diff --git a/bot3/control_loops/python/control_loop.py b/bot3/control_loops/python/control_loop.py
index 5ff724b..c979e0d 100644
--- a/bot3/control_loops/python/control_loop.py
+++ b/bot3/control_loops/python/control_loop.py
@@ -1,3 +1,6 @@
+import sys
+sys.path.append("../../frc971/control_loops/python")
+
 import controls
 import numpy
 
diff --git a/bot3/control_loops/python/controls.py b/bot3/control_loops/python/controls.py
deleted file mode 100644
index a40bfe2..0000000
--- a/bot3/control_loops/python/controls.py
+++ /dev/null
@@ -1,101 +0,0 @@
-#!/usr/bin/python
-
-"""
-Control loop pole placement library.
-
-This library will grow to support many different pole placement methods.
-Currently it only supports direct pole placement.
-"""
-
-__author__ = 'Austin Schuh (austin.linux@gmail.com)'
-
-import numpy
-import slycot
-
-class Error (Exception):
-  """Base class for all control loop exceptions."""
-
-
-class PolePlacementError(Error):
-  """Exception raised when pole placement fails."""
-
-
-# TODO(aschuh): dplace should take a control system object.
-# There should also exist a function to manipulate laplace expressions, and
-# something to plot bode plots and all that.
-def dplace(A, B, poles, alpha=1e-6):
-  """Set the poles of (A - BF) to poles.
-
-  Args:
-    A: numpy.matrix(n x n), The A matrix.
-    B: numpy.matrix(n x m), The B matrix.
-    poles: array(imaginary numbers), The poles to use.  Complex conjugates poles
-      must be in pairs.
-
-  Raises:
-    ValueError: Arguments were the wrong shape or there were too many poles.
-    PolePlacementError: Pole placement failed.
-
-  Returns:
-    numpy.matrix(m x n), K
-  """
-  # See http://www.icm.tu-bs.de/NICONET/doc/SB01BD.html for a description of the
-  # fortran code that this is cleaning up the interface to.
-  n = A.shape[0]
-  if A.shape[1] != n:
-    raise ValueError("A must be square")
-  if B.shape[0] != n:
-    raise ValueError("B must have the same number of states as A.")
-  m = B.shape[1]
-
-  num_poles = len(poles)
-  if num_poles > n:
-    raise ValueError("Trying to place more poles than states.")
-
-  out = slycot.sb01bd(n=n,
-                      m=m,
-                      np=num_poles,
-                      alpha=alpha,
-                      A=A,
-                      B=B,
-                      w=numpy.array(poles),
-                      dico='D')
-
-  A_z = numpy.matrix(out[0])
-  num_too_small_eigenvalues = out[2]
-  num_assigned_eigenvalues = out[3]
-  num_uncontrollable_eigenvalues = out[4]
-  K = numpy.matrix(-out[5])
-  Z = numpy.matrix(out[6])
-
-  if num_too_small_eigenvalues != 0:
-    raise PolePlacementError("Number of eigenvalues that are too small "
-                             "and are therefore unmodified is %d." %
-                             num_too_small_eigenvalues)
-  if num_assigned_eigenvalues != num_poles:
-    raise PolePlacementError("Did not place all the eigenvalues that were "
-                             "requested. Only placed %d eigenvalues." %
-                             num_assigned_eigenvalues)
-  if num_uncontrollable_eigenvalues != 0:
-    raise PolePlacementError("Found %d uncontrollable eigenvlaues." %
-                             num_uncontrollable_eigenvalues)
-
-  return K
-
-
-def c2d(A, B, dt):
-  """Converts from continuous time state space representation to discrete time.
-     Evaluates e^(A dt) for the discrete time version of A, and
-     integral(e^(A t) * B, 0, dt).
