diff --git a/bot3/control_loops/shooter/shooter.cc b/bot3/control_loops/shooter/shooter.cc
index fbfeafb..07ce397 100644
--- a/bot3/control_loops/shooter/shooter.cc
+++ b/bot3/control_loops/shooter/shooter.cc
@@ -10,12 +10,9 @@
 
 ShooterMotor::ShooterMotor(control_loops::ShooterLoop *my_shooter)
     : aos::control_loops::ControlLoop<control_loops::ShooterLoop>(my_shooter),
-    loop_(new StateFeedbackLoop<2, 1, 1>(MakeShooterLoop())),
-    history_position_(0),
-    position_goal_(0.0),
-    last_position_(0.0),
+    loop_(new StateFeedbackLoop<1, 1, 1>(MakeShooterLoop())),
     last_velocity_goal_(0) {
-  memset(history_, 0, sizeof(history_));
+    loop_->Reset();
 }
 
 /*static*/ const double ShooterMotor::dt = 0.01;
@@ -26,10 +23,12 @@
     ::aos::control_loops::Output *output,
     control_loops::ShooterLoop::Status *status) {
   double velocity_goal = goal->velocity;
-  const double current_position =
+  // Our position here is actually a velocity.
+  average_velocity_ =
       (position == NULL ? loop_->X_hat(0, 0) : position->position);
   double output_voltage = 0.0;
 
+// TODO (danielp): This must be modified for our index.
 /*  if (index_loop.status.FetchLatest() || index_loop.status.get()) {
     if (index_loop.status->is_shooting) {
       if (velocity_goal != last_velocity_goal_ &&
@@ -42,57 +41,21 @@
   }*/
   last_velocity_goal_ = velocity_goal;
 
-  // Track the current position if the velocity goal is small.
-  if (velocity_goal <= 1.0) {
-    position_goal_ = current_position;
-  }
-
-  loop_->Y << current_position;
-
-  // Add the position to the history.
-  history_[history_position_] = current_position;
-  history_position_ = (history_position_ + 1) % kHistoryLength;
-
-  // Prevents integral windup by limiting the position error such that the
-  // error can't produce much more than full power.
-  const double kVelocityWeightScalar = 0.35;
-  const double max_reference =
-      (loop_->U_max(0, 0) - kVelocityWeightScalar *
-       (velocity_goal - loop_->X_hat(1, 0)) * loop_->K(0, 1))
-      / loop_->K(0, 0) + loop_->X_hat(0, 0);
-  const double min_reference =
-      (loop_->U_min(0, 0) - kVelocityWeightScalar *
-       (velocity_goal - loop_->X_hat(1, 0)) * loop_->K(0, 1))
-      / loop_->K(0, 0) + loop_->X_hat(0, 0);
-
-  position_goal_ = ::std::max(::std::min(position_goal_, max_reference),
-                              min_reference);
-  loop_->R << position_goal_, velocity_goal;
-  position_goal_ += velocity_goal * dt;
+  loop_->Y << average_velocity_;
+  loop_->R << velocity_goal;
 
   loop_->Update(position, output == NULL);
 
   // Kill power at low velocity goals.
   if (velocity_goal < 1.0) {
-    loop_->U[0] = 0.0;
+    loop_->U(0) = 0.0;
   } else {
-    output_voltage = loop_->U[0];
+    output_voltage = loop_->U(0);
   }
 
   LOG(DEBUG,
-      "PWM: %f, raw_pos: %f rotations: %f "
-      "junk velocity: %f, xhat[0]: %f xhat[1]: %f, R[0]: %f R[1]: %f\n",
-      output_voltage, current_position,
-      current_position / (2 * M_PI),
-      (current_position - last_position_) / dt,
-      loop_->X_hat[0], loop_->X_hat[1], loop_->R[0], loop_->R[1]);
-
-  // Calculates the velocity over the last kHistoryLength * .01 seconds
-  // by taking the difference between the current and next history positions.
-  int old_history_position = ((history_position_ == 0) ?
-        kHistoryLength : history_position_) - 1;
-  average_velocity_ = (history_[old_history_position] -
-      history_[history_position_]) * 100.0 / (double)(kHistoryLength - 1);
+      "PWM: %f, raw_velocity: %f,  xhat[0]: %f, R[0]: %f\n",
+      output_voltage, average_velocity_, loop_->X_hat[0], loop_->R[0]);
 
   status->average_velocity = average_velocity_;
 
