diff --git a/frc971/control_loops/python/shooter.py b/frc971/control_loops/python/shooter.py
index 9cda41c..25a6795 100755
--- a/frc971/control_loops/python/shooter.py
+++ b/frc971/control_loops/python/shooter.py
@@ -13,11 +13,11 @@
     # Stall Current in Amps
     self.stall_current = 85
     # Free Speed in RPM
-    self.free_speed = 19300.0 - 2700.0
+    self.free_speed = 19300.0 - 1500.0
     # Free Current in Amps
     self.free_current = 1.4
     # Moment of inertia of the shooter wheel in kg m^2
-    self.J = 0.0012
+    self.J = 0.0040
     # Resistance of the motor, divided by 2 to account for the 2 motors
     self.R = 12.0 / self.stall_current / 2
     # Motor velocity constant
@@ -67,8 +67,8 @@
     shooter.Update(numpy.matrix([[shooter_data[i, 1]]]))
     simulated_x.append(shooter.X[0, 0])
     x_offset = shooter_data[i, 2] - initial_x
-    real_x.append(x_offset / 2)
-    x_vel.append(shooter_data[i, 2] - last_x)
+    real_x.append(x_offset)
+    x_vel.append((shooter_data[i, 2] - last_x) * 100.0)
     last_x = shooter_data[i, 2]
 
   sim_delay = 1
diff --git a/frc971/control_loops/shooter/shooter_data.csv b/frc971/control_loops/shooter/shooter_data.csv
index 1c110f8..3515070 100644
--- a/frc971/control_loops/shooter/shooter_data.csv
+++ b/frc971/control_loops/shooter/shooter_data.csv
@@ -1,117 +1,638 @@
-738.970696729,0.000000,2609.485398
-738.990725254,0.000000,2609.485398
-739.10668572,0.000000,2609.485398
-739.30868416,0.000000,2609.485398
-739.50644324,0.000000,2609.485398
-739.70993003,0.000000,2609.485398
-739.90893299,0.000000,2609.485398
-739.110790660,0.000000,2609.485398
-739.130856480,0.000000,2609.485398
-739.150843939,0.000000,2609.485398
-739.170774964,0.000000,2609.485398
-739.190835406,0.000000,2609.485398
-739.210871962,0.000000,2609.485398
-739.230838889,0.000000,2609.485398
-739.250849394,0.000000,2609.485398
-739.270710020,0.000000,2609.485398
-739.290835485,0.000000,2609.485398
-739.310975196,0.000000,2609.485398
-739.330836940,0.000000,2609.485398
-739.350841719,0.000000,2609.485398
-739.370882116,0.000000,2609.485398
-739.390924188,0.000000,2609.485398
-739.410957743,0.000000,2609.485398
-739.430902249,0.000000,2609.485398
-739.450846964,0.000000,2609.485398
-739.470722325,0.000000,2609.485398
-739.490794153,0.000000,2609.485398
-739.510974652,0.000000,2609.485398
-739.530838142,0.000000,2609.485398
-739.550941466,0.000000,2609.485398
-739.571202981,0.000000,2609.485398
-739.590857785,0.000000,2609.485398
-739.610997565,0.000000,2609.485398
-739.630899678,0.000000,2609.485398
-739.650656101,0.000000,2609.485398
-739.671141736,0.000000,2609.485398
-739.690876859,0.000000,2609.485398
-739.711039759,0.000000,2609.485398
-739.730890047,0.000000,2609.485398
-739.750892591,0.000000,2609.485398
-739.770626663,0.000000,2609.485398
-739.790778110,6.000000,2609.485398
-739.810913701,6.000000,2609.528710
-739.830692404,6.000000,2609.788585
-739.850725399,6.000000,2610.329990
-739.870711739,6.000000,2611.087957
-739.890776372,6.000000,2612.019173
-739.910893176,6.000000,2613.231920
-739.930686684,6.000000,2614.639573
-739.950843716,6.000000,2616.198820
-739.970639251,6.000000,2617.996284
-739.990663653,6.000000,2619.966998
-740.10690431,6.000000,2622.067650
