diff --git a/y2020/control_loops/superstructure/shooter/flywheel_controller.cc b/y2020/control_loops/superstructure/shooter/flywheel_controller.cc
index 77fb769..07c3d99 100644
--- a/y2020/control_loops/superstructure/shooter/flywheel_controller.cc
+++ b/y2020/control_loops/superstructure/shooter/flywheel_controller.cc
@@ -11,8 +11,12 @@
 namespace superstructure {
 namespace shooter {
 
-FlywheelController::FlywheelController(StateFeedbackLoop<3, 1, 1> &&loop)
-    : loop_(new StateFeedbackLoop<3, 1, 1>(std::move(loop))) {
+FlywheelController::FlywheelController(
+    StateFeedbackLoop<3, 1, 1, double, StateFeedbackHybridPlant<3, 1, 1>,
+                      HybridKalman<3, 1, 1>> &&loop)
+    : loop_(new StateFeedbackLoop<3, 1, 1, double,
+                                  StateFeedbackHybridPlant<3, 1, 1>,
+                                  HybridKalman<3, 1, 1>>(std::move(loop))) {
   history_.fill(std::pair<double, ::aos::monotonic_clock::time_point>(
       0, ::aos::monotonic_clock::epoch()));
   Y_.setZero();
@@ -26,6 +30,18 @@
 void FlywheelController::set_position(
     double current_position,
     const aos::monotonic_clock::time_point position_timestamp) {
+  // Project time forwards.
+  const int newest_history_position =
+      ((history_position_ == 0) ? kHistoryLength : history_position_) - 1;
+
+  if (!first_) {
+    loop_->UpdateObserver(
+        loop_->U(),
+        position_timestamp - std::get<1>(history_[newest_history_position]));
+  } else {
+    first_ = false;
+  }
+
   // Update position in the model.
   Y_ << current_position;
 
@@ -34,6 +50,8 @@
       std::pair<double, ::aos::monotonic_clock::time_point>(current_position,
                                                             position_timestamp);
   history_position_ = (history_position_ + 1) % kHistoryLength;
+
+  loop_->Correct(Y_);
 }
 
 double FlywheelController::voltage() const { return loop_->U(0, 0); }
@@ -45,22 +63,22 @@
     disabled = true;
   }
 
-  loop_->Correct(Y_);
-  loop_->Update(disabled);
+  loop_->UpdateController(disabled);
 }
 
 flatbuffers::Offset<FlywheelControllerStatus> FlywheelController::SetStatus(
     flatbuffers::FlatBufferBuilder *fbb) {
   // Compute the oldest point in the history.
-  const int oldest_history_position =
+  const int oldest_history_position = history_position_;
+  const int newest_history_position =
       ((history_position_ == 0) ? kHistoryLength : history_position_) - 1;
 
   const double total_loop_time = ::aos::time::DurationInSeconds(
-      std::get<1>(history_[history_position_]) -
+      std::get<1>(history_[newest_history_position]) -
       std::get<1>(history_[oldest_history_position]));
 
   const double distance_traveled =
-      std::get<0>(history_[history_position_]) -
+      std::get<0>(history_[newest_history_position]) -
       std::get<0>(history_[oldest_history_position]);
 
   // Compute the distance moved over that time period.
@@ -70,6 +88,7 @@
 
   builder.add_avg_angular_velocity(avg_angular_velocity_);
   builder.add_angular_velocity(loop_->X_hat(1, 0));
+  builder.add_voltage_error(loop_->X_hat(2, 0));
   builder.add_angular_velocity_goal(last_goal_);
   return builder.Finish();
 }
diff --git a/y2020/control_loops/superstructure/shooter/flywheel_controller.h b/y2020/control_loops/superstructure/shooter/flywheel_controller.h
index a3e9bdb..e130389 100644
--- a/y2020/control_loops/superstructure/shooter/flywheel_controller.h
+++ b/y2020/control_loops/superstructure/shooter/flywheel_controller.h
@@ -18,7 +18,9 @@
 // Handles the velocity control of each flywheel.
 class FlywheelController {
  public:
-  FlywheelController(StateFeedbackLoop<3, 1, 1> &&loop);
+  FlywheelController(
+      StateFeedbackLoop<3, 1, 1, double, StateFeedbackHybridPlant<3, 1, 1>,
+                        HybridKalman<3, 1, 1>> &&loop);
 
   // Sets the velocity goal in radians/sec
   void set_goal(double angular_velocity_goal);
@@ -45,7 +47,10 @@
   // The current sensor measurement.
   Eigen::Matrix<double, 1, 1> Y_;
   // The control loop.
-  ::std::unique_ptr<StateFeedbackLoop<3, 1, 1>> loop_;
+  ::std::unique_ptr<
+      StateFeedbackLoop<3, 1, 1, double, StateFeedbackHybridPlant<3, 1, 1>,
+                        HybridKalman<3, 1, 1>>>
+      loop_;
 