-     Returns (A, B).  C and D are unchanged."""
-  e, P = numpy.linalg.eig(A)
-  diag = numpy.matrix(numpy.eye(A.shape[0]))
-  diage = numpy.matrix(numpy.eye(A.shape[0]))
-  for eig, count in zip(e, range(0, A.shape[0])):
-    diag[count, count] = numpy.exp(eig * dt)
-    if abs(eig) < 1.0e-16:
-      diage[count, count] = dt
-    else:
-      diage[count, count] = (numpy.exp(eig * dt) - 1.0) / eig
-
-  return (P * diag * numpy.linalg.inv(P), P * diage * numpy.linalg.inv(P) * B)
diff --git a/bot3/control_loops/python/drivetrain.py b/bot3/control_loops/python/drivetrain.py
deleted file mode 100755
index 0e791cb..0000000
--- a/bot3/control_loops/python/drivetrain.py
+++ /dev/null
@@ -1,162 +0,0 @@
-#!/usr/bin/python
-
-import control_loop
-import numpy
-import sys
-from matplotlib import pylab
-
-class Drivetrain(control_loop.ControlLoop):
-  def __init__(self):
-    super(Drivetrain, self).__init__("Drivetrain")
-    # Stall Torque in N m
-    self.stall_torque = 2.42
-    # Stall Current in Amps
-    self.stall_current = 133
-    # Free Speed in RPM. Used number from last year.
-    self.free_speed = 4650.0
-    # Free Current in Amps
-    self.free_current = 2.7
-    # Moment of inertia of the drivetrain in kg m^2
-    # Just borrowed from last year.
-    self.J = 6.4
-    # Mass of the robot, in kg.
-    self.m = 68
-    # Radius of the robot, in meters (from last year).
-    self.rb = 0.617998644 / 2.0
-    # Radius of the wheels, in meters.
-    self.r = .04445
-    # Resistance of the motor, divided by the number of motors.
-    self.R = 12.0 / self.stall_current / 6 + 0.03
-    # Motor velocity constant
-    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
-               (12.0 - self.R * self.free_current))
-    # Torque constant
-    self.Kt = self.stall_torque / self.stall_current
-    # Gear ratios
-    self.G_low = 16.0 / 60.0 * 19.0 / 50.0
-    self.G_high = 28.0 / 48.0 * 19.0 / 50.0
-    self.G = self.G_low
-    # 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
-    self.msn = 1.0 / self.m - self.rb * self.rb / self.J
-    # The calculations which we will need for A and B.
-    self.tc = -self.Kt / self.Kv / (self.G * self.G * self.R * self.r * self.r)
-    self.mp = self.Kt / (self.G * self.R * self.r)
-
-    # State feedback matrices
-    # X will be of the format
-    # [[position1], [velocity1], [position2], velocity2]]
-    self.A_continuous = numpy.matrix(
-        [[0, 1, 0, 0],
-         [0, self.msp * self.tc, 0, self.msn * self.tc],
-         [0, 0, 0, 1],
-         [0, self.msn * self.tc, 0, self.msp * self.tc]])
-    self.B_continuous = numpy.matrix(
-        [[0, 0],
-         [self.msp * self.mp, self.msn * self.mp],
-         [0, 0],
-         [self.msn * self.mp, self.msp * self.mp]])
-    self.C = numpy.matrix([[1, 0, 0, 0],
-                           [0, 0, 1, 0]])
-    self.D = numpy.matrix([[0, 0],
-                           [0, 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])
-
-    print self.K
-
-    self.hlp = 0.07
-    self.llp = 0.09
-    self.PlaceObserverPoles([self.hlp, self.hlp, self.llp, self.llp])
-
-    self.U_max = numpy.matrix([[12.0], [12.0]])
-    self.U_min = numpy.matrix([[-12.0], [-12.0]])
-    self.InitializeState()
-
-def main(argv):
-  # Simulate the response of the system to a step input.
-  drivetrain = Drivetrain()
-  simulated_left = []
-  simulated_right = []
-  for _ in xrange(100):
