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)
 
diff --git a/y2024/control_loops/superstructure/shooter.cc b/y2024/control_loops/superstructure/shooter.cc
index 532109e..07b7ce1 100644
--- a/y2024/control_loops/superstructure/shooter.cc
+++ b/y2024/control_loops/superstructure/shooter.cc
@@ -29,7 +29,9 @@
       aimer_(event_loop, robot_constants_),
       interpolation_table_(
           y2024::constants::Values::InterpolationTableFromFlatbuffer(
-              robot_constants_->common()->shooter_interpolation_table())) {}
+              robot_constants_->common()->shooter_interpolation_table())),
+      debouncer_(std::chrono::milliseconds(100), std::chrono::milliseconds(8)) {
+}
 
 flatbuffers::Offset<y2024::control_loops::superstructure::ShooterStatus>
 Shooter::Iterate(
@@ -40,16 +42,17 @@
     double *retention_roller_stator_current_limit, double /*battery_voltage*/,
     CollisionAvoidance *collision_avoidance, const double intake_pivot_position,
     double *max_intake_pivot_position, double *min_intake_pivot_position,
-    bool standby, flatbuffers::FlatBufferBuilder *fbb) {
+    bool standby, flatbuffers::FlatBufferBuilder *fbb,
+    aos::monotonic_clock::time_point monotonic_now) {
   drivetrain_status_fetcher_.Fetch();
 
   // If our current is over the minimum current and our velocity is under our
   // maximum velocity, then set loaded to true. If we are preloaded set it to
   // true as well.
-  //
-  // TODO(austin): Debounce piece_loaded?
-  bool piece_loaded = position->catapult_beambreak() ||
-                      (shooter_goal != nullptr && shooter_goal->preloaded());
+  debouncer_.Update(position->catapult_beambreak() ||
+                        (shooter_goal != nullptr && shooter_goal->preloaded()),
+                    monotonic_now);
+  const bool piece_loaded = debouncer_.state();
 
   aos::fbs::FixedStackAllocator<aos::fbs::Builder<
       frc971::control_loops::
@@ -214,6 +217,9 @@
       state_ = CatapultState::RETRACTING;
     }
 
+    constexpr double kLoadingAcceleration = 20.0;
+    constexpr double kLoadingDeceleration = 10.0;
+
     switch (state_) {
       case CatapultState::READY:
         [[fallthrough]];
@@ -231,8 +237,10 @@
           state_ = CatapultState::FIRING;
         } else {
           catapult_.set_controller_index(0);
-          catapult_.mutable_profile()->set_maximum_acceleration(100.0);
-          catapult_.mutable_profile()->set_maximum_deceleration(50.0);
+          catapult_.mutable_profile()->set_maximum_acceleration(
+              kLoadingAcceleration);
+          catapult_.mutable_profile()->set_maximum_deceleration(
+              kLoadingDeceleration);
           catapult_.set_unprofiled_goal(0.0, 0.0);
 
           if (!catapult_close) {
@@ -245,9 +253,13 @@
       case CatapultState::FIRING:
         *retention_roller_output =
             robot_constants_->common()->retention_roller_voltages()->spitting();
-        catapult_.set_controller_index(0);
+        *retention_roller_stator_current_limit =
+            robot_constants_->common()
+                ->current_limits()
+                ->shooting_retention_roller_stator_current_limit();
+        catapult_.set_controller_index(1);
         catapult_.mutable_profile()->set_maximum_acceleration(400.0);
-        catapult_.mutable_profile()->set_maximum_deceleration(600.0);
+        catapult_.mutable_profile()->set_maximum_deceleration(500.0);
         catapult_.set_unprofiled_goal(2.0, 0.0);
         if (CatapultClose()) {
           state_ = CatapultState::RETRACTING;
@@ -257,8 +269,11 @@
         [[fallthrough]];
       case CatapultState::RETRACTING:
         catapult_.set_controller_index(0);
-        catapult_.mutable_profile()->set_maximum_acceleration(100.0);
-        catapult_.mutable_profile()->set_maximum_deceleration(50.0);
+        catapult_.mutable_profile()->set_maximum_acceleration(
+            kLoadingAcceleration);
+        catapult_.mutable_profile()->set_maximum_deceleration(
+            kLoadingDeceleration);
+        // TODO: catapult_return_position
         catapult_.set_unprofiled_goal(0.0, 0.0);
 
