diff --git a/y2017/control_loops/superstructure/shooter/shooter.cc b/y2017/control_loops/superstructure/shooter/shooter.cc
index 18fc795..c0b9d6e 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.cc
+++ b/y2017/control_loops/superstructure/shooter/shooter.cc
@@ -23,15 +23,16 @@
 // TODO(austin): Pseudo current limit?
 
 ShooterController::ShooterController()
-    : loop_(new StateFeedbackLoop<3, 1, 1, StateFeedbackHybridPlant<3, 1, 1>,
-                                  HybridKalman<3, 1, 1>>(
+    : loop_(new StateFeedbackLoop<4, 1, 1, StateFeedbackHybridPlant<4, 1, 1>,
+                                  HybridKalman<4, 1, 1>>(
           superstructure::shooter::MakeIntegralShooterLoop())) {
   history_.fill(0);
   Y_.setZero();
 }
 
 void ShooterController::set_goal(double angular_velocity_goal) {
-  loop_->mutable_next_R() << 0.0, angular_velocity_goal, 0.0;
+  loop_->mutable_next_R() << 0.0, angular_velocity_goal, angular_velocity_goal,
+      0.0;
 }
 
 void ShooterController::set_position(double current_position) {
@@ -52,7 +53,7 @@
 
 void ShooterController::Update(bool disabled, chrono::nanoseconds dt) {
   loop_->mutable_R() = loop_->next_R();
-  if (::std::abs(loop_->R(1, 0)) < 1.0) {
+  if (::std::abs(loop_->R(2, 0)) < 1.0) {
     // Kill power at low angular velocities.
     disabled = true;
   }
@@ -72,17 +73,17 @@
        static_cast<double>(kHistoryLength - 1));
 
   // Ready if average angular velocity is close to the goal.
-  error_ = average_angular_velocity_ - loop_->next_R(1, 0);
+  error_ = average_angular_velocity_ - loop_->next_R(2, 0);
 
-  ready_ = std::abs(error_) < kTolerance && loop_->next_R(1, 0) > 1.0;
+  ready_ = std::abs(error_) < kTolerance && loop_->next_R(2, 0) > 1.0;
 
-  if (last_ready_ && !ready_ && loop_->next_R(1, 0) > 1.0 && error_ < 0.0) {
+  if (last_ready_ && !ready_ && loop_->next_R(2, 0) > 1.0 && error_ < 0.0) {
     needs_reset_ = true;
-    min_velocity_ = loop_->X_hat(1, 0);
+    min_velocity_ = velocity();
   }
   if (needs_reset_) {
-    min_velocity_ = ::std::min(min_velocity_, loop_->X_hat(1, 0));
-    if (loop_->X_hat(1, 0) > min_velocity_ + 5.0) {
+    min_velocity_ = ::std::min(min_velocity_, velocity());
+    if (velocity() > min_velocity_ + 5.0) {
       reset_ = true;
       needs_reset_ = false;
     }
@@ -109,10 +110,10 @@
 void ShooterController::SetStatus(ShooterStatus *status) {
   status->avg_angular_velocity = average_angular_velocity_;
 
-  status->angular_velocity = X_hat_current_(1, 0);
+  status->angular_velocity = X_hat_current_(2, 0);
   status->ready = ready_;
 
-  status->voltage_error = X_hat_current_(2, 0);
+  status->voltage_error = X_hat_current_(3, 0);
   status->position_error = position_error_;
   status->instantaneous_velocity = dt_velocity_;
   status->fixed_instantaneous_velocity = fixed_dt_velocity_;
diff --git a/y2017/control_loops/superstructure/shooter/shooter.h b/y2017/control_loops/superstructure/shooter/shooter.h
index d9b6f45..d13d94c 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.h
+++ b/y2017/control_loops/superstructure/shooter/shooter.h
@@ -33,7 +33,8 @@
   double voltage() const;
 
   // Returns the instantaneous velocity.
-  double velocity() const { return loop_->X_hat(1, 0); }
+  double velocity() const { return loop_->X_hat(2, 0); }
+  double voltage_error() const { return loop_->X_hat(3, 0); }
 
   double dt_velocity() const { return dt_velocity_; }
 
@@ -50,7 +51,7 @@
   Eigen::Matrix<double, 1, 1> Y_;
   // The control loop.
   ::std::unique_ptr<StateFeedbackLoop<
-      3, 1, 1, StateFeedbackHybridPlant<3, 1, 1>, HybridKalman<3, 1, 1>>>
+      4, 1, 1, StateFeedbackHybridPlant<4, 1, 1>, HybridKalman<4, 1, 1>>>
       loop_;
 
   // History array for calculating a filtered angular velocity.
@@ -67,7 +68,7 @@
   double min_velocity_ = 0.0;
   double position_error_ = 0.0;
 
-  Eigen::Matrix<double, 3, 1> X_hat_current_;
+  Eigen::Matrix<double, 4, 1> X_hat_current_;
 
   bool ready_ = false;
   bool needs_reset_ = false;
diff --git a/y2017/control_loops/superstructure/superstructure_lib_test.cc b/y2017/control_loops/superstructure/superstructure_lib_test.cc
index 114b449..7906af4 100644
--- a/y2017/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2017/control_loops/superstructure/superstructure_lib_test.cc
@@ -29,10 +29,10 @@
 namespace chrono = ::std::chrono;
 using ::aos::monotonic_clock;
 
-class ShooterPlant : public StateFeedbackPlant<2, 1, 1> {
+class ShooterPlant : public StateFeedbackPlant<3, 1, 1> {
  public:
-  explicit ShooterPlant(StateFeedbackPlant<2, 1, 1> &&other)
-      : StateFeedbackPlant<2, 1, 1>(::std::move(other)) {}
+  explicit ShooterPlant(StateFeedbackPlant<3, 1, 1> &&other)
+      : StateFeedbackPlant<3, 1, 1>(::std::move(other)) {}
 
   void CheckU(const Eigen::Matrix<double, 1, 1> &U) override {
     EXPECT_LE(U(0, 0), U_max(0, 0) + 0.00001 + voltage_offset_);
@@ -224,7 +224,7 @@
   double intake_position() const { return intake_plant_->X(0, 0); }
   double intake_velocity() const { return intake_plant_->X(1, 0); }
 
-  double shooter_velocity() const { return shooter_plant_->X(1, 0); }
+  double shooter_velocity() const { return shooter_plant_->X(2, 0); }
 
   double indexer_velocity() const { return column_plant_->X(1, 0); }