diff --git a/y2024/control_loops/python/catapult.py b/y2024/control_loops/python/catapult.py
index f7b76e6..49c6305 100644
--- a/y2024/control_loops/python/catapult.py
+++ b/y2024/control_loops/python/catapult.py
@@ -29,10 +29,10 @@
     name='Catapult',
     # Add the battery series resistance to make it better match.
     motor=AddResistance(control_loop.NMotor(control_loop.KrakenFOC(), 2),
-                        0.03),
+                        0.00),
     G=(14.0 / 60.0) * (12.0 / 24.0),
     # 208.7328 in^2 lb
-    J=0.065,
+    J=0.065 + 0.04,
     q_pos=0.80,
     q_vel=15.0,
     kalman_q_pos=0.12,
@@ -46,10 +46,10 @@
     name='Catapult',
     # Add the battery series resistance to make it better match.
     motor=AddResistance(control_loop.NMotor(control_loop.KrakenFOC(), 2),
-                        0.03),
+                        0.00),
     G=(14.0 / 60.0) * (12.0 / 24.0),
     # 135.2928 in^2 lb
-    J=0.04,
+    J=0.06,
     q_pos=0.80,
     q_vel=15.0,
     kalman_q_pos=0.12,
@@ -75,7 +75,7 @@
     else:
         namespaces = ['y2024', 'control_loops', 'superstructure', 'catapult']
         angular_system.WriteAngularSystem(
-            [kCatapultWithGamePiece, kCatapultWithoutGamePiece], argv[1:4],
+            [kCatapultWithoutGamePiece, kCatapultWithGamePiece], argv[1:4],
             argv[4:7], namespaces)
 
 
diff --git a/y2024/control_loops/python/intake_pivot.py b/y2024/control_loops/python/intake_pivot.py
index 5e60311..fad5020 100644
--- a/y2024/control_loops/python/intake_pivot.py
+++ b/y2024/control_loops/python/intake_pivot.py
@@ -21,12 +21,12 @@
     name='IntakePivot',
     motor=control_loop.KrakenFOC(),
     G=(16. / 60.) * (18. / 62.) * (18. / 62.) * (15. / 24.),
-    J=0.25,
-    q_pos=0.80,
-    q_vel=30.0,
+    J=0.4,
+    q_pos=1.0,
+    q_vel=800.0,
     kalman_q_pos=0.12,
     kalman_q_vel=2.0,
-    kalman_q_voltage=2.0,
+    kalman_q_voltage=1.5,
     kalman_r_position=0.05,
     radius=6.85 * 0.0254)