diff --git a/y2017/control_loops/python/shooter.py b/y2017/control_loops/python/shooter.py
index 5aef754..1b0ff13 100755
--- a/y2017/control_loops/python/shooter.py
+++ b/y2017/control_loops/python/shooter.py
@@ -38,7 +38,7 @@
     # Moment of inertia of the shooter wheel in kg m^2
     # 1400.6 grams/cm^2
     # 1.407 *1e-4 kg m^2
-    self.J = 0.00100
+    self.J = 0.00120
     # Resistance of the motor, divided by 2 to account for the 2 motors
     self.R = 12.0 / self.stall_current
     # Motor velocity constant
@@ -49,7 +49,7 @@
     # Gear ratio
     self.G = 12.0 / 36.0
     # Control loop time step
-    self.dt = 0.005
+    self.dt = 0.00505
 
     # State feedback matrices
     # [angular velocity]
@@ -92,7 +92,7 @@
 
     self.A_continuous = numpy.matrix(numpy.zeros((2, 2)))
     self.A_continuous[0:1, 0:1] = self.A_continuous_unaugmented
-    self.A_continuous[1, 0] = 225.0
+    self.A_continuous[1, 0] = 175.0
     self.A_continuous[1, 1] = -self.A_continuous[1, 0]
 
     self.B_continuous = numpy.matrix(numpy.zeros((2, 1)))
@@ -203,7 +203,7 @@
     glog.debug('A_dt(A): \n%s', repr(self.A))
 
     q_pos = 0.01
-    q_vel = 4.0
+    q_vel = 5.0
     q_velfilt = 1.5
     q_voltage = 2.0
     self.Q_continuous = numpy.matrix([[(q_pos ** 2.0), 0.0, 0.0, 0.0],
diff --git a/y2017/control_loops/superstructure/shooter/shooter.cc b/y2017/control_loops/superstructure/shooter/shooter.cc
index 6df4b04..795a7d4 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.cc
+++ b/y2017/control_loops/superstructure/shooter/shooter.cc
@@ -93,7 +93,7 @@
   if (reset_) {
     // TODO(austin): I'd rather not be incrementing X_hat each time.  Sort out
     // something better.
-    loop_->mutable_X_hat(3, 0) += 1.5;
+    loop_->mutable_X_hat(3, 0) += 1.0;
     reset_ = false;
   }
   last_ready_ = ready_;