diff --git a/frc971/control_loops/angle_adjust/angle_adjust_data.csv b/frc971/control_loops/angle_adjust/angle_adjust_data.csv
new file mode 100644
index 0000000..3e3a9fb
--- /dev/null
+++ b/frc971/control_loops/angle_adjust/angle_adjust_data.csv
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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 a3c89a7..2c97ca4 100644
--- a/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc
@@ -8,9 +8,9 @@
 
 StateFeedbackPlant<2, 1, 1> MakeAngleAdjustPlant() {
   Eigen::Matrix<double, 2, 2> A;
-  A << 1.0, 0.00135041324202, 0.0, 0.000610875713246;
+  A << 1.0, 0.00844804908295, 0.0, 0.706562970689;
   Eigen::Matrix<double, 2, 1> B;
-  B << 0.00111752476609, 0.129120861909;
+  B << 0.000186726546509, 0.0353055515475;
   Eigen::Matrix<double, 1, 2> C;
   C << 1, 0;
   Eigen::Matrix<double, 1, 1> D;
@@ -24,9 +24,9 @@
 
 StateFeedbackLoop<2, 1, 1> MakeAngleAdjustLoop() {
   Eigen::Matrix<double, 2, 1> L;
-  L << 0.900610875713, 1.85371819524;
+  L << 1.60656297069, 51.0341417582;
   Eigen::Matrix<double, 1, 2> K;
-  K << 12.7787251077, -5.83693180893;
+  K << 708.103935619, 16.2677296642;
   return StateFeedbackLoop<2, 1, 1>(L, K, MakeAngleAdjustPlant());
 }
 
diff --git a/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.h b/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.h
index 0bcd582..8085154 100644
--- a/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.h
+++ b/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.h
@@ -1,5 +1,5 @@
-#ifndef FRC971_CONTROL_LOOPS_ANGLEADJUST_MOTOR_PLANT_H_
-#define FRC971_CONTROL_LOOPS_ANGLEADJUST_MOTOR_PLANT_H_
+#ifndef FRC971_CONTROL_LOOPS_ANGLEADJUST_ANGLEADJUST_MOTOR_PLANT_H_
+#define FRC971_CONTROL_LOOPS_ANGLEADJUST_ANGLEADJUST_MOTOR_PLANT_H_
 
 #include "frc971/control_loops/state_feedback_loop.h"
 
@@ -13,4 +13,4 @@
 }  // namespace frc971
 }  // namespace control_loops
 
-#endif  // FRC971_CONTROL_LOOPS_ANGLEADJUST_MOTOR_PLANT_H_
+#endif  // FRC971_CONTROL_LOOPS_ANGLEADJUST_ANGLEADJUST_MOTOR_PLANT_H_
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))