diff --git a/y2020/constants.h b/y2020/constants.h
index 16a3e8b..ed58777 100644
--- a/y2020/constants.h
+++ b/y2020/constants.h
@@ -10,7 +10,9 @@
 #include "frc971/control_loops/pose.h"
 #include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
 #include "y2020/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2020/control_loops/superstructure/accelerator/accelerator_plant.h"
 #include "y2020/control_loops/superstructure/control_panel/control_panel_plant.h"
+#include "y2020/control_loops/superstructure/finisher/finisher_plant.h"
 #include "y2020/control_loops/superstructure/hood/hood_plant.h"
 #include "y2020/control_loops/superstructure/intake/intake_plant.h"
 #include "y2020/control_loops/superstructure/turret/turret_plant.h"
@@ -25,10 +27,10 @@
   static constexpr double kDrivetrainEncoderCountsPerRevolution() {
     return kDrivetrainCyclesPerRevolution() * 4;
   }
-  static constexpr double kDrivetrainEncoderRatio() { return (24.0 / 52.0); }
+  static constexpr double kDrivetrainEncoderRatio() { return 1.0; }
   static constexpr double kMaxDrivetrainEncoderPulsesPerSecond() {
     return control_loops::drivetrain::kFreeSpeed / (2.0 * M_PI) *
-           control_loops::drivetrain::kHighOutputRatio /
+           control_loops::drivetrain::kHighGearRatio /
            constants::Values::kDrivetrainEncoderRatio() *
            kDrivetrainEncoderCountsPerRevolution();
   }
@@ -36,22 +38,20 @@
   // Hood
   static constexpr double kHoodEncoderCountsPerRevolution() { return 4096.0; }
 
-  // TODO(sabina): Update constants
-  static constexpr double kHoodEncoderRatio() { return 1.0; }
+  static constexpr double kHoodEncoderRatio() { return 8.0 / 72.0; }
 
   static constexpr double kMaxHoodEncoderPulsesPerSecond() {
-    return control_loops::superstructure::hood::kFreeSpeed *
+    return control_loops::superstructure::hood::kFreeSpeed / (2.0 * M_PI) *
            control_loops::superstructure::hood::kOutputRatio /
-           kHoodEncoderRatio() / (2.0 * M_PI) *
-           kHoodEncoderCountsPerRevolution();
+           kHoodEncoderRatio() * kHoodEncoderCountsPerRevolution();
   }
 
   static constexpr ::frc971::constants::Range kHoodRange() {
     return ::frc971::constants::Range{
-        0.00,  // Back Hard
-        0.79,  // Front Hard
-        0.14,  // Back Soft
-        0.78   // Front Soft
+        -0.01,  // Back Hard
+        0.65,   // Front Hard
+        0.0,    // Back Soft
+        0.64    // Front Soft
     };
   }
 
@@ -65,10 +65,9 @@
   static constexpr double kIntakeEncoderRatio() { return (16.0 / 32.0); }
 
   static constexpr double kMaxIntakeEncoderPulsesPerSecond() {
-    return control_loops::superstructure::intake::kFreeSpeed *
+    return control_loops::superstructure::intake::kFreeSpeed / (2.0 * M_PI) *
            control_loops::superstructure::intake::kOutputRatio /
-           kIntakeEncoderRatio() / (2.0 * M_PI) *
-           kIntakeEncoderCountsPerRevolution();
+           kIntakeEncoderRatio() * kIntakeEncoderCountsPerRevolution();
   }
 
   // TODO(sabina): update range
@@ -92,18 +91,16 @@
   static constexpr double kTurretEncoderCountsPerRevolution() { return 4096.0; }
 
   static constexpr double kTurretEncoderRatio() {
-    return 1.0;  // TODO (Kai): Get Gear Ratios when ready
+    return (26.0 / 150.0) * (130.0 / 40.0);
   }
 
   static constexpr double kMaxTurretEncoderPulsesPerSecond() {
-    return control_loops::superstructure::turret::kFreeSpeed *
+    return control_loops::superstructure::turret::kFreeSpeed / (2.0 * M_PI) *
            control_loops::superstructure::turret::kOutputRatio /
-           kTurretEncoderRatio() / (2.0 * M_PI) *
-           kTurretEncoderCountsPerRevolution();
+           kTurretEncoderRatio() * kTurretEncoderCountsPerRevolution();
   }
 
-  // TODO(austin): Figure out the actual constant here.
-  static constexpr double kTurretPotRatio() { return 1.0; }
+  static constexpr double kTurretPotRatio() { return (26.0 / 150.0); }
 
   static constexpr ::frc971::constants::Range kTurretRange() {
     return ::frc971::constants::Range{
@@ -135,23 +132,40 @@
   static constexpr double kControlPanelEncoderRatio() { return (56.0 / 28.0); }
 
   static constexpr double kMaxControlPanelEncoderPulsesPerSecond() {
-    return control_loops::superstructure::control_panel::kFreeSpeed *
+    return control_loops::superstructure::control_panel::kFreeSpeed /
+           (2.0 * M_PI) *
            control_loops::superstructure::control_panel::kOutputRatio /
-           kControlPanelEncoderRatio() / (2.0 * M_PI) *
+           kControlPanelEncoderRatio() *
            kControlPanelEncoderCountsPerRevolution();
   }
 
   // Shooter
-  // TODO: Get actual constants.
   static constexpr double kFinisherEncoderCountsPerRevolution() {
     return 4096.0;
   }
-  static constexpr double kFinisherEncoderRatio() { return 1.0; }
+  static constexpr double kFinisherEncoderRatio() { return 30.0 / 40.0; }
+
+  static constexpr double kMaxFinisherEncoderPulsesPerSecond() {
+    return control_loops::superstructure::finisher::kFreeSpeed / (2.0 * M_PI) *
+           control_loops::superstructure::finisher::kOutputRatio /
+           kFinisherEncoderRatio() * kFinisherEncoderCountsPerRevolution();
+  }
+
 
   static constexpr double kAcceleratorEncoderCountsPerRevolution() {
     return 4096.0;
   }
-  static constexpr double kAcceleratorEncoderRatio() { return 1.0; }
+  static constexpr double kAcceleratorEncoderRatio() {
+    return (1.2 * 1.2 * 1.2) * (30.0 / 40.0);
+  }
+
+  static constexpr double kMaxAcceleratorEncoderPulsesPerSecond() {
+    return control_loops::superstructure::accelerator::kFreeSpeed /
+           (2.0 * M_PI) *
+           control_loops::superstructure::accelerator::kOutputRatio /
+           kAcceleratorEncoderRatio() *
+           kAcceleratorEncoderCountsPerRevolution();
+  }
 
   // Climber
   static constexpr double kClimberSupplyCurrentLimit() { return 60.0; }