diff --git a/bot3/control_loops/python/control_loop.py b/bot3/control_loops/python/control_loop.py
index 754ba62..5ff724b 100644
--- a/bot3/control_loops/python/control_loop.py
+++ b/bot3/control_loops/python/control_loop.py
@@ -17,7 +17,7 @@
     if namespaces:
       self._namespaces = namespaces
     else:
-      self._namespaces = ['frc971', 'control_loops']
+      self._namespaces = ['bot3', 'control_loops']
 
     self._namespace_start = '\n'.join(
         ['namespace %s {' % name for name in self._namespaces])
@@ -26,7 +26,7 @@
         ['}  // namespace %s' % name for name in reversed(self._namespaces)])
 
   def _HeaderGuard(self, header_file):
-    return ('FRC971_CONTROL_LOOPS_' +
+    return ('BOT3_CONTROL_LOOPS_' +
             header_file.upper().replace('.', '_').replace('/', '_') +
             '_')
 
diff --git a/bot3/control_loops/python/shooter.py b/bot3/control_loops/python/shooter.py
index cc7930f..6efecad 100755
--- a/bot3/control_loops/python/shooter.py
+++ b/bot3/control_loops/python/shooter.py
@@ -4,6 +4,7 @@
 import sys
 from matplotlib import pylab
 import control_loop
+import slycot
 
 class Shooter(control_loop.ControlLoop):
   def __init__(self):
@@ -43,9 +44,17 @@
     self.A, self.B = self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
                               self.dt)
 
+    R_LQR = numpy.matrix([[1e-5]])
+    P = slycot.sb02od(2,1, self.A, self.B, self.C.T * self.C, R_LQR, 'D')[0]
+
+    self.K = numpy.linalg.inv(R_LQR + self.B.T * P * self.B) * self.B.T * P * self.A
+    
+    print self.K
+
     self.InitializeState()
 
-    self.PlaceControllerPoles([.6, .981])
+#   self.PlaceControllerPoles([.6, .981])
+#   print self.K
 
     self.rpl = .45
     self.ipl = 0.07
@@ -74,11 +83,11 @@
     last_x = shooter_data[i, 2]
 
   sim_delay = 1
-  pylab.plot(range(sim_delay, shooter_data.shape[0] + sim_delay),
-             simulated_x, label='Simulation')
-  pylab.plot(range(shooter_data.shape[0]), real_x, label='Reality')
-  pylab.plot(range(shooter_data.shape[0]), x_vel, label='Velocity')
-  pylab.legend()
+# pylab.plot(range(sim_delay, shooter_data.shape[0] + sim_delay),
+#            simulated_x, label='Simulation')
+# pylab.plot(range(shooter_data.shape[0]), real_x, label='Reality')
+# pylab.plot(range(shooter_data.shape[0]), x_vel, label='Velocity')
+# pylab.legend()
 # pylab.show()
 
   # Simulate the closed loop response of the system to a step input.
@@ -108,13 +117,13 @@
     shooter.UpdateObserver(U)
     shooter.Update(U)
     close_loop_x.append(shooter.X[1, 0])
-    close_loop_U.append(U[0, 0])
+    close_loop_U.append(U[0, 0] * 10)
 
   #pylab.plotfile("shooter.csv", (0,1))
-  #pylab.plot(pylab.linspace(0,1.99,200), close_loop_U, 'ro')
+  pylab.plot(pylab.linspace(0,1.99,200), close_loop_U)
   #pylab.plotfile("shooter.csv", (0,2))
-  pylab.plot(pylab.linspace(0,1.99,200), close_loop_x, 'ro')
-# pylab.show()
+  pylab.plot(pylab.linspace(0,1.99,200), close_loop_x)
+  pylab.show()
 
   # Simulate spin down.
   spin_down_x = [];
diff --git a/bot3/control_loops/shooter/shooter.cc b/bot3/control_loops/shooter/shooter.cc
index fbfeafb..d1a07f1 100644
--- a/bot3/control_loops/shooter/shooter.cc
+++ b/bot3/control_loops/shooter/shooter.cc
@@ -1,4 +1,5 @@
 #include "bot3/control_loops/shooter/shooter.h"
+#include "bot3/control_loops/shooter/shooter_motor.q.h"
 
