diff --git a/y2020/control_loops/python/accelerator.py b/y2020/control_loops/python/accelerator.py
index 257ed23..e5b26fb 100644
--- a/y2020/control_loops/python/accelerator.py
+++ b/y2020/control_loops/python/accelerator.py
@@ -13,17 +13,27 @@
 
 gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
 
+# Inertia for a single 4" diameter, 1" wide neopreme wheel.
+J_wheel = 0.000319
+# Gear ratio between wheels (speed up!)
+G_per_wheel = 1.2
+# Gear ratio to the final wheel.
+G = (30.0 / 40.0) * numpy.power(G_per_wheel, 3.0)
+# Overall flywheel inertia.
+J = J_wheel * (
+    1.0 + numpy.power(G, -2.0) + numpy.power(G, -4.0) + numpy.power(G, -6.0))
+
+# The position and velocity are measured for the final wheel.
 kAccelerator = flywheel.FlywheelParams(
     name='Accelerator',
     motor=control_loop.Falcon(),
-    G=1.0,
-    J=0.006,
+    G=G,
+    J=J,
     q_pos=0.08,
     q_vel=4.00,
     q_voltage=0.3,
     r_pos=0.05,
-    controller_poles=[.87],
-    dt=0.00505)
+    controller_poles=[.87])
 
 
 def main(argv):
diff --git a/y2020/control_loops/python/control_panel.py b/y2020/control_loops/python/control_panel.py
index 206a39e..e02aa13 100644
--- a/y2020/control_loops/python/control_panel.py
+++ b/y2020/control_loops/python/control_panel.py
@@ -17,12 +17,11 @@
 except gflags.DuplicateFlagError:
     pass
 
-#TODO(sabina): update moment
 kControlPanel = angular_system.AngularSystemParams(
     name='ControlPanel',
     motor=control_loop.BAG(),
-    G=(1.0),
-    J=0.3,
+    G=1.0,
+    J=0.000009,
     q_pos=0.20,
     q_vel=5.0,
     kalman_q_pos=0.12,
diff --git a/y2020/control_loops/python/drivetrain.py b/y2020/control_loops/python/drivetrain.py
index 54745dd..696c8a2 100644
--- a/y2020/control_loops/python/drivetrain.py
+++ b/y2020/control_loops/python/drivetrain.py
@@ -1,6 +1,7 @@
 #!/usr/bin/python
 
 from frc971.control_loops.python import drivetrain
+from frc971.control_loops.python import control_loop
 import sys
 
 import gflags
@@ -11,11 +12,13 @@
 gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
 
 kDrivetrain = drivetrain.DrivetrainParams(
-    J=1.5,
-    mass=38.5,
-    robot_radius=0.45 / 2.0,
-    wheel_radius=4.0 * 0.0254 / 2.0,
-    G=9.0 / 52.0,
+    J=6.0,
+    mass=58.0,
+    # TODO(austin): Measure radius a bit better.
+    robot_radius=0.7 / 2.0,
+    wheel_radius=6.0 * 0.0254 / 2.0,
+    motor_type=control_loop.Falcon(),
+    G=(8.0 / 70.0) * (17.0 / 24.0),
     q_pos=0.14,
     q_vel=1.30,
     efficiency=0.80,
diff --git a/y2020/control_loops/python/finisher.py b/y2020/control_loops/python/finisher.py
index 0b0fbb4..b789279 100644
--- a/y2020/control_loops/python/finisher.py
+++ b/y2020/control_loops/python/finisher.py
@@ -13,22 +13,32 @@
 
 gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
 
+# Inertia for a single 4" diameter, 2" wide neopreme wheel.
+J_wheel = 0.000319 * 2.0
+# Gear ratio to the final wheel.
+# 40 tooth on the flywheel
+# 48 for the falcon.
+# 60 tooth on the outer wheel.
+G = 48.0 / 40.0
+# Overall flywheel inertia.
+J = J_wheel * (1.0 + (40.0 / 60.0)**2.0)
+
+# The position and velocity are measured for the final wheel.
 kFinisher = flywheel.FlywheelParams(
     name='Finisher',
     motor=control_loop.Falcon(),
-    G=1.0,
-    J=0.006,
+    G=G,
+    J=J,
     q_pos=0.08,
     q_vel=4.00,
     q_voltage=0.3,
     r_pos=0.05,
-    controller_poles=[.87],
-    dt=0.00505)
+    controller_poles=[.87])
 
