diff --git a/frc971/constants.cc b/frc971/constants.cc
index f9f19a6..a2f5bb6 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -129,19 +129,18 @@
            shooter_zeroing_off_speed,
            shooter_zeroing_speed
           },
-          {0.5,
-           0.2,
-           0.1,
-           -0.446558,
-           0.90675,
-           -0.39110,
-           0.843349,
-           {-1.62102, 1.039699, -1.606248, 0.989702, {-1.65, -1.546252, -1.65, -1.548752}, {-0.13249, -0.02113, -0.134763, -0.021589}, {0.934024, 1.05, 0.92970, 1.05}},
-           {-1.420352, 1.348313, -1.161281, 1.264001, {-1.45, -1.283771, -1.45, -1.28468}, {-0.332476, -0.214984, -0.334294, -0.217029}, {1.248547, 1.37, 1.245366, 1.37}},
-           0.01,  // claw_unimportant_epsilon
-           -0.4,  // start_fine_tune_pos
-           // TODO(austin): Different for the two halfs.
-           4.0,
+          {0.200000,
+          0.100000,
+          0.000000,
+          -0.762218,
+          0.912207,
+          -0.362218,
+          0.512207,
+          {-1.682379, 1.043334, -1.282379, 0.643334, {-1.7, -1.544662, -1.7, -1.547616}, {-0.130218, -0.019771, -0.132036, -0.018862}, {0.935842, 1.1, 0.932660, 1.1}},
+          {-1.225821, 1.553752, -0.825821, 1.153752, {-1.3, -1.088331, -1.3, -1.088331}, {-0.134536, -0.018408, -0.136127, -0.019771}, {1.447396, 1.6, 1.443987, 1.6}},
+          0.020000,  // claw_unimportant_epsilon
+          -0.200000,   // start_fine_tune_pos
+          4.000000,
           }
       };
       break;