diff --git a/y2024/control_loops/python/altitude.py b/y2024/control_loops/python/altitude.py
index 544eddc..a06bda7 100644
--- a/y2024/control_loops/python/altitude.py
+++ b/y2024/control_loops/python/altitude.py
@@ -31,7 +31,8 @@
     kalman_q_vel=2.0,
     kalman_q_voltage=2.0,
     kalman_r_position=0.05,
-    radius=10.5 * 0.0254)
+    radius=10.5 * 0.0254,
+    dt=0.005)
 
 
 def main(argv):
diff --git a/y2024/control_loops/python/catapult.py b/y2024/control_loops/python/catapult.py
index 49c6305..406f56e 100644
--- a/y2024/control_loops/python/catapult.py
+++ b/y2024/control_loops/python/catapult.py
@@ -40,7 +40,8 @@
     kalman_q_voltage=0.7,
     kalman_r_position=0.05,
     radius=12 * 0.0254,
-    delayed_u=1)
+    delayed_u=1,
+    dt=0.005)
 
 kCatapultWithoutGamePiece = angular_system.AngularSystemParams(
     name='Catapult',
@@ -57,7 +58,8 @@
     kalman_q_voltage=0.7,
     kalman_r_position=0.05,
     radius=12 * 0.0254,
-    delayed_u=1)
+    delayed_u=1,
+    dt=0.005)
 
 
 def main(argv):
diff --git a/y2024/control_loops/python/climber.py b/y2024/control_loops/python/climber.py
index 997cf28..1b4e3d2 100644
--- a/y2024/control_loops/python/climber.py
+++ b/y2024/control_loops/python/climber.py
@@ -26,6 +26,7 @@
     kalman_q_vel=2.00,
     kalman_q_voltage=35.0,
     kalman_r_position=0.05,
+    dt=0.005,
 )
 
 
diff --git a/y2024/control_loops/python/drivetrain.py b/y2024/control_loops/python/drivetrain.py
index 282b146..b52f70d 100644
--- a/y2024/control_loops/python/drivetrain.py
+++ b/y2024/control_loops/python/drivetrain.py
@@ -28,6 +28,7 @@
     force=True,
     kf_q_voltage=1.0,
     controller_poles=[0.82, 0.82],
+    dt=0.005,
 )
 
 
diff --git a/y2024/control_loops/python/extend.py b/y2024/control_loops/python/extend.py
index f95c995..e8f066b 100644
--- a/y2024/control_loops/python/extend.py
+++ b/y2024/control_loops/python/extend.py
@@ -31,6 +31,7 @@
     kalman_q_vel=2.0,
     kalman_q_voltage=8.0,
     kalman_r_position=0.05,
+    dt=0.005,
 )
 
 
diff --git a/y2024/control_loops/python/intake_pivot.py b/y2024/control_loops/python/intake_pivot.py
index 5ea5c3f..c240d01 100644
--- a/y2024/control_loops/python/intake_pivot.py
+++ b/y2024/control_loops/python/intake_pivot.py
@@ -29,7 +29,8 @@
     kalman_q_voltage=1.0,
     kalman_r_position=0.05,
     radius=6.85 * 0.0254,
-    enable_voltage_error=False)
+    enable_voltage_error=False,
+    dt=0.005)
 
 
 def main(argv):
diff --git a/y2024/control_loops/python/turret.py b/y2024/control_loops/python/turret.py
index 41cc48a..07c3d90 100644
--- a/y2024/control_loops/python/turret.py
+++ b/y2024/control_loops/python/turret.py
@@ -29,7 +29,8 @@
     kalman_q_vel=2.0,
     kalman_q_voltage=2.0,
     kalman_r_position=0.05,
-    radius=24 * 0.0254)
+    radius=24 * 0.0254,
+    dt=0.005)
 
 
 def main(argv):
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index e2c79d5..9dad4ec 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -328,7 +328,7 @@
   SuperstructureTest()
       : ::frc971::testing::ControlLoopTest(
             aos::configuration::ReadConfig("y2024/aos_config.json"),
-            std::chrono::microseconds(5050)),
+            std::chrono::microseconds(5000)),
         simulated_constants_dummy_(SendSimulationConstants(
             event_loop_factory(), 7971, "y2024/constants/test_constants.json")),
         roborio_(aos::configuration::GetNode(configuration(), "roborio")),