 
 def main(argv):
     if FLAGS.plot:
-        R = numpy.matrix([[0.0], [100.0], [0.0]])
+        R = numpy.matrix([[0.0], [500.0], [0.0]])
         flywheel.PlotSpinup(params=kFinisher, goal=R, iterations=200)
         return 0
 
diff --git a/y2020/control_loops/python/hood.py b/y2020/control_loops/python/hood.py
index 8c99940..fa92446 100644
--- a/y2020/control_loops/python/hood.py
+++ b/y2020/control_loops/python/hood.py
@@ -17,18 +17,22 @@
 except gflags.DuplicateFlagError:
     pass
 
-'''
-Hood is an angular subsystem due to the mounting of the encoder on the hood joint.
-We are currently electing to ignore potential non-linearity.
-'''
 
-#TODO: update constants
+# Hood is an angular subsystem due to the mounting of the encoder on the hood
+# joint.  We are currently electing to ignore potential non-linearity.
+
+range_of_travel_radians = (37.0 * numpy.pi / 180.0)
+# 0.083 inches/turn
+# 6.38 inches of travel
+turns_of_leadscrew_per_range_of_travel = 6.38 / 0.083
+
+radians_per_turn = range_of_travel_radians / turns_of_leadscrew_per_range_of_travel
+
 kHood = angular_system.AngularSystemParams(
     name='Hood',
     motor=control_loop.BAG(),
-    # meters / rad (used the displacement of the lead screw and the angle)
-    G=(0.1601 / 0.6457),
-    J=0.3,
+    G=radians_per_turn,
+    J=0.08389,
     q_pos=0.20,
     q_vel=5.0,
     kalman_q_pos=0.12,
@@ -39,7 +43,7 @@
 
 def main(argv):
     if FLAGS.plot:
-        R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+        R = numpy.matrix([[numpy.pi / 4.0], [0.0]])
         angular_system.PlotKick(kHood, R)
         angular_system.PlotMotion(kHood, R)
 
diff --git a/y2020/control_loops/python/intake.py b/y2020/control_loops/python/intake.py
index f65679a..7e95758 100644
--- a/y2020/control_loops/python/intake.py
+++ b/y2020/control_loops/python/intake.py
@@ -17,12 +17,11 @@
 except gflags.DuplicateFlagError:
     pass
 
-#TODO: update constants
 kIntake = angular_system.AngularSystemParams(
     name='Intake',
     motor=control_loop.BAG(),
-    G=(1.0 / 1.0),
-    J=0.3,
+    G=(12.0 / 24.0) * (1.0 / 7.0) * (1.0 / 7.0) * (16.0 / 32.0),
+    J=3.0 * 0.139 * 0.139,
     q_pos=0.20,
     q_vel=5.0,
     kalman_q_pos=0.12,
diff --git a/y2020/control_loops/python/turret.py b/y2020/control_loops/python/turret.py
index 58ea7d8..dd2244d 100644
--- a/y2020/control_loops/python/turret.py
+++ b/y2020/control_loops/python/turret.py
@@ -21,10 +21,8 @@
 kTurret = angular_system.AngularSystemParams(
     name='Turret',
     motor=control_loop.Vex775Pro(),
-    #TODO: Update Gear Ratios when they are ready
-    G=(6.0 / 60.0) * (20.0 / 100.0) * (24.0 / 84.0),
-    #TODO: Get number from Bryan (moment of inertia)
-    J=0.30,
+    G=(6.0 / 60.0) * (26.0 / 150.0),
+    J=0.11,
     q_pos=0.20,
     q_vel=5.0,
     kalman_q_pos=0.12,