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(
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 {