diff --git a/y2014/control_loops/shooter/shooter.cc b/y2014/control_loops/shooter/shooter.cc
index af310f0..9c6b182 100644
--- a/y2014/control_loops/shooter/shooter.cc
+++ b/y2014/control_loops/shooter/shooter.cc
@@ -56,11 +56,11 @@
 void ZeroedStateFeedbackLoop::CapGoal() {
   if (uncapped_voltage() > max_voltage_) {
     double dx;
-    if (controller_index() == 0) {
+    if (index() == 0) {
       dx = (uncapped_voltage() - max_voltage_) /
-           (K(0, 0) - A(1, 0) * K(0, 2) / A(1, 2));
+           (K(0, 0) - plant().A(1, 0) * K(0, 2) / plant().A(1, 2));
       mutable_R(0, 0) -= dx;
-      mutable_R(2, 0) -= -A(1, 0) / A(1, 2) * dx;
+      mutable_R(2, 0) -= -plant().A(1, 0) / plant().A(1, 2) * dx;
     } else {
       dx = (uncapped_voltage() - max_voltage_) / K(0, 0);
       mutable_R(0, 0) -= dx;
@@ -70,11 +70,11 @@
                ::y2014::control_loops::ShooterMovingGoal(dx));
   } else if (uncapped_voltage() < -max_voltage_) {
     double dx;
-    if (controller_index() == 0) {
+    if (index() == 0) {
       dx = (uncapped_voltage() + max_voltage_) /
-           (K(0, 0) - A(1, 0) * K(0, 2) / A(1, 2));
+           (K(0, 0) - plant().A(1, 0) * K(0, 2) / plant().A(1, 2));
       mutable_R(0, 0) -= dx;
-      mutable_R(2, 0) -= -A(1, 0) / A(1, 2) * dx;
+      mutable_R(2, 0) -= -plant().A(1, 0) / plant().A(1, 2) * dx;
     } else {
       dx = (uncapped_voltage() + max_voltage_) / K(0, 0);
       mutable_R(0, 0) -= dx;
@@ -88,10 +88,11 @@
 }
 
 void ZeroedStateFeedbackLoop::RecalculatePowerGoal() {
-  if (controller_index() == 0) {
-    mutable_R(2, 0) = (-A(1, 0) / A(1, 2) * R(0, 0) - A(1, 1) / A(1, 2) * R(1, 0));
+  if (index() == 0) {
+    mutable_R(2, 0) = (-plant().A(1, 0) / plant().A(1, 2) * R(0, 0) -
+                       plant().A(1, 1) / plant().A(1, 2) * R(1, 0));
   } else {
-    mutable_R(2, 0) = -A(1, 1) / A(1, 2) * R(1, 0);
+    mutable_R(2, 0) = -plant().A(1, 1) / plant().A(1, 2) * R(1, 0);
   }
 }
 
@@ -104,8 +105,8 @@
   mutable_X_hat(0, 0) += doffset;
   // Offset the goal so we don't move.
   mutable_R(0, 0) += doffset;
-  if (controller_index() == 0) {
-    mutable_R(2, 0) += -A(1, 0) / A(1, 2) * (doffset);
+  if (index() == 0) {
+    mutable_R(2, 0) += -plant().A(1, 0) / plant().A(1, 2) * (doffset);
   }
   LOG_STRUCT(DEBUG, "sensor edge (fake?)",
              ::y2014::control_loops::ShooterChangeCalibration(
@@ -257,16 +258,16 @@
   // Probably not needed yet.
 
   if (position) {
-    int last_controller_index = shooter_.controller_index();
+    int last_index = shooter_.index();
     if (position->plunger && position->latch) {
       // Use the controller without the spring if the latch is set and the
       // plunger is back
-      shooter_.set_controller_index(1);
+      shooter_.set_index(1);
     } else {
       // Otherwise use the controller with the spring.
-      shooter_.set_controller_index(0);
+      shooter_.set_index(0);
     }
-    if (shooter_.controller_index() != last_controller_index) {
+    if (shooter_.index() != last_index) {
       shooter_.RecalculatePowerGoal();
     }
   }
diff --git a/y2014/control_loops/shooter/shooter.h b/y2014/control_loops/shooter/shooter.h
index fb991e3..f2ddbc8 100644
--- a/y2014/control_loops/shooter/shooter.h
+++ b/y2014/control_loops/shooter/shooter.h
@@ -83,8 +83,9 @@
         desired_velocity);
 
     mutable_R() << desired_position - kPositionOffset, desired_velocity,
-        (-A(1, 0) / A(1, 2) * (desired_position - kPositionOffset) -
-         A(1, 1) / A(1, 2) * desired_velocity);
+        (-plant().A(1, 0) / plant().A(1, 2) *
+             (desired_position - kPositionOffset) -
+         plant().A(1, 1) / plant().A(1, 2) * desired_velocity);
   }
 
   double position() const { return X_hat(0, 0) - offset_ + kPositionOffset; }
diff --git a/y2014/control_loops/shooter/shooter_lib_test.cc b/y2014/control_loops/shooter/shooter_lib_test.cc
index 5463265..df3f5fd 100644
--- a/y2014/control_loops/shooter/shooter_lib_test.cc
+++ b/y2014/control_loops/shooter/shooter_lib_test.cc
@@ -102,12 +102,12 @@
       // Only disengage the spring if we are greater than 0, which is where the
       // latch will take the load off the pusher.
       if (GetAbsolutePosition() > 0.0) {
-        shooter_plant_->set_plant_index(1);
+        shooter_plant_->set_index(1);
       } else {
-        shooter_plant_->set_plant_index(0);
+        shooter_plant_->set_index(0);
       }
     } else {
-      shooter_plant_->set_plant_index(0);
+      shooter_plant_->set_index(0);
       position->plunger =
           CheckRange(GetAbsolutePosition(), values.shooter.plunger_back);
     }
@@ -228,7 +228,7 @@
       U << last_voltage_;
       shooter_plant_->Update(U);
     }
-    LOG(DEBUG, "Plant index is %d\n", shooter_plant_->plant_index());
+    LOG(DEBUG, "Plant index is %d\n", shooter_plant_->index());
 
     // Handle latch hall effect
     if (!latch_piston_state_ && latch_delay_count_ > 0) {