diff --git a/y2020/control_loops/python/accelerator.py b/y2020/control_loops/python/accelerator.py
index 1746589..48c9098 100644
--- a/y2020/control_loops/python/accelerator.py
+++ b/y2020/control_loops/python/accelerator.py
@@ -28,20 +28,22 @@
     name='Accelerator',
     motor=control_loop.Falcon(),
     G=G,
-    J=J,
-    q_pos=0.08,
-    q_vel=4.00,
-    q_voltage=0.4,
+    J=J + 0.0015,
+    q_pos=0.01,
+    q_vel=40.0,
+    q_voltage=2.0,
     r_pos=0.05,
-    controller_poles=[.84])
+    controller_poles=[.86])
 
 
 def main(argv):
     if FLAGS.plot:
         R = numpy.matrix([[0.0], [500.0], [0.0]])
-        flywheel.PlotSpinup(kAccelerator, goal=R, iterations=200)
+        flywheel.PlotSpinup(kAccelerator, goal=R, iterations=400)
         return 0
 
+    glog.debug("J is %f" % J)
+
     if len(argv) != 5:
         glog.fatal('Expected .h file name and .cc file name')
     else:
@@ -53,4 +55,5 @@
 
 if __name__ == '__main__':
     argv = FLAGS(sys.argv)
+    glog.init()
     sys.exit(main(argv))
diff --git a/y2020/control_loops/python/finisher.py b/y2020/control_loops/python/finisher.py
index 5067a16..9381630 100644
--- a/y2020/control_loops/python/finisher.py
+++ b/y2020/control_loops/python/finisher.py
@@ -14,7 +14,7 @@
 gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
 
 # Inertia for a single 4" diameter, 2" wide neopreme wheel.
-J_wheel = 0.000319 * 2.0
+J_wheel = 0.000319 * 2.0 * 6.0
 # Gear ratio to the final wheel.
 # 40 tooth on the flywheel
 # 48 for the falcon.
@@ -29,17 +29,17 @@
     motor=control_loop.Falcon(),
     G=G,
     J=J,
-    q_pos=0.08,
-    q_vel=4.00,
-    q_voltage=0.4,
+    q_pos=0.01,
+    q_vel=100.0,
+    q_voltage=6.0,
     r_pos=0.05,
-    controller_poles=[.84])
+    controller_poles=[.92])
 
 
 def main(argv):
     if FLAGS.plot:
         R = numpy.matrix([[0.0], [500.0], [0.0]])
-        flywheel.PlotSpinup(params=kFinisher, goal=R, iterations=200)
+        flywheel.PlotSpinup(params=kFinisher, goal=R, iterations=400)
         return 0
 
     if len(argv) != 5:
diff --git a/y2020/control_loops/python/flywheel.py b/y2020/control_loops/python/flywheel.py
index 630d223..451788a 100755
--- a/y2020/control_loops/python/flywheel.py
+++ b/y2020/control_loops/python/flywheel.py
@@ -30,7 +30,7 @@
         self.controller_poles = controller_poles
 
 
-class VelocityFlywheel(control_loop.ControlLoop):
+class VelocityFlywheel(control_loop.HybridControlLoop):
     def __init__(self, params, name="Flywheel"):
         super(VelocityFlywheel, self).__init__(name=name)
         self.params = params
@@ -121,26 +121,44 @@
         self.B_continuous = numpy.matrix(numpy.zeros((3, 1)))
         self.B_continuous[0:2, 0] = self.B_continuous_unaugmented
 
+
         # states
         # [position, velocity, voltage_error]
         self.C_unaugmented = self.C
         self.C = numpy.matrix(numpy.zeros((1, 3)))
         self.C[0:1, 0:2] = self.C_unaugmented
 
+        glog.debug('A_continuous %s' % str(self.A_continuous))
+        glog.debug('B_continuous %s' % str(self.B_continuous))
+        glog.debug('C %s' % str(self.C))
+
         self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
                                                    self.B_continuous, self.dt)
 
+        glog.debug('A %s' % str(self.A))
+        glog.debug('B %s' % str(self.B))
+
         q_pos = self.params.q_pos
         q_vel = self.params.q_vel
         q_voltage = self.params.q_voltage
-        self.Q = numpy.matrix([[(q_pos**2.0), 0.0, 0.0],
+        self.Q_continuous = numpy.matrix([[(q_pos**2.0), 0.0, 0.0],
                                [0.0, (q_vel**2.0), 0.0],
                                [0.0, 0.0, (q_voltage**2.0)]])
 
         r_pos = self.params.r_pos
-        self.R = numpy.matrix([[(r_pos**2.0)]])
+        self.R_continuous = numpy.matrix([[(r_pos**2.0)]])
 
-        self.KalmanGain, self.Q_steady = controls.kalman(
+        _, _, self.Q, self.R = controls.kalmd(
+            A_continuous=self.A_continuous,
+            B_continuous=self.B_continuous,
+            Q_continuous=self.Q_continuous,
+            R_continuous=self.R_continuous,
+            dt=self.dt)
+
+        glog.debug('Q_discrete %s' % (str(self.Q)))
+        glog.debug('R_discrete %s' % (str(self.R)))
+
+        self.KalmanGain, self.P_steady_state = controls.kalman(
             A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
         self.L = self.A * self.KalmanGain
 
@@ -155,7 +173,7 @@
         self.InitializeState()
 
 
-def PlotSpinup(params, goal, iterations=200):
+def PlotSpinup(params, goal, iterations=400):
     """Runs the flywheel plant with an initial condition and goal.
 
     Args:
@@ -210,21 +228,20 @@
 
         if observer_flywheel is not None:
             observer_flywheel.Y = flywheel.Y
-            observer_flywheel.CorrectObserver(U)
+            observer_flywheel.CorrectHybridObserver(U)
             offset.append(observer_flywheel.X_hat[2, 0])
 
         applied_U = U.copy()
-        if i > 100:
+        if i > 200:
             applied_U += 2
         flywheel.Update(applied_U)
 
         if observer_flywheel is not None:
-            observer_flywheel.PredictObserver(U)
+            observer_flywheel.PredictHybridObserver(U, flywheel.dt)
 
         t.append(initial_t + i * flywheel.dt)
         u.append(U[0, 0])
 
-        glog.debug('Time: %f', t[-1])
     pylab.subplot(3, 1, 1)
     pylab.plot(t, v, label='x')
     pylab.plot(t, x_hat, label='x_hat')
@@ -281,5 +298,9 @@
     loop_writer.Write(plant_files[0], plant_files[1])
 
     integral_loop_writer = control_loop.ControlLoopWriter(
-        'Integral' + name, integral_flywheels, namespaces=namespace)
+        'Integral' + name,
+        integral_flywheels,
+        namespaces=namespace,
+        plant_type='StateFeedbackHybridPlant',
+        observer_type='HybridKalman')
     integral_loop_writer.Write(controller_files[0], controller_files[1])
diff --git a/y2020/control_loops/python/hood.py b/y2020/control_loops/python/hood.py
index 98ddfe4..7e75dce 100644
--- a/y2020/control_loops/python/hood.py
+++ b/y2020/control_loops/python/hood.py
@@ -47,6 +47,8 @@
         angular_system.PlotKick(kHood, R)
         angular_system.PlotMotion(kHood, R)
 
+    glog.info("Radians per turn: %f\n", radians_per_turn)
+
     # Write the generated constants out to a file.
     if len(argv) != 5:
         glog.fatal(