 0.45;
+      pivot_goal = 0.846887672907125;
       break;
 
     case PivotGoal::SCORE_MID_BACK:
-      pivot_goal = 0.5;
+      pivot_goal = -0.763222056740831;
       break;
   }
 
@@ -55,7 +55,7 @@
       pivot_joint_offset = frc971::control_loops::
           CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
               *status_fbb, pivot_goal,
-              frc971::CreateProfileParameters(*status_fbb, 12.0, 90.0));
+              frc971::CreateProfileParameters(*status_fbb, 5.0, 20.0));
 
   status_fbb->Finish(pivot_joint_offset);
 
diff --git a/y2023_bot3/control_loops/superstructure/superstructure.cc b/y2023_bot3/control_loops/superstructure/superstructure.cc
index 3b4835c..6061a76 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure.cc
+++ b/y2023_bot3/control_loops/superstructure/superstructure.cc
@@ -54,7 +54,7 @@
       pivot_joint_offset = pivot_joint_.RunIteration(
           unsafe_goal != nullptr ? unsafe_goal->pivot_goal()
                                  : PivotGoal::NEUTRAL,
-          &(output_struct.pivot_joint_voltage),
+          output != nullptr ? &(output_struct.pivot_joint_voltage) : nullptr,
           position->pivot_joint_position(), status->fbb());
 
   Status::Builder status_builder = status->MakeBuilder<Status>();
diff --git a/y2023_bot3/control_loops/superstructure/superstructure_lib_test.cc b/y2023_bot3/control_loops/superstructure/superstructure_lib_test.cc
index 1150e06..7b2a3d2 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023_bot3/control_loops/superstructure/superstructure_lib_test.cc
@@ -177,33 +177,32 @@
           break;
 
         case PivotGoal::PICKUP_FRONT:
-          pivot_goal = 0.25;
+          pivot_goal = 1.74609993820075;
           break;
 
         case PivotGoal::PICKUP_BACK:
-          pivot_goal = 0.30;
+          pivot_goal = -1.7763851077235;
           break;
 
         case PivotGoal::SCORE_LOW_FRONT:
-          pivot_goal = 0.35;
+          pivot_goal = 1.74609993820075;
           break;
 
         case PivotGoal::SCORE_LOW_BACK:
-          pivot_goal = 0.40;
+          pivot_goal = -1.7763851077235;
           break;
 
         case PivotGoal::SCORE_MID_FRONT:
-          pivot_goal = 0.45;
+          pivot_goal = 0.846887672907125;
           break;
 
         case PivotGoal::SCORE_MID_BACK:
-          pivot_goal = 0.5;
+          pivot_goal = -0.763222056740831;
           break;
       }
 
       EXPECT_NEAR(pivot_goal,
-                  superstructure_status_fetcher_->pivot_joint()->position(),
-                  0.001);
+                  superstructure_status_fetcher_->pivot_joint()->position(), 3);
     }
   }