diff --git a/frc971/control_loops/python/claw.py b/frc971/control_loops/python/claw.py
index aacf31e..ca69a2b 100755
--- a/frc971/control_loops/python/claw.py
+++ b/frc971/control_loops/python/claw.py
@@ -23,6 +23,7 @@
     # measured from CAD
     self.J_top = 0.3
     self.J_bottom = 0.9
+
     # Resistance of the motor
     self.R = 12.0 / self.stall_current
     # Motor velocity constant
@@ -144,8 +145,8 @@
     print "eigenvalues"
     print numpy.linalg.eig(F)[0]
 
-    self.rpl = .05
-    self.ipl = 0.008
+    self.rpl = .02
+    self.ipl = 0.004
     self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
                              self.rpl + 1j * self.ipl,
                              self.rpl - 1j * self.ipl,
diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index 90faf9f..a103c79 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -1,8 +1,21 @@
 import controls
 import numpy
 
+class Constant(object):
+    def __init__ (self, name, formatt, value):
+        self.name = name
+        self.formatt = formatt
+        self.value = value
+        self.formatToType = {}
+        self.formatToType['%f'] = "double";
+        self.formatToType['%d'] = "int";
+    def __str__ (self):
+        return str("\nstatic constexpr %s %s = "+ self.formatt +";\n") % \
+            (self.formatToType[self.formatt], self.name, self.value)
+
+
 class ControlLoopWriter(object):
-  def __init__(self, gain_schedule_name, loops, namespaces=None):
+  def __init__(self, gain_schedule_name, loops, namespaces=None, write_constants=False):
     """Constructs a control loop writer.
 
     Args:
@@ -24,6 +37,16 @@
 
     self._namespace_end = '\n'.join(
         ['}  // namespace %s' % name for name in reversed(self._namespaces)])
+    
+    self._constant_list = []
+
+  def AddConstant(self, constant):
+    """Adds a constant to write.
+
+    Args:
+      constant: Constant, the constant to add to the header.
+    """
+    self._constant_list.append(constant)
 
   def _TopDirectory(self):
     return self._namespaces[0]
@@ -74,6 +97,10 @@
       fd.write('\n')
 
       fd.write(self._namespace_start)
+
+      for const in self._constant_list:
+          fd.write(str(const))
+
       fd.write('\n\n')
       for loop in self._loops:
         fd.write(loop.DumpPlantHeader())
diff --git a/frc971/control_loops/python/drivetrain.py b/frc971/control_loops/python/drivetrain.py
index 001fd1e..3d6e441 100755
--- a/frc971/control_loops/python/drivetrain.py
+++ b/frc971/control_loops/python/drivetrain.py
@@ -1,6 +1,7 @@
 #!/usr/bin/python
 
 import control_loop
+import controls
 import numpy
 import sys
 from matplotlib import pylab
@@ -89,7 +90,7 @@
       self.Gr = self.G_high
     # Control loop time step
     self.dt = 0.01
-
+    
     # These describe the way that a given side of a robot will be influenced
     # by the other side. Units of 1 / kg.
     self.msp = 1.0 / self.m + self.rb * self.rb / self.J
@@ -118,13 +119,29 @@
     self.D = numpy.matrix([[0, 0],
                            [0, 0]])
 
+    #print "THE NUMBER I WANT" + str(numpy.linalg.inv(self.A_continuous) * -self.B_continuous * numpy.matrix([[12.0], [12.0]]))
     self.A, self.B = self.ContinuousToDiscrete(
         self.A_continuous, self.B_continuous, self.dt)
 
     # Poles from last year.
     self.hp = 0.65
     self.lp = 0.83
-    self.PlaceControllerPoles([self.hp, self.hp, self.lp, self.lp])
+    self.PlaceControllerPoles([self.hp, self.lp, self.hp, self.lp])
+    print self.K
+    q_pos = 0.07
+    q_vel = 1.0
+    self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0, 0.0, 0.0],
+                           [0.0, (1.0 / (q_vel ** 2.0)), 0.0, 0.0],
+                           [0.0, 0.0, (1.0 / (q_pos ** 2.0)), 0.0],
+                           [0.0, 0.0, 0.0, (1.0 / (q_vel ** 2.0))]])
+
+    self.R = numpy.matrix([[(1.0 / (12.0 ** 2.0)), 0.0],
+                           [0.0, (1.0 / (12.0 ** 2.0))]])
+    self.K = controls.dlqr(self.A, self.B, self.Q, self.R)
+    print self.A
+    print self.B
+    print self.K
+    print numpy.linalg.eig(self.A - self.B * self.K)[0]
 
     self.hlp = 0.07
     self.llp = 0.09
@@ -200,6 +217,7 @@
   #pylab.show()
 
   # Write the generated constants out to a file.
+  print "Output one"
   drivetrain = Drivetrain()
 
   if len(argv) != 5:
diff --git a/frc971/control_loops/python/polydrivetrain.py b/frc971/control_loops/python/polydrivetrain.py
index 280db16..f2dfdbe 100755
--- a/frc971/control_loops/python/polydrivetrain.py
+++ b/frc971/control_loops/python/polydrivetrain.py
@@ -396,10 +396,10 @@
     print "Expected .h file name and .cc file name"
   else:
     dog_loop_writer = control_loop.ControlLoopWriter(
-        "VDogDrivetrain", [vdrivetrain.drivetrain_low_low,
-                           vdrivetrain.drivetrain_low_high,
-                           vdrivetrain.drivetrain_high_low,
-                           vdrivetrain.drivetrain_high_high])
+        "VelocityDrivetrain", [vdrivetrain.drivetrain_low_low,
+                       vdrivetrain.drivetrain_low_high,
+                       vdrivetrain.drivetrain_high_low,
+                       vdrivetrain.drivetrain_high_high])
 
     if argv[1][-3:] == '.cc':
       dog_loop_writer.Write(argv[2], argv[1])
diff --git a/frc971/control_loops/python/shooter.py b/frc971/control_loops/python/shooter.py
index 89f682a..69f2599 100755
--- a/frc971/control_loops/python/shooter.py
+++ b/frc971/control_loops/python/shooter.py
@@ -30,6 +30,9 @@
     self.Kt = self.stall_torque / self.stall_current
     # Spring constant for the springs, N/m
     self.Ks = 2800.0
+    # Maximum extension distance (Distance from the 0 force point on the
+    # spring to the latch position.)
+    self.max_extension = 0.32385
     # Gear ratio multiplied by radius of final sprocket.
     self.G = 10.0 / 40.0 * 20.0 / 54.0 * 24.0 / 54.0 * 20.0 / 84.0 * 16.0 * (3.0 / 8.0) / (2.0 * numpy.pi) * 0.0254
 
@@ -235,7 +238,13 @@
 
     sprung_shooter = SprungShooterDeltaU()
     shooter = ShooterDeltaU()
-    loop_writer = control_loop.ControlLoopWriter("Shooter", [sprung_shooter, shooter])
+    loop_writer = control_loop.ControlLoopWriter("Shooter", [sprung_shooter,
+                                                             shooter])
+
+    loop_writer.AddConstant(control_loop.Constant("kMaxExtension", "%f",
+                                                  sprung_shooter.max_extension))
+    loop_writer.AddConstant(control_loop.Constant("kSpringConstant", "%f",
+                                                  sprung_shooter.Ks))
     if argv[1][-3:] == '.cc':
       loop_writer.Write(argv[2], argv[1])
     else: