diff --git a/frc971/control_loops/angle_adjust/angle_adjust.cc b/frc971/control_loops/angle_adjust/angle_adjust.cc
index 7670e08..d4446f4 100644
--- a/frc971/control_loops/angle_adjust/angle_adjust.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust.cc
@@ -51,7 +51,7 @@
   }
 
   config_data->max_zeroing_voltage = 4.0;
-  config_data->deadband_voltage = 0.6;
+  config_data->deadband_voltage = 0.825;
   return true;
 }
 
diff --git a/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc b/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc
index acc0035..5ae9e0b 100644
--- a/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc
@@ -25,9 +25,9 @@
 
 StateFeedbackController<3, 1, 1> MakeAngleAdjustController() {
   Eigen::Matrix<double, 3, 1> L;
-  L << 1.75656297069, 71.0838905921, 383.465472329;
+  L << 1.82656297069, 80.440440048, 562.416026082;
   Eigen::Matrix<double, 1, 3> K;
-  K << 147.285618609, 4.58304321916, 0.956562970689;
+  K << 171.984283883, 5.25098015082, 1.01656297069;
   return StateFeedbackController<3, 1, 1>(L, K, MakeAngleAdjustPlantCoefficients());
 }
 
diff --git a/frc971/control_loops/python/angle_adjust.py b/frc971/control_loops/python/angle_adjust.py
index 6d84c0c..36cb49d 100755
--- a/frc971/control_loops/python/angle_adjust.py
+++ b/frc971/control_loops/python/angle_adjust.py
@@ -78,7 +78,7 @@
     self.C = numpy.matrix([[1.0, 0.0, 0.0]])
     self.D = numpy.matrix([[0.0]])
 
-    self.PlaceControllerPoles([0.60, 0.35, 0.80])
+    self.PlaceControllerPoles([0.60, 0.31, 0.78])
 
     print "K"
     print self.K
@@ -88,7 +88,7 @@
     self.rpl = .05
     self.ipl = 0.008
     self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
-                             self.rpl - 1j * self.ipl, 0.85])
+                             self.rpl - 1j * self.ipl, 0.78])
     print "Placed observer poles are"
     print numpy.linalg.eig(self.A - self.L * self.C)[0]