-740.30636963,6.000000,2624.341551
-740.50667023,6.000000,2626.788701
-740.70669008,6.000000,2629.387445
-740.90640333,6.000000,2632.116126
-740.110875518,6.000000,2634.974745
-740.130666584,6.000000,2637.963300
-740.150771653,6.000000,2641.060137
-740.170676698,6.000000,2644.265254
-740.190627279,6.000000,2647.600309
-740.210613899,6.000000,2651.021988
-740.230642424,6.000000,2654.551949
-740.251043972,6.000000,2658.168534
-740.270911233,6.000000,2661.871744
-740.290883116,6.000000,2665.661579
-740.310902352,6.000000,2669.538039
-740.330648299,6.000000,2673.479467
-740.350654054,6.000000,2677.485864
-740.370725670,6.000000,2681.578886
-740.390879841,6.000000,2685.715220
-740.410951525,6.000000,2689.916522
-740.430850006,6.000000,2694.182794
-740.450856740,6.000000,2698.514033
-740.470878143,6.000000,2702.888586
-740.490685270,6.000000,2707.306450
-740.510980587,6.000000,2711.810940
-740.530967487,6.000000,2716.315429
-740.550840964,6.000000,2720.884887
-740.570872352,6.000000,2725.497658
-740.590882927,6.000000,2730.153741
-740.611002875,6.000000,2734.831480
-740.630612282,6.000000,2739.574187
-740.650721402,6.000000,2744.338551
-740.670723318,6.000000,2749.146228
-740.690835093,6.000000,2753.975560
-740.710883940,6.000000,2758.826549
-740.730851843,6.000000,2763.720850
-740.750864165,6.000000,2768.658463
-740.770859165,6.000000,2773.617733
-740.790917442,6.000000,2778.577002
-740.810989130,6.000000,2783.579585
-740.830854016,6.000000,2788.625479
-740.850606738,6.000000,2793.649717
-740.870962746,6.000000,2798.738924
-740.890848306,6.000000,2803.828131
-740.910991649,6.000000,2808.938994
-740.930855839,6.000000,2814.071513
-740.950973968,6.000000,2819.247345
-740.970789060,6.000000,2824.401520
-740.990920668,6.000000,2829.599008
-741.10980832,6.000000,2834.796496
-741.30662594,6.000000,2840.015640
-741.50930045,6.000000,2845.256440
-741.70977009,6.000000,2850.453928
-741.90974176,6.000000,2855.759697
-741.110959398,6.000000,2861.022153
-741.130866259,6.000000,2866.306266
-741.150815025,6.000000,2871.612035
-741.170950337,6.000000,2876.917804
-741.190887999,6.000000,2882.245229
-741.210981335,6.000000,2887.572654
-741.230875206,6.000000,2892.900079
-741.250802599,6.000000,2898.270816
-741.270604281,6.000000,2903.619898
-741.290897085,6.000000,2908.990635
+0.009404, 0.000000, 1484.878965
+0.019423, 0.000000, 1484.878965
+0.029389, 0.000000, 1484.878965
+0.039354, 0.000000, 1484.878965
+0.049887, 0.000000, 1484.878965
+0.059522, 0.000000, 1484.878965
+0.069479, 0.000000, 1484.878965
+0.079381, 0.000000, 1484.878965
+0.089338, 0.000000, 1484.878965
+0.099357, 0.000000, 1484.878965
+0.109409, 0.000000, 1484.878965
+0.119355, 0.000000, 1484.878965
+0.129358, 0.000000, 1484.878965
+0.139354, 0.000000, 1484.878965
+0.149480, 0.000000, 1484.878965
+0.159363, 0.000000, 1484.878965
+0.169341, 0.000000, 1484.878965
+0.179367, 0.000000, 1484.878965
+0.189636, 0.000000, 1484.878965
+0.199875, 0.000000, 1484.878965
+0.210070, 0.000000, 1484.878965
+0.219349, 0.000000, 1484.878965
+0.229544, 0.000000, 1484.878965
+0.239404, 0.000000, 1484.878965
+0.249410, 0.000000, 1484.878965
+0.259839, 0.000000, 1484.878965
+0.269492, 0.000000, 1484.878965
+0.279847, 0.000000, 1484.878965
+0.290056, 0.000000, 1484.878965