   // History array for calculating a filtered angular velocity.
   static constexpr int kHistoryLength = 10;
@@ -59,6 +64,8 @@
 
   double last_goal_ = 0;
 
+  bool first_ = true;
+
   DISALLOW_COPY_AND_ASSIGN(FlywheelController);
 };
 
diff --git a/y2020/control_loops/superstructure/shooter/shooter.cc b/y2020/control_loops/superstructure/shooter/shooter.cc
index 25f6a6a..a9f1c4c 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.cc
+++ b/y2020/control_loops/superstructure/shooter/shooter.cc
@@ -12,7 +12,7 @@
 namespace shooter {
 
 namespace {
-const double kVelocityTolerance = 0.01;
+const double kVelocityTolerance = 20.0;
 }  // namespace
 
 Shooter::Shooter()
@@ -46,16 +46,18 @@
   accelerator_right_.set_position(position->theta_accelerator_right(),
                                   position_timestamp);
 
-  finisher_.Update(output == nullptr);
-  accelerator_left_.Update(output == nullptr);
-  accelerator_right_.Update(output == nullptr);
-
   // Update goal.
   if (goal) {
     finisher_.set_goal(goal->velocity_finisher());
     accelerator_left_.set_goal(goal->velocity_accelerator());
     accelerator_right_.set_goal(goal->velocity_accelerator());
+  }
 
+  finisher_.Update(output == nullptr);
+  accelerator_left_.Update(output == nullptr);
+  accelerator_right_.Update(output == nullptr);
+
+  if (goal) {
     if (UpToSpeed(goal) && goal->velocity_finisher() > kVelocityTolerance &&
         goal->velocity_accelerator() > kVelocityTolerance) {
       ready_ = true;
diff --git a/y2020/control_loops/superstructure/shooter_plot.pb b/y2020/control_loops/superstructure/shooter_plot.pb
index 01a1e20..16ab5f4 100644
--- a/y2020/control_loops/superstructure/shooter_plot.pb
+++ b/y2020/control_loops/superstructure/shooter_plot.pb
@@ -24,19 +24,87 @@
     line {
       y_signal {
         channel: "Status"
-        field: "hood.position"
+        field: "shooter.accelerator_left.avg_angular_velocity"
+      }
+    }
+    line {
+      y_signal {
+        channel: "Status"
+        field: "shooter.accelerator_right.avg_angular_velocity"
+      }
+    }
+    line {
+      y_signal {
+        channel: "Status"
+        field: "shooter.accelerator_left.angular_velocity"
+      }
+    }
+    line {
+      y_signal {
+        channel: "Status"
+        field: "shooter.accelerator_right.angular_velocity"
       }
     }
     line {
       y_signal {
         channel: "Goal"
-        field: "hood.unsafe_goal"
+        field: "shooter.velocity_accelerator"
       }
     }
     line {
       y_signal {
-        channel: "Position"
-        field: "hood.encoder"
+        channel: "Status"
+        field: "shooter.finisher.avg_angular_velocity"
+      }
+    }
+    line {
+      y_signal {
+        channel: "Status"
+        field: "shooter.finisher.angular_velocity"
+      }
+    }
+    line {
+      y_signal {
+        channel: "Goal"
+        field: "shooter.velocity_finisher"
+      }
+    }
+  }
+  axes {
+    line {
+      y_signal {
+        channel: "Output"
+        field: "accelerator_left_voltage"
+      }
+    }
+    line {
+      y_signal {
+        channel: "Output"
+        field: "accelerator_right_voltage"
+      }
+    }
+    line {
+      y_signal {
+        channel: "Status"
+        field: "shooter.accelerator_left.voltage_error"
+      }
+    }
+    line {
+      y_signal {
+        channel: "Status"
+        field: "shooter.accelerator_right.voltage_error"
+      }
+    }
+    line {
+      y_signal {
+        channel: "Output"
+        field: "finisher_voltage"
+      }
+    }
+    line {
+      y_signal {
+        channel: "Status"
+        field: "shooter.finisher.voltage_error"
       }
     }
     ylabel: "hood position"
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index 5932d2d..6e4e08b 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -763,7 +763,7 @@
   }
 
   // Give it a lot of time to get there.
-  RunFor(chrono::seconds(9));
+  RunFor(chrono::seconds(15));
 
   VerifyNearGoal();
 }
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs
index e8f7637..0b12d33 100644
--- a/y2020/control_loops/superstructure/superstructure_status.fbs
+++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -14,6 +14,9 @@
   // The target speed selected by the lookup table or from manual override
   // Can be compared to velocity to determine if ready.
   angular_velocity_goal:double;
+
+  // Voltage error.
+  voltage_error:double;
 }
 
 table ShooterStatus {