diff --git a/y2020/control_loops/python/accelerator.py b/y2020/control_loops/python/accelerator.py
index 64ae12e..1746589 100644
--- a/y2020/control_loops/python/accelerator.py
+++ b/y2020/control_loops/python/accelerator.py
@@ -33,7 +33,7 @@
     q_vel=4.00,
     q_voltage=0.4,
     r_pos=0.05,
-    controller_poles=[.80])
+    controller_poles=[.84])
 
 
 def main(argv):
diff --git a/y2020/control_loops/python/finisher.py b/y2020/control_loops/python/finisher.py
index 0d46bb9..5067a16 100644
--- a/y2020/control_loops/python/finisher.py
+++ b/y2020/control_loops/python/finisher.py
@@ -33,7 +33,7 @@
     q_vel=4.00,
     q_voltage=0.4,
     r_pos=0.05,
-    controller_poles=[.80])
+    controller_poles=[.84])
 
 
 def main(argv):
diff --git a/y2020/control_loops/python/intake.py b/y2020/control_loops/python/intake.py
index 9e80244..bb19e2d 100644
--- a/y2020/control_loops/python/intake.py
+++ b/y2020/control_loops/python/intake.py
@@ -21,7 +21,7 @@
     name='Intake',
     motor=control_loop.BAG(),
     G=(12.0 / 24.0) * (1.0 / 7.0) * (1.0 / 7.0) * (16.0 / 32.0),
-    J=3.0 * 0.139 * 0.139,
+    J=6 * 0.139 * 0.139,
     q_pos=0.40,
     q_vel=20.0,
     kalman_q_pos=0.12,