diff --git a/y2017/control_loops/superstructure/shooter/shooter.cc b/y2017/control_loops/superstructure/shooter/shooter.cc
index 795a7d4..03abd99 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.cc
+++ b/y2017/control_loops/superstructure/shooter/shooter.cc
@@ -67,10 +67,7 @@
   // Compute the distance moved over that time period.
   average_angular_velocity_ =
       (history_[oldest_history_position] - history_[history_position_]) /
-      (chrono::duration_cast<chrono::duration<double>>(
-           ::aos::controls::kLoopFrequency)
-           .count() *
-       static_cast<double>(kHistoryLength - 1));
+      (0.00505 * static_cast<double>(kHistoryLength - 1));
 
   // Ready if average angular velocity is close to the goal.
   error_ = average_angular_velocity_ - loop_->next_R(2, 0);
diff --git a/y2017/control_loops/superstructure/superstructure_lib_test.cc b/y2017/control_loops/superstructure/superstructure_lib_test.cc
index 7906af4..513e2f2 100644
--- a/y2017/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2017/control_loops/superstructure/superstructure_lib_test.cc
@@ -492,7 +492,7 @@
     superstructure_.Iterate();
     superstructure_plant_.Simulate();
 
-    TickTime();
+    TickTime(::std::chrono::microseconds(5050));
   }
 
   // Runs iterations until the specified amount of simulated time has elapsed.
@@ -948,7 +948,7 @@
 
   superstructure_plant_.set_hood_voltage_offset(2.0);
 
-  superstructure_plant_.set_turret_voltage_offset(-1.5);
+  superstructure_plant_.set_turret_voltage_offset(-1.0);
   superstructure_plant_.set_indexer_voltage_offset(2.0);
 
   RunForTime(chrono::seconds(1), false);
@@ -1082,12 +1082,13 @@
     }
   }
 
-  // Make sure it took some time, but not too much to detect us not being stuck anymore.
+  // Make sure it took some time, but not too much to detect us not being stuck
+  // anymore.
   const auto unstuck_detection_time = monotonic_clock::now();
   EXPECT_TRUE(unstuck_detection_time - unstuck_start_time <
-              chrono::milliseconds(200));
+              chrono::milliseconds(600));
   EXPECT_TRUE(unstuck_detection_time - unstuck_start_time >
-              chrono::milliseconds(40));
+              chrono::milliseconds(100));
 
   // Verify that it actually moved.
   superstructure_queue_.position.FetchLatest();
@@ -1155,7 +1156,7 @@
   // anymore.
   const auto unstuck_detection_time = monotonic_clock::now();
   EXPECT_TRUE(unstuck_detection_time - unstuck_start_time <
-              chrono::milliseconds(600));
+              chrono::milliseconds(1050));
   EXPECT_TRUE(unstuck_detection_time - unstuck_start_time >
               chrono::milliseconds(400));
   LOG(INFO, "Unstuck time is %ldms",