@@ -107,8 +70,6 @@
   }
   LOG(DEBUG, "avg = %f goal = %f\n", average_velocity_, velocity_goal);
   
-  last_position_ = current_position;
-
   if (output) {
     output->voltage = output_voltage;
   }
diff --git a/bot3/control_loops/shooter/shooter.h b/bot3/control_loops/shooter/shooter.h
index 63c194f..efc1f1b 100644
--- a/bot3/control_loops/shooter/shooter.h
+++ b/bot3/control_loops/shooter/shooter.h
@@ -33,18 +33,10 @@
 
  private:
   // The state feedback control loop to talk to.
-  ::std::unique_ptr<StateFeedbackLoop<2, 1, 1>> loop_;
+  ::std::unique_ptr<StateFeedbackLoop<1, 1, 1>> loop_;
 
-  // History array and stuff for determining average velocity and whether
-  // we are ready to shoot.
-  static const int kHistoryLength = 5;
-  double history_[kHistoryLength];
-  ptrdiff_t history_position_;
   double average_velocity_;
 
-  double position_goal_;
-  double last_position_;
-
   // For making sure it keeps spinning if we're shooting.
   double last_velocity_goal_;
 
diff --git a/bot3/control_loops/shooter/shooter_lib_test.cc b/bot3/control_loops/shooter/shooter_lib_test.cc
index 062e507..fddc415 100644
--- a/bot3/control_loops/shooter/shooter_lib_test.cc
+++ b/bot3/control_loops/shooter/shooter_lib_test.cc
@@ -22,7 +22,7 @@
   // Constructs a shooter simulation. I'm not sure how the construction of
   // the queue (my_shooter_loop_) actually works (same format as wrist).
   ShooterMotorSimulation()
-      : shooter_plant_(new StateFeedbackPlant<2, 1, 1>(MakeShooterPlant())),
+      : shooter_plant_(new StateFeedbackPlant<1, 1, 1>(MakeShooterPlant())),
         my_shooter_loop_(".bot3.control_loops.shooter",
           0x78d8e372, ".bot3.control_loops.shooter.goal",
           ".bot3.control_loops.shooter.position",
@@ -45,7 +45,7 @@
     shooter_plant_->Update();
   }
 
-  ::std::unique_ptr<StateFeedbackPlant<2, 1, 1>> shooter_plant_;
+  ::std::unique_ptr<StateFeedbackPlant<1, 1, 1>> shooter_plant_;
 
  private:
   ShooterLoop my_shooter_loop_;
diff --git a/bot3/control_loops/shooter/shooter_motor_plant.cc b/bot3/control_loops/shooter/shooter_motor_plant.cc
index aacf9b1..ab5dbc7 100644
--- a/bot3/control_loops/shooter/shooter_motor_plant.cc
+++ b/bot3/control_loops/shooter/shooter_motor_plant.cc
@@ -7,40 +7,40 @@
 namespace bot3 {
 namespace control_loops {
 
-StateFeedbackPlantCoefficients<2, 1, 1> MakeShooterPlantCoefficients() {
-  Eigen::Matrix<double, 2, 2> A;
-  A << 1.0, 0.00994518845675, 0.0, 0.989057756738;
-  Eigen::Matrix<double, 2, 1> B;
-  B << 0.00267091861198, 0.533205953514;
-  Eigen::Matrix<double, 1, 2> C;
-  C << 1, 0;
+StateFeedbackPlantCoefficients<1, 1, 1> MakeShooterPlantCoefficients() {
+  Eigen::Matrix<double, 1, 1> A;
+  A << 0.989057756738;
+  Eigen::Matrix<double, 1, 1> B;
+  B << 0.533205953514;
+  Eigen::Matrix<double, 1, 1> C;
+  C << 0;
   Eigen::Matrix<double, 1, 1> D;
   D << 0;
   Eigen::Matrix<double, 1, 1> U_max;
   U_max << 12.0;
   Eigen::Matrix<double, 1, 1> U_min;
   U_min << -12.0;
-  return StateFeedbackPlantCoefficients<2, 1, 1>(A, B, C, D, U_max, U_min);
+  return StateFeedbackPlantCoefficients<1, 1, 1>(A, B, C, D, U_max, U_min);
 }
 