         if (CatapultClose()) {
diff --git a/y2024/control_loops/superstructure/shooter.h b/y2024/control_loops/superstructure/shooter.h
index 87b0bc0..4ceffd4 100644
--- a/y2024/control_loops/superstructure/shooter.h
+++ b/y2024/control_loops/superstructure/shooter.h
@@ -17,6 +17,39 @@
 
 namespace y2024::control_loops::superstructure {
 
+class Debouncer {
+ public:
+  Debouncer(std::chrono::nanoseconds rising_delay,
+            std::chrono::nanoseconds falling_delay)
+      : rising_delay_(rising_delay), falling_delay_(falling_delay) {}
+
+  void Update(bool state, aos::monotonic_clock::time_point now) {
+    if (state_transition_ != state) {
+      transition_time_ = now;
+      state_transition_ = state;
+    }
+
+    if (state != output_state_) {
+      if (state) {
+        output_state_ = now > transition_time_ + rising_delay_;
+      } else {
+        output_state_ = !(now > transition_time_ + falling_delay_);
+      }
+    }
+  }
+
+  bool state() const { return output_state_; }
+
+ private:
+  const std::chrono::nanoseconds rising_delay_;
+  const std::chrono::nanoseconds falling_delay_;
+
+  bool state_transition_ = false;
+  bool output_state_ = false;
+  aos::monotonic_clock::time_point transition_time_ =
+      aos::monotonic_clock::min_time;
+};
+
 // The shooter class will control the various subsystems involved in the
 // shooter- the turret, altitude, and catapult.
 class Shooter {
@@ -73,7 +106,8 @@
       const double intake_pivot_position, double *max_turret_intake_position,
       double *min_intake_pivot_position,
       /* If true, go to extend collision avoidance position */ bool standby,
-      flatbuffers::FlatBufferBuilder *fbb);
+      flatbuffers::FlatBufferBuilder *fbb,
+      aos::monotonic_clock::time_point monotonic_now);
 
  private:
   CatapultState state_ = CatapultState::RETRACTING;
@@ -102,6 +136,8 @@
   frc971::shooter_interpolation::InterpolationTable<
       y2024::constants::Values::ShotParams>
       interpolation_table_;
+
+  Debouncer debouncer_;
 };
 
 }  // namespace y2024::control_loops::superstructure
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 577ac15..8f42cb7 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -533,7 +533,8 @@
               : nullptr,
           robot_state().voltage_battery(), &collision_avoidance_,
           intake_pivot_.estimated_position(), &max_intake_pivot_position,
-          &min_intake_pivot_position, move_turret_to_standby, status->fbb());
+          &min_intake_pivot_position, move_turret_to_standby, status->fbb(),
+          timestamp);
 
   intake_pivot_.set_min_position(min_intake_pivot_position);
   intake_pivot_.set_max_position(max_intake_pivot_position);
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index b223736..6c72060 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -400,7 +400,7 @@
 
     EXPECT_NEAR(set_point,
                 superstructure_status_fetcher_->intake_pivot()->position(),
-                0.01);
+                0.015);
 
     if (superstructure_goal_fetcher_->has_shooter_goal() &&
         superstructure_goal_fetcher_->note_goal() != NoteGoal::AMP &&
@@ -1198,7 +1198,7 @@
   // Wait until the bot finishes auto-aiming.
   WaitUntilNear(kTurretGoal, kAltitudeGoal);
 
-  RunFor(chrono::seconds(10));
+  RunFor(chrono::milliseconds(1000));
 
   ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
 
@@ -1281,7 +1281,7 @@
     ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
-  RunFor(dt());
+  RunFor(chrono::milliseconds(200));
 
   superstructure_status_fetcher_.Fetch();
   ASSERT_TRUE(superstructure_status_fetcher_.get() != nullptr);