+0.299362, 0.000000, 1484.878965
+0.309457, 0.000000, 1484.878965
+0.319829, 0.000000, 1484.878965
+0.329446, 0.000000, 1484.878965
+0.339818, 0.000000, 1484.878965
+0.349444, 0.000000, 1484.878965
+0.359899, 0.000000, 1484.878965
+0.370053, 0.000000, 1484.878965
+0.379510, 0.000000, 1484.878965
+0.390136, 0.000000, 1484.878965
+0.399366, 0.000000, 1484.878965
+0.409472, 0.000000, 1484.878965
+0.419898, 0.000000, 1484.878965
+0.430131, 0.000000, 1484.878965
+0.439363, 0.000000, 1484.878965
+0.449459, 0.000000, 1484.878965
+0.459840, 0.000000, 1484.878965
+0.469382, 0.000000, 1484.878965
+0.479846, 0.000000, 1484.878965
+0.489432, 0.000000, 1484.878965
+0.499342, 0.000000, 1484.878965
+0.509350, 0.000000, 1484.878965
+0.519406, 0.000000, 1484.878965
+0.530084, 0.000000, 1484.878965
+0.539341, 0.000000, 1484.878965
+0.549406, 0.000000, 1484.878965
+0.559401, 0.000000, 1484.878965
+0.569409, 0.000000, 1484.878965
+0.579831, 0.000000, 1484.878965
+0.589469, 0.000000, 1484.878965
+0.599356, 0.000000, 1484.878965
+0.610099, 0.000000, 1484.878965
+0.619333, 0.000000, 1484.878965
+0.629479, 0.000000, 1484.878965
+0.639805, 0.000000, 1484.878965
+0.650053, 0.000000, 1484.878965
+0.659423, 0.000000, 1484.878965
+0.669413, 0.000000, 1484.878965
+0.679822, 0.000000, 1484.878965
+0.690045, 0.000000, 1484.878965
+0.699411, 0.000000, 1484.878965
+0.709584, 0.000000, 1484.878965
+0.719866, 0.000000, 1484.878965
+0.729475, 0.000000, 1484.878965
+0.739328, 0.000000, 1484.878965
+0.749396, 0.000000, 1484.878965
+0.759836, 0.000000, 1484.878965
+0.769492, 0.000000, 1484.878965
+0.779340, 0.000000, 1484.878965
+0.789401, 0.000000, 1484.878965
+0.799405, 0.000000, 1484.878965
+0.809407, 0.000000, 1484.878965
+0.819830, 0.000000, 1484.878965
+0.829411, 0.000000, 1484.878965
+0.839413, 0.000000, 1484.878965
+0.849409, 0.000000, 1484.878965
+0.859349, 0.000000, 1484.878965
+0.869453, 0.000000, 1484.878965
+0.879831, 0.000000, 1484.878965
+0.889426, 0.000000, 1484.878965
+0.899332, 0.000000, 1484.878965
+0.909439, 0.000000, 1484.878965
+0.919830, 0.000000, 1484.878965
+0.929464, 0.000000, 1484.878965
+0.939328, 0.000000, 1484.878965
+0.949440, 0.000000, 1484.878965
+0.959871, 0.000000, 1484.878965
+0.969393, 0.000000, 1484.878965
+0.980080, 0.000000, 1484.878965
+0.989440, 0.000000, 1484.878965
+0.999370, 0.000000, 1484.878965
+1.009338, 0.000000, 1484.878965
+1.019368, 0.000000, 1484.878965
+1.029492, 0.000000, 1484.878965
+1.039816, 0.000000, 1484.878965
+1.049430, 0.000000, 1484.878965
+1.059324, 0.000000, 1484.878965
+1.069351, 0.000000, 1484.878965
+1.079867, 0.000000, 1484.878965
+1.089417, 0.000000, 1484.878965
+1.099324, 0.000000, 1484.878965
+1.109348, 0.000000, 1484.878965
+1.119389, 0.000000, 1484.878965
+1.129331, 0.000000, 1484.878965
+1.139306, 0.000000, 1484.878965
+1.149394, 0.000000, 1484.878965
+1.159374, 0.000000, 1484.878965
+1.169335, 0.000000, 1484.878965
+1.179817, 0.000000, 1484.878965
+1.189415, 0.000000, 1484.878965
+1.199338, 0.000000, 1484.878965
+1.209349, 0.000000, 1484.878965
+1.219333, 0.000000, 1484.878965
+1.229518, 0.000000, 1484.878965
+1.239329, 0.000000, 1484.878965
+1.249334, 0.000000, 1484.878965
+1.259316, 0.000000, 1484.878965
+1.269388, 0.000000, 1484.878965