-    drivetrain.Update(numpy.matrix([[12.0], [12.0]]))
-    simulated_left.append(drivetrain.X[0, 0])
-    simulated_right.append(drivetrain.X[2, 0])
-
-  #pylab.plot(range(100), simulated_left)
-  #pylab.plot(range(100), simulated_right)
-  #pylab.show()
-
-  # Simulate forwards motion.
-  drivetrain = Drivetrain()
-  close_loop_left = []
-  close_loop_right = []
-  R = numpy.matrix([[1.0], [0.0], [1.0], [0.0]])
-  for _ in xrange(100):
-    U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
-                   drivetrain.U_min, drivetrain.U_max)
-    drivetrain.UpdateObserver(U)
-    drivetrain.Update(U)
-    close_loop_left.append(drivetrain.X[0, 0])
-    close_loop_right.append(drivetrain.X[2, 0])
-
-  #pylab.plot(range(100), close_loop_left)
-  #pylab.plot(range(100), close_loop_right)
-  #pylab.show()
-
-  # Try turning in place
-  drivetrain = Drivetrain()
-  close_loop_left = []
-  close_loop_right = []
-  R = numpy.matrix([[-1.0], [0.0], [1.0], [0.0]])
-  for _ in xrange(100):
-    U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
-                   drivetrain.U_min, drivetrain.U_max)
-    drivetrain.UpdateObserver(U)
-    drivetrain.Update(U)
-    close_loop_left.append(drivetrain.X[0, 0])
-    close_loop_right.append(drivetrain.X[2, 0])
-
-  #pylab.plot(range(100), close_loop_left)
-  #pylab.plot(range(100), close_loop_right)
-  #pylab.show()
-
-  # Try turning just one side.
-  drivetrain = Drivetrain()
-  close_loop_left = []
-  close_loop_right = []
-  R = numpy.matrix([[0.0], [0.0], [1.0], [0.0]])
-  for _ in xrange(100):
-    U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
-                   drivetrain.U_min, drivetrain.U_max)
-    drivetrain.UpdateObserver(U)
-    drivetrain.Update(U)
-    close_loop_left.append(drivetrain.X[0, 0])
-    close_loop_right.append(drivetrain.X[2, 0])
-
-  #pylab.plot(range(100), close_loop_left)
-  #pylab.plot(range(100), close_loop_right)
-  #pylab.show()
-
-  # Write the generated constants out to a file.
-  if len(argv) != 3:
-    print "Expected .h file name and .cc file name"
-  else:
-    loop_writer = control_loop.ControlLoopWriter("Drivetrain", [drivetrain])
-    if argv[1][-3:] == '.cc':
-      loop_writer.Write(argv[2], argv[1])
-    else:
-      loop_writer.Write(argv[1], argv[2])
-
-if __name__ == '__main__':
-  sys.exit(main(sys.argv))
diff --git a/bot3/control_loops/python/libcdd.py b/bot3/control_loops/python/libcdd.py
deleted file mode 100644
index a217728..0000000
--- a/bot3/control_loops/python/libcdd.py
+++ /dev/null
@@ -1,129 +0,0 @@
-#!/usr/bin/python
-
-"""Wrapper around libcdd, a polytope manipulation library."""
-
-__author__ = 'Austin Schuh (austin.linux@gmail.com)'
-
-import ctypes
-
-# Wrapper around PyFile_AsFile so that we can print out the error messages.
-# Set the arg type and return types of the function call.
-class FILE(ctypes.Structure):
-  pass
-
-ctypes.pythonapi.PyFile_AsFile.argtypes = [ctypes.py_object]
-ctypes.pythonapi.PyFile_AsFile.restype = ctypes.POINTER(FILE)
-
-# Load and init libcdd.  libcdd is a C library that implements algorithm to
-# manipulate half space and vertex representations of polytopes.
-# Unfortunately, the library was compiled with C++ even though it has a lot of C
-# code in it, so all the symbol names are mangled.  Ug.
-libcdd = ctypes.cdll.LoadLibrary('libcdd.so')
-libcdd._Z23dd_set_global_constantsv()
-
-# The variable type mytype that libcdd defines (double[1])