 #include "aos/common/control_loop/control_loops.q.h"
 #include "aos/common/logging/logging.h"
@@ -23,7 +24,7 @@
 void ShooterMotor::RunIteration(
     const control_loops::ShooterLoop::Goal *goal,
     const control_loops::ShooterLoop::Position *position,
-    ::aos::control_loops::Output *output,
+    control_loops::ShooterLoop::Output *output,
     control_loops::ShooterLoop::Status *status) {
   double velocity_goal = goal->velocity;
   const double current_position =
@@ -111,6 +112,9 @@
 
   if (output) {
     output->voltage = output_voltage;
+    output->intake = goal->intake;
+    output->push = goal->push;
+    LOG(DEBUG, "goal: %lf, volt: %lf, push:%d\n", goal->intake, output_voltage, goal->push);
   }
 }
 
diff --git a/bot3/control_loops/shooter/shooter.gyp b/bot3/control_loops/shooter/shooter.gyp
index ed42647..56a4f44 100644
--- a/bot3/control_loops/shooter/shooter.gyp
+++ b/bot3/control_loops/shooter/shooter.gyp
@@ -29,7 +29,7 @@
         '<(AOS)/common/common.gyp:controls',
         '<(DEPTH)/frc971/frc971.gyp:common',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
-       #'<(DEPTH)/frc971/control_loops/index/index.gyp:index_loop',
+        '<(DEPTH)/frc971/queues/queues.gyp:queues',
       ],
       'export_dependent_settings': [
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
diff --git a/bot3/control_loops/shooter/shooter.h b/bot3/control_loops/shooter/shooter.h
index 6ab1ea5..7c402b9 100644
--- a/bot3/control_loops/shooter/shooter.h
+++ b/bot3/control_loops/shooter/shooter.h
@@ -1,5 +1,5 @@
-#ifndef FRC971_CONTROL_LOOPS_SHOOTER_H_
-#define FRC971_CONTROL_LOOPS_SHOOTER_H_
+#ifndef BOT3_CONTROL_LOOPS_SHOOTER_H_
+#define BOT3_CONTROL_LOOPS_SHOOTER_H_
 
 #include <memory>
 
@@ -28,7 +28,7 @@
   virtual void RunIteration(
       const control_loops::ShooterLoop::Goal *goal,
       const control_loops::ShooterLoop::Position *position,
-      ::aos::control_loops::Output *output,
+      control_loops::ShooterLoop::Output *output,
       control_loops::ShooterLoop::Status *status);
 
  private:
@@ -54,4 +54,4 @@
 }  // namespace control_loops
 }  // namespace bot3
 
-#endif // FRC971_CONTROL_LOOPS_SHOOTER_H_
+#endif // BOT3_CONTROL_LOOPS_SHOOTER_H_
diff --git a/bot3/control_loops/shooter/shooter_motor.q b/bot3/control_loops/shooter/shooter_motor.q
index 87eaa16..714e77a 100644
--- a/bot3/control_loops/shooter/shooter_motor.q
+++ b/bot3/control_loops/shooter/shooter_motor.q
@@ -8,6 +8,10 @@
   message Goal {
     // Goal velocity in rad/sec
     double velocity;
+    // PWM output to intake.
+    double intake;
+    // Whether to activate pusher piston.
+    bool push;
   };
 
   message Status {
@@ -15,6 +19,8 @@
     bool ready;
     // The average velocity over the last 0.1 seconds.
     double average_velocity;
+    // True if Frisbees are being fired into the shooter.
+    bool firing;
   };
 
   message Position {
@@ -22,9 +28,18 @@
     double position;
   };
 
+  message Output {
+    // Output to shooter, Volts.
+    double voltage;
+    // PWM output to intake.
+    double intake;
+    // Whether to activate pusher piston.
+    bool push;
+  };
+
   queue Goal goal;
   queue Position position;
-  queue aos.control_loops.Output output;
+  queue Output output;
   queue Status status;
 };
 
diff --git a/bot3/control_loops/shooter/shooter_motor_plant.cc b/bot3/control_loops/shooter/shooter_motor_plant.cc
index 70f052d..5dd32db 100644
--- a/bot3/control_loops/shooter/shooter_motor_plant.cc
+++ b/bot3/control_loops/shooter/shooter_motor_plant.cc
@@ -4,7 +4,7 @@
 
 #include "frc971/control_loops/state_feedback_loop.h"
 
-namespace frc971 {
+namespace bot3 {
 namespace control_loops {
 
 StateFeedbackPlantCoefficients<2, 1, 1> MakeShooterPlantCoefficients() {
diff --git a/bot3/control_loops/shooter/shooter_motor_plant.h b/bot3/control_loops/shooter/shooter_motor_plant.h
index 3588605..2207ab2 100644
--- a/bot3/control_loops/shooter/shooter_motor_plant.h
+++ b/bot3/control_loops/shooter/shooter_motor_plant.h
@@ -1,9 +1,9 @@
-#ifndef FRC971_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
-#define FRC971_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
+#ifndef BOT3_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
+#define BOT3_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
 
 #include "frc971/control_loops/state_feedback_loop.h"
 
-namespace frc971 {
+namespace bot3 {
 namespace control_loops {
 
 StateFeedbackPlantCoefficients<2, 1, 1> MakeShooterPlantCoefficients();