diff --git a/y2017/control_loops/drivetrain/drivetrain_base.cc b/y2017/control_loops/drivetrain/drivetrain_base.cc
index 1e30e08..3367fc1 100644
--- a/y2017/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2017/control_loops/drivetrain/drivetrain_base.cc
@@ -22,7 +22,7 @@
   static DrivetrainConfig kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::NO_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
-      ::frc971::control_loops::drivetrain::GyroType::IMU_Y_GYRO,
+      ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
 
       ::y2017::control_loops::drivetrain::MakeDrivetrainLoop,
       ::y2017::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
diff --git a/y2017/control_loops/python/drivetrain.py b/y2017/control_loops/python/drivetrain.py
index 8a65128..e722c86 100755
--- a/y2017/control_loops/python/drivetrain.py
+++ b/y2017/control_loops/python/drivetrain.py
@@ -31,7 +31,7 @@
     # Moment of inertia of the drivetrain in kg m^2
     self.J = 2.0
     # Mass of the robot, in kg.
-    self.m = 24
+    self.m = 50
     # Radius of the robot, in meters (requires tuning by hand)
     self.rb = 0.59055 / 2.0
     # Radius of the wheels, in meters.
diff --git a/y2017/control_loops/python/polydrivetrain.py b/y2017/control_loops/python/polydrivetrain.py
index df1f18f..f20ec2f 100755
--- a/y2017/control_loops/python/polydrivetrain.py
+++ b/y2017/control_loops/python/polydrivetrain.py
@@ -129,7 +129,7 @@
     # FF * X = U (steady state)
     self.FF = self.B.I * (numpy.eye(2) - self.A)
 
-    self.PlaceControllerPoles([0.85, 0.85])
+    self.PlaceControllerPoles([0.90, 0.90])
     self.PlaceObserverPoles([0.02, 0.02])
 
     self.G_high = self._drivetrain.G_high
diff --git a/y2017/control_loops/python/shooter.py b/y2017/control_loops/python/shooter.py
index 0858e45..917470a 100755
--- a/y2017/control_loops/python/shooter.py
+++ b/y2017/control_loops/python/shooter.py
@@ -39,7 +39,7 @@
     # Moment of inertia of the shooter wheel in kg m^2
     # 1400.6 grams/cm^2
     # 1.407 *1e-4 kg m^2
-    self.J = 0.00080
+    self.J = 0.00120
     # Resistance of the motor, divided by 2 to account for the 2 motors
     self.R = 12.0 / self.stall_current
     # Motor velocity constant
@@ -64,7 +64,7 @@
     self.A, self.B = self.ContinuousToDiscrete(
         self.A_continuous, self.B_continuous, self.dt)
 
-    self.PlaceControllerPoles([.90])
+    self.PlaceControllerPoles([.75])
 
     glog.debug('K %s', repr(self.K))
     glog.debug('Poles are %s',
@@ -147,12 +147,12 @@
 
     q_pos = 0.01
     q_vel = 2.0
-    q_voltage = 0.2
+    q_voltage = 0.3
     self.Q_continuous = numpy.matrix([[(q_pos ** 2.0), 0.0, 0.0],
                                       [0.0, (q_vel ** 2.0), 0.0],
                                       [0.0, 0.0, (q_voltage ** 2.0)]])
 
-    r_pos = 0.001
+    r_pos = 0.0003
     self.R_continuous = numpy.matrix([[(r_pos ** 2.0)]])
 
     _, _, self.Q, self.R = controls.kalmd(
@@ -256,6 +256,7 @@
       self.u.append(U[0, 0])
 
   def Plot(self):
+    pylab.figure()
     pylab.subplot(3, 1, 1)
     pylab.plot(self.t, self.v, label='x')
     pylab.plot(self.t, self.x_hat, label='x_hat')
@@ -270,7 +271,6 @@
     pylab.plot(self.t, self.a, label='a')
     pylab.legend()
 
-    pylab.figure()
     pylab.draw()