-# See http://docs.python.org/2/library/ctypes.html#arrays for the documentation
-# explaining why ctypes.c_double * 1 => double[1]
-# libcdd defines mytype to various things so it can essentially template its
-# functions.  What a weird library.
-mytype = ctypes.c_double * 1
-
-
-# Forward declaration for the polyhedra data structure.
-class dd_polyhedradata(ctypes.Structure):
-  pass
-
-
-# Definition of dd_matrixdata
-class dd_matrixdata(ctypes.Structure):
-  _fields_ = [
-      ("rowsize", ctypes.c_long),
-      ("linset", ctypes.POINTER(ctypes.c_ulong)),
-      ("colsize", ctypes.c_long),
-      ("representation", ctypes.c_int),
-      ("numbtype", ctypes.c_int),
-      ("matrix", ctypes.POINTER(ctypes.POINTER(mytype))),
-      ("objective", ctypes.c_int),
-      ("rowvec", ctypes.POINTER(mytype)),
-  ]
-
-# Define the input and output types for a bunch of libcdd functions.
-libcdd._Z15dd_CreateMatrixll.restype = ctypes.POINTER(dd_matrixdata)
-libcdd._Z9ddd_get_dPd.argtypes = [mytype]
-libcdd._Z9ddd_get_dPd.restype = ctypes.c_double
-
-libcdd._Z17dd_CopyGeneratorsP16dd_polyhedradata.argtypes = [
-    ctypes.POINTER(dd_polyhedradata)
-]
-libcdd._Z17dd_CopyGeneratorsP16dd_polyhedradata.restype = ctypes.POINTER(dd_matrixdata)
-
-libcdd._Z16dd_DDMatrix2PolyP13dd_matrixdataP12dd_ErrorType.argtypes = [
-    ctypes.POINTER(dd_matrixdata),
-    ctypes.POINTER(ctypes.c_int)
-]
-libcdd._Z16dd_DDMatrix2PolyP13dd_matrixdataP12dd_ErrorType.restype = (
-  ctypes.POINTER(dd_polyhedradata))
-
-libcdd._Z13dd_FreeMatrixP13dd_matrixdata.argtypes = [
-    ctypes.POINTER(dd_matrixdata)
-]
-
-libcdd._Z16dd_FreePolyhedraP16dd_polyhedradata.argtypes = [
-  ctypes.POINTER(dd_polyhedradata)
-]
-
-libcdd._Z9ddd_set_dPdd.argtypes = [
-  mytype,
-  ctypes.c_double
-]
-
-
-# Various enums.
-DD_INEQUALITY = 1
-DD_REAL = 1
-DD_NO_ERRORS = 17
-
-
-def dd_CreateMatrix(rows, cols):
-  return libcdd._Z15dd_CreateMatrixll(
-      ctypes.c_long(rows),
-      ctypes.c_long(cols))
-
-
-def dd_set_d(mytype_address, double_value):
-  libcdd._Z9ddd_set_dPdd(mytype_address,
-      ctypes.c_double(double_value))
-
-
-def dd_CopyGenerators(polyhedraptr):
-  return libcdd._Z17dd_CopyGeneratorsP16dd_polyhedradata(polyhedraptr)
-
-
-def dd_get_d(mytype_address):
-  return libcdd._Z9ddd_get_dPd(mytype_address)
-
-
-def dd_FreeMatrix(matrixptr):
-  libcdd._Z13dd_FreeMatrixP13dd_matrixdata(matrixptr)
-
-
-def dd_FreePolyhedra(polyhedraptr):
-  libcdd._Z16dd_FreePolyhedraP16dd_polyhedradata(polyhedraptr)
-
-
-def dd_DDMatrix2Poly(matrixptr):
-  error = ctypes.c_int()
-  polyhedraptr = libcdd._Z16dd_DDMatrix2PolyP13dd_matrixdataP12dd_ErrorType(
-      matrixptr,
-      ctypes.byref(error))
-
-  # Return None on error.
-  # The error values are enums, so they aren't exposed.
-  if error.value != NO_ERRORS:
-    # Dump out the errors to stderr
-    libcdd._Z21dd_WriteErrorMessagesP8_IO_FILE12dd_ErrorType(
-        ctypes.pythonapi.PyFile_AsFile(ctypes.py_object(sys.stdout)),
-        error)
-    dd_FreePolyhedra(polyhedraptr)
-    return None
-  return polyhedraptr
diff --git a/bot3/control_loops/shooter/shooter.cc b/bot3/control_loops/shooter/shooter.cc
index fb78a10..f732b3d 100644
--- a/bot3/control_loops/shooter/shooter.cc
+++ b/bot3/control_loops/shooter/shooter.cc
@@ -13,7 +13,6 @@
     : aos::control_loops::ControlLoop<control_loops::ShooterLoop>(my_shooter),
     loop_(new StateFeedbackLoop<1, 1, 1>(MakeShooterLoop())),
     last_velocity_goal_(0) {
-    loop_->Reset();
 }
 
