diff --git a/y2016/control_loops/python/arm.py b/y2016/control_loops/python/arm.py
index 75f0c59..4d5bbb9 100755
--- a/y2016/control_loops/python/arm.py
+++ b/y2016/control_loops/python/arm.py
@@ -379,7 +379,7 @@
 
   scenario_plotter = ScenarioPlotter()
 
-  J_accelerating = 12
+  J_accelerating = 15
   J_decelerating = 5
 
   arm = Arm(name='AcceleratingArm', J=J_accelerating)
diff --git a/y2016/control_loops/python/intake.py b/y2016/control_loops/python/intake.py
index cc2dfaf..d99160d 100755
--- a/y2016/control_loops/python/intake.py
+++ b/y2016/control_loops/python/intake.py
@@ -42,7 +42,7 @@
 
     # Moment of inertia, measured in CAD.
     # Extra mass to compensate for friction is added on.
-    self.J = 0.34 + 0.65
+    self.J = 0.34 + 0.40
 
     # Control loop time step
     self.dt = 0.005
@@ -73,7 +73,7 @@
     glog.debug("Free speed is %f", self.free_speed * numpy.pi * 2.0 / 60.0 / self.G)
 
     q_pos = 0.20
-    q_vel = 5.5
+    q_vel = 5.0
     self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0],
                            [0.0, (1.0 / (q_vel ** 2.0))]])