diff --git a/y2017/control_loops/python/drivetrain.py b/y2017/control_loops/python/drivetrain.py
index 1f5c505..422614f 100755
--- a/y2017/control_loops/python/drivetrain.py
+++ b/y2017/control_loops/python/drivetrain.py
@@ -56,7 +56,7 @@
       self.Gr = self.G_high
 
     # Control loop time step
-    self.dt = 0.005
+    self.dt = 0.00505
 
     # These describe the way that a given side of a robot will be influenced
     # by the other side. Units of 1 / kg.
diff --git a/y2017/control_loops/python/polydrivetrain.py b/y2017/control_loops/python/polydrivetrain.py
index f20ec2f..d3a5683 100755
--- a/y2017/control_loops/python/polydrivetrain.py
+++ b/y2017/control_loops/python/polydrivetrain.py
@@ -112,7 +112,7 @@
     super(VelocityDrivetrainModel, self).__init__(name)
     self._drivetrain = drivetrain.Drivetrain(left_low=left_low,
                                              right_low=right_low)
-    self.dt = 0.005
+    self.dt = 0.00505
     self.A_continuous = numpy.matrix(
         [[self._drivetrain.A_continuous[1, 1], self._drivetrain.A_continuous[1, 3]],
          [self._drivetrain.A_continuous[3, 1], self._drivetrain.A_continuous[3, 3]]])
@@ -178,7 +178,7 @@
         [[-12.0000000000],
          [-12.0000000000]])
 
-    self.dt = 0.005
+    self.dt = 0.00505
 
     self.R = numpy.matrix(
         [[0.0],
diff --git a/y2017/control_loops/superstructure/shooter/shooter.cc b/y2017/control_loops/superstructure/shooter/shooter.cc
index c0b9d6e..f864696 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.cc
+++ b/y2017/control_loops/superstructure/shooter/shooter.cc
@@ -102,7 +102,7 @@
   position_error_ = X_hat_current_(0, 0) - Y_(0, 0);
   dt_velocity_ = dt_position_ /
                  chrono::duration_cast<chrono::duration<double>>(dt).count();
-  fixed_dt_velocity_ = dt_position_ / 0.005;
+  fixed_dt_velocity_ = dt_position_ / 0.00505;
 
   loop_->Update(disabled, dt);
 }