diff --git a/y2017/constants.h b/y2017/constants.h
index 92df517..20fcb56 100644
--- a/y2017/constants.h
+++ b/y2017/constants.h
@@ -9,90 +9,97 @@
 namespace y2017 {
 namespace constants {
 
-// Has all of the numbers that change for both robots and makes it easy to
-// retrieve the values for the current one.
+// Has all of our "constants", except the ones that come from other places. The
+// ones which change between robots are put together with a workable way to
+// retrieve the values for the current robot.
 
 // Everything is in SI units (volts, radians, meters, seconds, etc).
 // Some of these values are related to the conversion between raw values
 // (encoder counts, voltage, etc) to scaled units (radians, meters, etc).
+//
+// All ratios are from the encoder shaft to the output units.
 
-// This structure contains current values for all of the things that change.
 struct Values {
-  // ///// Mutual constants between robots. /////
   // TODO(constants): Update/check these with what we're using this year.
 
-  static const int kZeroingSampleSize = 200;
-
-  // The ratio from the encoder shaft to the drivetrain wheels.
-
-  static constexpr double kDrivetrainEncoderRatio = 1.0 ;
-
-  // Ratios for our subsystems.
-  static constexpr double kShooterEncoderRatio = 32.0 / 48.0; //Encoder rotation to shooter wheel revolution
-  static constexpr double kIntakeEncoderRatio = (16 * 0.25) * (20 / 40) / (2.0 * numpy.pi) * 0.0254; //Encoder rotation per Meter(inch per radian) of movement
-  static constexpr double kIntakePotRatio = (16 * 0.25) / (2.0 * numpy.pi) * 0.0254; //Pot Rotation per Meter(inch per radian) of movement
-  static constexpr double kHoodEncoderRatio = 20.0 / 345.0; //Encoder rotation to Hood rotation
-  static constexpr double kHoodPotRatio = 20.0 / 345.0; //Pot Rotation per Hood rotation
-  static constexpr double kTurretEncoderRatio = 16.0 / 92.0; //Encoder rotation toTurret rotation
-  static constexpr double kTurretPotRatio = 16.0 / 92.0; //Pot Rotation per Turret rotation
-  static constexpr double kIndexerEncoderRatio = (18.0 / 36.0) * (12.0 / 84.0); //Encoder rotation to Inner indexer rotation
-
-  // Difference in radians between index pulses.
-  static constexpr double kIntakeEncoderIndexDifference =
-      2.0 * M_PI * kIntakeEncoderRatio;
-  static constexpr double kIndexerEncoderIndexDifference =
-      2.0 * M_PI * kIndexerEncoderRatio;
-  static constexpr double kTurretEncoderIndexDifference =
-      2.0 * M_PI * kTurretEncoderRatio;
-  static constexpr double kHoodEncoderIndexDifference =
-      2.0 * M_PI * kHoodEncoderRatio;
-
-  static constexpr ::frc971::constants::Range kIntakeRange{
-      // Lower hard stop in meters(inches)
-      -0.600 * 0.0254,
-      // Upper hard stop
-      8.655 * 0.0254,
-      // Lower soft stop
-      0.000,
-      // Upper soft stop
-      8.530 * 0.0254};
-  static constexpr ::frc971::constants::Range kHoodRange{
-      // Lower hard stop in radians
-      -1.0 / 345.0 * 2.0 * M_PI,
-      // Upper hard stop in radians
-      39.0 / 345.0 * 2.0 * M_PI,
-      // Lower soft stop in radians
-      0.0,
-      // Upper soft stop in radians
-      (39.0 - 1.0) / 345.0 * 2.0 * M_PI};
-  static constexpr ::frc971::constants::Range kTurretRange{
-      // Lower hard stop in radians
-      -460.0 / 2.0 * M_PI / 180.0,
-      // Upper hard stop in radians
-      460.0 / 2.0 * M_PI / 180.0,
-      // Lower soft stop in radians
-      -450.0 / 2.0 * M_PI / 180.0,
-      // Upper soft stop in radians
-      450.0 / 2.0 * M_PI / 180.0};
-  // ///// Dynamic constants. /////
-  double drivetrain_max_speed;
-
   struct Intake {
     double pot_offset;
     ::frc971::constants::PotAndIndexPulseZeroingConstants zeroing;
   };
-  Intake intake;
 
   struct Turret {
     double pot_offset;
     ::frc971::constants::PotAndIndexPulseZeroingConstants zeroing;
   };
-  Turret turret;
 
   struct Hood {
     double pot_offset;
     ::frc971::constants::PotAndIndexPulseZeroingConstants zeroing;
   };
+
+  static const int kZeroingSampleSize = 200;
+
+  // TODO(Brian): This isn't all the way to the output yet.
+  static constexpr double kDrivetrainEncoderRatio = 1.0 ;
+
+  static constexpr double kShooterEncoderRatio = 32.0 / 48.0;
+
+  static constexpr double kIntakeEncoderRatio =
+      (16.0 * 0.25) * (20.0 / 40.0) / (2.0 * M_PI) * 0.0254;
+  static constexpr double kIntakePotRatio = (16 * 0.25) / (2.0 * M_PI) * 0.0254;
+  static constexpr double kIntakeEncoderIndexDifference =
+      2.0 * M_PI * kIntakeEncoderRatio;
+
+  static constexpr ::frc971::constants::Range kIntakeRange{
+      // Lower hard stop in meters (from inches).
+      -0.600 * 0.0254,
+      // Upper hard stop in meters (from inches).
+      8.655 * 0.0254,
+      // Lower soft stop in meters (from inches).
+      0.000,
+      // Upper soft stop in meters (from inches).
+      8.530 * 0.0254};
+
+  static constexpr double kHoodEncoderRatio = 20.0 / 345.0;
+  static constexpr double kHoodPotRatio = 20.0 / 345.0;
+  static constexpr double kHoodEncoderIndexDifference =
+      2.0 * M_PI * kHoodEncoderRatio;
+
+  static constexpr ::frc971::constants::Range kHoodRange{
+      // Lower hard stop in radians.
+      -1.0 / 345.0 * 2.0 * M_PI,
+      // Upper hard stop in radians.
+      39.0 / 345.0 * 2.0 * M_PI,
+      // Lower soft stop in radians.
+      0.0,
+      // Upper soft stop in radians.
+      (39.0 - 1.0) / 345.0 * 2.0 * M_PI};
+
+  static constexpr double kTurretEncoderRatio = 16.0 / 92.0;
+  static constexpr double kTurretPotRatio = 16.0 / 92.0;
+  static constexpr double kTurretEncoderIndexDifference =
+      2.0 * M_PI * kTurretEncoderRatio;
+
+  static constexpr ::frc971::constants::Range kTurretRange{
+      // Lower hard stop in radians.
+      -460.0 / 2.0 * M_PI / 180.0,
+      // Upper hard stop in radians.
+      460.0 / 2.0 * M_PI / 180.0,
+      // Lower soft stop in radians.
+      -450.0 / 2.0 * M_PI / 180.0,
+      // Upper soft stop in radians.
+      450.0 / 2.0 * M_PI / 180.0};
+
+  static constexpr double kIndexerEncoderRatio = (18.0 / 36.0) * (12.0 / 84.0);
+  static constexpr double kIndexerEncoderIndexDifference =
+      2.0 * M_PI * kIndexerEncoderRatio;
+
+  double drivetrain_max_speed;
+
+  Intake intake;
+
+  Turret turret;
+
   Hood hood;
 
   double down_error;