 /*static*/ const double ShooterMotor::dt = 0.01;
@@ -26,10 +25,9 @@
   double velocity_goal = goal->velocity;
   // Our position here is actually a velocity.
   average_velocity_ =
-      (position == NULL ? loop_->X_hat(0, 0) : position->position);
+      (position == NULL ? loop_->X_hat(0, 0) : position->velocity);
   double output_voltage = 0.0;
 
-// TODO (danielp): This must be modified for our index.
 /*  if (index_loop.status.FetchLatest() || index_loop.status.get()) {
     if (index_loop.status->is_shooting) {
       if (velocity_goal != last_velocity_goal_ &&
diff --git a/bot3/control_loops/shooter/shooter_data.csv b/bot3/control_loops/shooter/shooter_data.csv
deleted file mode 100644
index 3515070..0000000
--- a/bot3/control_loops/shooter/shooter_data.csv
+++ /dev/null
@@ -1,638 +0,0 @@
-0.009404, 0.000000, 1484.878965
-0.019423, 0.000000, 1484.878965
-0.029389, 0.000000, 1484.878965
-0.039354, 0.000000, 1484.878965
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-0.059522, 0.000000, 1484.878965
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-0.079381, 0.000000, 1484.878965
-0.089338, 0.000000, 1484.878965
-0.099357, 0.000000, 1484.878965
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-5.309525, 3.213976, 1852.471293
-5.319632, 3.141194, 1853.943915
-5.329458, 3.284019, 1855.459849
-5.339575, 3.050528, 1856.932470
-5.349266, 3.226635, 1858.448404
-5.359682, 3.201591, 1859.921026
-5.369278, 3.319115, 1861.436960
-5.379549, 3.063938, 1862.931237
-5.389254, 3.071781, 1864.447171
-5.399651, 2.961775, 1865.919793
-5.409641, 3.063785, 1867.435727
-5.419564, 0.000000, 1868.930005
-5.429518, 0.000000, 1870.424282
-5.439596, 0.000000, 1871.918560
-5.449485, 0.000000, 1873.347869
-5.459469, 0.000000, 1874.733866
-5.469640, 0.000000, 1876.098207
-5.479575, 0.000000, 1877.419235
-5.489492, 0.000000, 1878.675294
-5.499454, 0.000000, 1879.909698
-5.509441, 0.000000, 1881.100789
-5.519669, 0.000000, 1882.270223
-5.529268, 0.000000, 1883.396346
-5.539531, 0.000000, 1884.479156
-5.549491, 0.000000, 1885.518653
-5.559591, 0.000000, 1886.536495
-5.569479, 0.000000, 1887.532680
-5.579553, 0.000000, 1888.485553
-5.589263, 0.000000, 1889.416769
-5.599628, 0.000000, 1890.283017
-5.609531, 0.000000, 1891.149265
-5.619452, 0.000000, 1891.993857
-5.629254, 0.000000, 1892.795136
-5.639595, 0.000000, 1893.574759
-5.649382, 0.000000, 1894.332726
-5.659518, 0.000000, 1895.047381
-5.669510, 0.000000, 1895.740379
-5.679630, 0.000000, 1896.433378
