diff --git a/frc971/control_loops/python/angle_adjust.py b/frc971/control_loops/python/angle_adjust.py
index ed04198..f49c305 100755
--- a/frc971/control_loops/python/angle_adjust.py
+++ b/frc971/control_loops/python/angle_adjust.py
@@ -13,11 +13,11 @@
     # Stall Current in Amps
     self.stall_current = 63.8
     # Free Speed in RPM
-    self.free_speed = 16000.0
+    self.free_speed = 14900.0
     # Free Current in Amps
     self.free_current = 1.2
     # Moment of inertia of the angle adjust about the shooter's pivot in kg m^2
-    self.J = 0.41085133
+    self.J = 9.4
     # Resistance of the motor
     self.R = 12.0 / self.stall_current
     # Motor velocity constant
@@ -44,7 +44,7 @@
     self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
                               self.dt, self.C)
 
-    self.PlaceControllerPoles([.89, .85])
+    self.PlaceControllerPoles([.5, .5])
 
     self.rpl = .05
     self.ipl = 0.008
@@ -56,13 +56,23 @@
 
 def main(argv):
   # Simulate the response of the system to a step input.
+  angle_adjust_data = numpy.genfromtxt(
+      'angle_adjust/angle_adjust_data.csv', delimiter=',')
   angle_adjust = AngleAdjust()
   simulated_x = []
-  for _ in xrange(100):
-    angle_adjust.Update(numpy.matrix([[12.0]]))
+  real_x = []
+  initial_x = angle_adjust_data[0, 2]
+  for i in xrange(angle_adjust_data.shape[0]):
+    angle_adjust.Update(numpy.matrix([[angle_adjust_data[i, 1] - 0.7]]))
     simulated_x.append(angle_adjust.X[0, 0])
+    x_offset = angle_adjust_data[i, 2] - initial_x
+    real_x.append(x_offset)
 
-  pylab.plot(range(100), simulated_x)
+  sim_delay = 2
+  pylab.plot(range(sim_delay, angle_adjust_data.shape[0] + sim_delay),
+             simulated_x, label='Simulation')
+  pylab.plot(range(angle_adjust_data.shape[0]), real_x, label='Reality')
+  pylab.legend()
   pylab.show()
 
   # Simulate the closed loop response of the system to a step input.
@@ -82,8 +92,11 @@
   if len(argv) != 3:
     print "Expected .cc file name and .h file name"
   else:
-    angle_adjust.DumpHeaderFile(argv[1])
-    angle_adjust.DumpCppFile(argv[2], argv[1])
+    if argv[1][-3:] == '.cc':
+      print '.cc file is second'
+    else:
+      angle_adjust.DumpHeaderFile(argv[1])
+      angle_adjust.DumpCppFile(argv[2], argv[1])
 
 if __name__ == '__main__':
   sys.exit(main(sys.argv))