diff --git a/y2020/control_loops/python/flywheel.py b/y2020/control_loops/python/flywheel.py
index 0457985..630d223 100755
--- a/y2020/control_loops/python/flywheel.py
+++ b/y2020/control_loops/python/flywheel.py
@@ -273,10 +273,10 @@
     loop_writer = control_loop.ControlLoopWriter(
         name, flywheels, namespaces=namespace)
     loop_writer.AddConstant(
-        control_loop.Constant('kOutputRatio' + params.name, '%f',
+        control_loop.Constant('kOutputRatio', '%f',
                               flywheels[0].G))
     loop_writer.AddConstant(
-        control_loop.Constant('kFreeSpeed' + params.name, '%f',
+        control_loop.Constant('kFreeSpeed', '%f',
                               flywheels[0].motor.free_speed))
     loop_writer.Write(plant_files[0], plant_files[1])
 
diff --git a/y2020/control_loops/superstructure/accelerator/BUILD b/y2020/control_loops/superstructure/accelerator/BUILD
index 2c680bf..30fca08 100644
--- a/y2020/control_loops/superstructure/accelerator/BUILD
+++ b/y2020/control_loops/superstructure/accelerator/BUILD
@@ -7,11 +7,28 @@
     outs = [
         "accelerator_plant.h",
         "accelerator_plant.cc",
-        "accelerator_integral_plant.h",
-        "accelerator_integral_plant.cc",
+        "integral_accelerator_plant.h",
+        "integral_accelerator_plant.cc",
     ],
     cmd = "$(location //y2020/control_loops/python:accelerator) $(OUTS)",
     tools = [
         "//y2020/control_loops/python:accelerator",
     ],
 )
+
+cc_library(
+    name = "accelerator_plants",
+    srcs = [
+        "accelerator_plant.cc",
+        "integral_accelerator_plant.cc",
+    ],
+    hdrs = [
+        "accelerator_plant.h",
+        "integral_accelerator_plant.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops:hybrid_state_feedback_loop",
+        "//frc971/control_loops:state_feedback_loop",
+    ],
+)
diff --git a/y2020/control_loops/superstructure/finisher/BUILD b/y2020/control_loops/superstructure/finisher/BUILD
index b9bfc4f..2009886 100644
--- a/y2020/control_loops/superstructure/finisher/BUILD
+++ b/y2020/control_loops/superstructure/finisher/BUILD
@@ -7,11 +7,28 @@
     outs = [
         "finisher_plant.h",
         "finisher_plant.cc",
-        "finisher_integral_plant.h",
-        "finisher_integral_plant.cc",
+        "integral_finisher_plant.h",
+        "integral_finisher_plant.cc",
     ],
     cmd = "$(location //y2020/control_loops/python:finisher) $(OUTS)",
     tools = [
         "//y2020/control_loops/python:finisher",
     ],
 )
+
+cc_library(
+    name = "finisher_plants",
+    srcs = [
+        "finisher_plant.cc",
+        "integral_finisher_plant.cc",
+    ],
+    hdrs = [
+        "finisher_plant.h",
+        "integral_finisher_plant.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops:hybrid_state_feedback_loop",
+        "//frc971/control_loops:state_feedback_loop",
+    ],
+)
diff --git a/y2020/control_loops/superstructure/shooter/BUILD b/y2020/control_loops/superstructure/shooter/BUILD
index d63231b..fe8a29a 100644
--- a/y2020/control_loops/superstructure/shooter/BUILD
+++ b/y2020/control_loops/superstructure/shooter/BUILD
@@ -4,18 +4,6 @@
 