-5.689513, 0.000000, 1897.083064
-5.699559, 0.000000, 1897.689437
-5.709897, 0.000000, 1898.295811
-5.719663, 0.000000, 1898.880528
-5.729785, 0.000000, 1899.443590
-5.739550, 0.000000, 1899.984995
-5.749477, 0.000000, 1900.504743
-5.759631, 0.000000, 1901.002836
-5.769499, 0.000000, 1901.500928
-5.779545, 0.000000, 1901.955709
-5.789477, 0.000000, 1902.388833
-5.799588, 0.000000, 1902.821957
-5.809530, 0.000000, 1903.233424
-5.819550, 0.000000, 1903.623236
-5.829288, 0.000000, 1903.991391
-5.839583, 0.000000, 1904.359547
-5.849261, 0.000000, 1904.706046
-5.859488, 0.000000, 1905.030889
-5.869375, 0.000000, 1905.334076
-5.879665, 0.000000, 1905.658919
-5.889507, 0.000000, 1905.918793
-5.899530, 0.000000, 1906.200324
-5.909520, 0.000000, 1906.460198
-5.919633, 0.000000, 1906.720073
-5.929467, 0.000000, 1906.958291
-5.939535, 0.000000, 1907.174853
-5.949423, 0.000000, 1907.391415
-5.959583, 0.000000, 1907.586320
-5.969500, 0.000000, 1907.781226
-5.979548, 0.000000, 1907.954476
-5.989236, 0.000000, 1908.106069
-5.999631, 0.000000, 1908.279319
-6.009506, 0.000000, 1908.409256
-6.019548, 0.000000, 1908.560849
-6.029525, 0.000000, 1908.669130
-6.039582, 0.000000, 1908.799068
-6.049527, 0.000000, 1908.907349
-6.059538, 0.000000, 1909.015630
-6.069537, 0.000000, 1909.102254
-6.079650, 0.000000, 1909.188879
-6.089474, 0.000000, 1909.253848
-6.099533, 0.000000, 1909.318816
-6.109497, 0.000000, 1909.383785
-6.119587, 0.000000, 1909.448754
-6.129255, 0.000000, 1909.492066
-6.139524, 0.000000, 1909.513722
-6.149479, 0.000000, 1909.557035
-6.159584, 0.000000, 1909.578691
-6.169260, 0.000000, 1909.600347
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-6.189396, 0.000000, 1909.600347
-6.199574, 0.000000, 1909.600347
-6.209506, 0.000000, 1909.600347
-6.219521, 0.000000, 1909.600347
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-6.269506, 0.000000, 1909.600347
-6.279589, 0.000000, 1909.600347
-6.289535, 0.000000, 1909.600347
-6.299542, 0.000000, 1909.600347
-6.309460, 0.000000, 1909.600347
-6.319858, 0.000000, 1909.600347
-6.329537, 0.000000, 1909.600347
-6.339535, 0.000000, 1909.600347
-6.349231, 0.000000, 1909.600347
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diff --git a/bot3/control_loops/shooter/shooter_motor.q b/bot3/control_loops/shooter/shooter_motor.q
index 714e77a..d581c5d 100644
--- a/bot3/control_loops/shooter/shooter_motor.q
+++ b/bot3/control_loops/shooter/shooter_motor.q
@@ -24,8 +24,8 @@
   };
 
