diff --git a/y2017/control_loops/python/hood.py b/y2017/control_loops/python/hood.py
index 376a22a..6ab8072 100755
--- a/y2017/control_loops/python/hood.py
+++ b/y2017/control_loops/python/hood.py
@@ -43,7 +43,7 @@
     # Third axle gear ratio off the motor
     self.G3 = self.G2 * (14.0 / 36.0)
     # The last gear reduction (encoder -> hood angle)
-    self.last_G = (18.0 / 345.0)
+    self.last_G = (20.0 / 345.0)
     # Gear ratio
     self.G = (12.0 / 60.0) * (14.0 / 36.0) * (14.0 / 36.0) * self.last_G
 
diff --git a/y2017/control_loops/python/indexer.py b/y2017/control_loops/python/indexer.py
index a5088cb..4797600 100755
--- a/y2017/control_loops/python/indexer.py
+++ b/y2017/control_loops/python/indexer.py
@@ -34,8 +34,8 @@
     self.J_inner = 0.0269
     self.J_outer = 0.0952
     # Gear ratios for the inner and outer parts.
-    self.G_inner = (12.0 / 48.0) * (18.0 / 48.0) * (24.0 / 36.0) * (16.0 / 72.0)
-    self.G_outer = (12.0 / 48.0) * (18.0 / 48.0) * (30.0 / 422.0)
+    self.G_inner = (12.0 / 48.0) * (18.0 / 36.0) * (12.0 / 84.0)
+    self.G_outer = (12.0 / 48.0) * (18.0 / 36.0) * (24.0 / 420.0)
 
     # Motor inertia in kg * m^2
     self.motor_inertia = 0.000006