-StateFeedbackController<2, 1, 1> MakeShooterController() {
-  Eigen::Matrix<double, 2, 1> L;
-  L << 1.08905775674, 29.7111780621;
-  Eigen::Matrix<double, 1, 2> K;
-  K << 1.42534042426, 0.758151303088;
-  return StateFeedbackController<2, 1, 1>(L, K, MakeShooterPlantCoefficients());
+StateFeedbackController<1, 1, 1> MakeShooterController() {
+  Eigen::Matrix<double, 1, 1> L;
+  L << 29.7111780621;
+  Eigen::Matrix<double, 1, 1> K;
+  K << 0.758151303088;
+  return StateFeedbackController<1, 1, 1>(L, K, MakeShooterPlantCoefficients());
 }
 
-StateFeedbackPlant<2, 1, 1> MakeShooterPlant() {
-  ::std::vector<StateFeedbackPlantCoefficients<2, 1, 1> *> plants(1);
-  plants[0] = new StateFeedbackPlantCoefficients<2, 1, 1>(MakeShooterPlantCoefficients());
-  return StateFeedbackPlant<2, 1, 1>(plants);
+StateFeedbackPlant<1, 1, 1> MakeShooterPlant() {
+  ::std::vector<StateFeedbackPlantCoefficients<1, 1, 1> *> plants(1);
+  plants[0] = new StateFeedbackPlantCoefficients<1, 1, 1>(MakeShooterPlantCoefficients());
+  return StateFeedbackPlant<1, 1, 1>(plants);
 }
 
-StateFeedbackLoop<2, 1, 1> MakeShooterLoop() {
-  ::std::vector<StateFeedbackController<2, 1, 1> *> controllers(1);
-  controllers[0] = new StateFeedbackController<2, 1, 1>(MakeShooterController());
-  return StateFeedbackLoop<2, 1, 1>(controllers);
+StateFeedbackLoop<1, 1, 1> MakeShooterLoop() {
+  ::std::vector<StateFeedbackController<1, 1, 1> *> controllers(1);
+  controllers[0] = new StateFeedbackController<1, 1, 1>(MakeShooterController());
+  return StateFeedbackLoop<1, 1, 1>(controllers);
 }
 
 }  // namespace control_loops
diff --git a/bot3/control_loops/shooter/shooter_motor_plant.h b/bot3/control_loops/shooter/shooter_motor_plant.h
index fa2237d..1ab9702 100644
--- a/bot3/control_loops/shooter/shooter_motor_plant.h
+++ b/bot3/control_loops/shooter/shooter_motor_plant.h
@@ -6,13 +6,13 @@
 namespace bot3 {
 namespace control_loops {
 
-StateFeedbackPlantCoefficients<2, 1, 1> MakeShooterPlantCoefficients();
+StateFeedbackPlantCoefficients<1, 1, 1> MakeShooterPlantCoefficients();
 
-StateFeedbackController<2, 1, 1> MakeShooterController();
+StateFeedbackController<1, 1, 1> MakeShooterController();
 
-StateFeedbackPlant<2, 1, 1> MakeShooterPlant();
+StateFeedbackPlant<1, 1, 1> MakeShooterPlant();
 
-StateFeedbackLoop<2, 1, 1> MakeShooterLoop();
+StateFeedbackLoop<1, 1, 1> MakeShooterLoop();
 
 }  // namespace control_loops
 }  // namespace bot3