   message Position {
-    // The angle of the shooter wheel measured in rad/sec.
-    double position;
+    // The speed of the shooter wheel measured in rad/sec.
+    double velocity;
   };
 
   message Output {
diff --git a/bot3/control_loops/shooter/shooter_motor_plant.cc b/bot3/control_loops/shooter/shooter_motor_plant.cc
index ab5dbc7..c71b96a 100644
--- a/bot3/control_loops/shooter/shooter_motor_plant.cc
+++ b/bot3/control_loops/shooter/shooter_motor_plant.cc
@@ -1,4 +1,4 @@
-#include "bot3/control_loops/shooter/shooter_motor_plant.h"
+#include "frc971/control_loops/shooter/shooter_motor_plant.h"
 
 #include <vector>
 
@@ -7,40 +7,40 @@
 namespace bot3 {
 namespace control_loops {
 
-StateFeedbackPlantCoefficients<1, 1, 1> MakeShooterPlantCoefficients() {
-  Eigen::Matrix<double, 1, 1> A;
-  A << 0.989057756738;
-  Eigen::Matrix<double, 1, 1> B;
-  B << 0.533205953514;
-  Eigen::Matrix<double, 1, 1> C;
-  C << 0;
+StateFeedbackPlantCoefficients<2, 1, 1> MakeShooterPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 1.0, 0.00994518845675, 0.0, 0.989057756738;
+  Eigen::Matrix<double, 2, 1> B;
+  B << 0.00267091861198, 0.533205953514;
+  Eigen::Matrix<double, 1, 2> C;
+  C << 1, 0;
   Eigen::Matrix<double, 1, 1> D;
   D << 0;
   Eigen::Matrix<double, 1, 1> U_max;
   U_max << 12.0;
   Eigen::Matrix<double, 1, 1> U_min;
   U_min << -12.0;
-  return StateFeedbackPlantCoefficients<1, 1, 1>(A, B, C, D, U_max, U_min);
+  return StateFeedbackPlantCoefficients<2, 1, 1>(A, B, C, D, U_max, U_min);
 }
 
-StateFeedbackController<1, 1, 1> MakeShooterController() {
-  Eigen::Matrix<double, 1, 1> L;
-  L << 29.7111780621;
-  Eigen::Matrix<double, 1, 1> K;
-  K << 0.758151303088;
-  return StateFeedbackController<1, 1, 1>(L, K, MakeShooterPlantCoefficients());
+StateFeedbackController<2, 1, 1> MakeShooterController() {
+  Eigen::Matrix<double, 2, 1> L;
+  L << 1.08905775674, 29.7111780621;
+  Eigen::Matrix<double, 1, 2> K;
+  K << 130.450278144, 2.19032372689;
+  return StateFeedbackController<2, 1, 1>(L, K, MakeShooterPlantCoefficients());
 }
 
-StateFeedbackPlant<1, 1, 1> MakeShooterPlant() {
-  ::std::vector<StateFeedbackPlantCoefficients<1, 1, 1> *> plants(1);
-  plants[0] = new StateFeedbackPlantCoefficients<1, 1, 1>(MakeShooterPlantCoefficients());
-  return StateFeedbackPlant<1, 1, 1>(plants);
+StateFeedbackPlant<2, 1, 1> MakeShooterPlant() {
+  ::std::vector<StateFeedbackPlantCoefficients<2, 1, 1> *> plants(1);
+  plants[0] = new StateFeedbackPlantCoefficients<2, 1, 1>(MakeShooterPlantCoefficients());
+  return StateFeedbackPlant<2, 1, 1>(plants);
 }
 
-StateFeedbackLoop<1, 1, 1> MakeShooterLoop() {
-  ::std::vector<StateFeedbackController<1, 1, 1> *> controllers(1);
-  controllers[0] = new StateFeedbackController<1, 1, 1>(MakeShooterController());
-  return StateFeedbackLoop<1, 1, 1>(controllers);
+StateFeedbackLoop<2, 1, 1> MakeShooterLoop() {
+  ::std::vector<StateFeedbackController<2, 1, 1> *> controllers(1);
+  controllers[0] = new StateFeedbackController<2, 1, 1>(MakeShooterController());
+  return StateFeedbackLoop<2, 1, 1>(controllers);
 }
 
 }  // namespace control_loops
diff --git a/bot3/control_loops/shooter/shooter_motor_plant.h b/bot3/control_loops/shooter/shooter_motor_plant.h
index 1ab9702..fa2237d 100644
--- a/bot3/control_loops/shooter/shooter_motor_plant.h
+++ b/bot3/control_loops/shooter/shooter_motor_plant.h
@@ -6,13 +6,13 @@
 namespace bot3 {
 namespace control_loops {
 
-StateFeedbackPlantCoefficients<1, 1, 1> MakeShooterPlantCoefficients();
+StateFeedbackPlantCoefficients<2, 1, 1> MakeShooterPlantCoefficients();
 
-StateFeedbackController<1, 1, 1> MakeShooterController();
+StateFeedbackController<2, 1, 1> MakeShooterController();
 
-StateFeedbackPlant<1, 1, 1> MakeShooterPlant();
+StateFeedbackPlant<2, 1, 1> MakeShooterPlant();
 
-StateFeedbackLoop<1, 1, 1> MakeShooterLoop();
+StateFeedbackLoop<2, 1, 1> MakeShooterLoop();
 
 }  // namespace control_loops
 }  // namespace bot3