 cc_library(
     name = "shooter_plants",
-    srcs = [
-        "//y2020/control_loops/superstructure/accelerator:accelerator_integral_plant.cc",
-        "//y2020/control_loops/superstructure/accelerator:accelerator_plant.cc",
-        "//y2020/control_loops/superstructure/finisher:finisher_integral_plant.cc",
-        "//y2020/control_loops/superstructure/finisher:finisher_plant.cc",
-    ],
-    hdrs = [
-        "//y2020/control_loops/superstructure/accelerator:accelerator_integral_plant.h",
-        "//y2020/control_loops/superstructure/accelerator:accelerator_plant.h",
-        "//y2020/control_loops/superstructure/finisher:finisher_integral_plant.h",
-        "//y2020/control_loops/superstructure/finisher:finisher_plant.h",
-    ],
     deps = [
         "//frc971/control_loops:state_feedback_loop",
     ],
@@ -49,10 +37,11 @@
         "flywheel_controller.h",
     ],
     deps = [
-        ":shooter_plants",
         "//aos/controls:control_loop",
         "//frc971/control_loops:profiled_subsystem",
         "//y2020/control_loops/superstructure:superstructure_goal_fbs",
         "//y2020/control_loops/superstructure:superstructure_status_fbs",
+        "//y2020/control_loops/superstructure/accelerator:accelerator_plants",
+        "//y2020/control_loops/superstructure/finisher:finisher_plants",
     ],
 )
diff --git a/y2020/control_loops/superstructure/shooter/flywheel_controller.h b/y2020/control_loops/superstructure/shooter/flywheel_controller.h
index 20cd681..0d162c4 100644
--- a/y2020/control_loops/superstructure/shooter/flywheel_controller.h
+++ b/y2020/control_loops/superstructure/shooter/flywheel_controller.h
@@ -6,8 +6,8 @@
 #include "aos/controls/control_loop.h"
 #include "aos/time/time.h"
 #include "frc971/control_loops/state_feedback_loop.h"
-#include "y2020/control_loops/superstructure/accelerator/accelerator_integral_plant.h"
-#include "y2020/control_loops/superstructure/finisher/finisher_integral_plant.h"
+#include "y2020/control_loops/superstructure/accelerator/integral_accelerator_plant.h"
+#include "y2020/control_loops/superstructure/finisher/integral_finisher_plant.h"
 #include "y2020/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2020 {
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index 37ee0bb..fe69479 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -435,8 +435,10 @@
   SetEnabled(true);
   // Set a reasonable goal.
 
-  superstructure_plant_.InitializeHoodPosition(0.7);
-  superstructure_plant_.InitializeIntakePosition(0.7);
+  superstructure_plant_.InitializeHoodPosition(
+      constants::Values::kHoodRange().middle());
+  superstructure_plant_.InitializeIntakePosition(
+      constants::Values::kIntakeRange().middle());
 
   WaitUntilZeroed();
   {
@@ -444,12 +446,12 @@
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         hood_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), 0.2,
+            *builder.fbb(), constants::Values::kHoodRange().upper,
             CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), 0.2,
+            *builder.fbb(), constants::Values::kIntakeRange().upper,
             CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
@@ -569,9 +571,6 @@
   SetEnabled(true);
   // Set a reasonable goal.
 
-  superstructure_plant_.InitializeHoodPosition(0.7);
-  superstructure_plant_.InitializeIntakePosition(0.7);
-
   WaitUntilZeroed();
   {
     auto builder = superstructure_goal_sender_.MakeBuilder();
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs
index 023a242..e8f7637 100644
--- a/y2020/control_loops/superstructure/superstructure_status.fbs
+++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -21,7 +21,7 @@
   finisher:FlywheelControllerStatus;
 
   // The subsystem to accelerate the ball before the finisher
-  // Velocity is the slowest (lowest) wheel
+  // Velocity is the fastest (top) wheel
   accelerator_left:FlywheelControllerStatus;
   accelerator_right:FlywheelControllerStatus;
 }
@@ -33,7 +33,7 @@
   // If true, we have aborted. This is if one or all subsystem estops.
   estopped:bool;
 
-  //Subsystem status.
+  // Subsystem status.
   hood:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
   intake:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
   turret:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;