+1.279357, 0.000000, 1484.878965
+1.289451, 0.000000, 1484.878965
+1.299350, 0.000000, 1484.878965
+1.309350, 0.000000, 1484.878965
+1.319848, 0.000000, 1484.878965
+1.329384, 0.000000, 1484.878965
+1.339375, 0.000000, 1484.878965
+1.349359, 0.000000, 1484.878965
+1.359384, 0.000000, 1484.878965
+1.369428, 0.000000, 1484.878965
+1.379443, 0.000000, 1484.878965
+1.389498, 0.000000, 1484.878965
+1.399332, 0.000000, 1484.878965
+1.409393, 0.000000, 1484.878965
+1.419325, 0.000000, 1484.878965
+1.430129, 0.000000, 1484.878965
+1.439419, 0.000000, 1484.878965
+1.449510, 0.000000, 1484.878965
+1.459828, 0.000000, 1484.878965
+1.469377, 0.000000, 1484.878965
+1.479834, 0.000000, 1484.878965
+1.489367, 0.000000, 1484.878965
+1.499316, 0.000000, 1484.878965
+1.509405, 0.000000, 1484.878965
+1.519341, 0.000000, 1484.878965
+1.529334, 0.000000, 1484.878965
+1.539305, 0.000000, 1484.878965
+1.550118, 0.000000, 1484.878965
+1.559386, 0.000000, 1484.878965
+1.569647, 0.000000, 1484.878965
+1.579395, 0.000000, 1484.878965
+1.589381, 0.000000, 1484.878965
+1.599819, 0.000000, 1484.878965
+1.609401, 0.000000, 1484.878965
+1.619404, 0.000000, 1484.878965
+1.629335, 0.000000, 1484.878965
+1.639327, 0.000000, 1484.878965
+1.649334, 0.000000, 1484.878965
+1.659341, 0.000000, 1484.878965
+1.669328, 0.000000, 1484.878965
+1.679850, 0.000000, 1484.878965
+1.689423, 0.000000, 1484.878965
+1.699320, 0.000000, 1484.878965
+1.710128, 0.000000, 1484.878965
+1.719388, 0.000000, 1484.878965
+1.730042, 0.000000, 1484.878965
+1.739338, 0.000000, 1484.878965
+1.749483, 0.000000, 1484.878965
+1.759420, 0.000000, 1484.878965
+1.769334, 0.000000, 1484.878965
+1.779289, 0.000000, 1484.878965
+1.789325, 0.000000, 1484.878965
+1.799395, 0.000000, 1484.878965
+1.809493, 0.000000, 1484.878965
+1.819312, 0.000000, 1484.878965
+1.829402, 0.000000, 1484.878965
+1.839317, 0.000000, 1484.878965
+1.849330, 0.000000, 1484.878965
+1.859354, 0.000000, 1484.878965
+1.869394, 0.000000, 1484.878965
+1.879816, 0.000000, 1484.878965
+1.889374, 0.000000, 1484.878965
+1.899381, 0.000000, 1484.878965
+1.909332, 0.000000, 1484.878965
+1.919359, 0.000000, 1484.878965
+1.929338, 0.000000, 1484.878965
+1.939359, 0.000000, 1484.878965
+1.949332, 0.000000, 1484.878965
+1.959325, 0.000000, 1484.878965
+1.969341, 0.000000, 1484.878965
+1.979362, 0.000000, 1484.878965
+1.989330, 0.000000, 1484.878965
+1.999479, 0.000000, 1484.878965
+2.009392, 0.000000, 1484.878965
+2.019318, 0.000000, 1484.878965
+2.029320, 0.000000, 1484.878965
+2.039323, 0.000000, 1484.878965
+2.049387, 0.000000, 1484.878965
+2.059818, 0.000000, 1484.878965
+2.069766, 0.000000, 1484.878965
+2.079835, 0.000000, 1484.878965
+2.089372, 0.000000, 1484.878965
+2.099322, 0.000000, 1484.878965
+2.109357, 0.000000, 1484.878965
+2.119387, 0.000000, 1484.878965
+2.129327, 0.000000, 1484.878965
+2.139458, 0.000000, 1484.878965
+2.149392, 0.000000, 1484.878965
+2.159826, 0.000000, 1484.878965
+2.169591, 0.000000, 1484.878965
+2.179656, 0.000000, 1484.878965
+2.189392, 0.000000, 1484.878965
+2.199491, 0.000000, 1484.878965
+2.209541, 0.000000, 1484.878965
+2.219287, 0.000000, 1484.878965
+2.229123, 0.000000, 1484.878965
+2.239347, 0.000000, 1484.878965
+2.249390, 0.000000, 1484.878965
+2.259407, 0.000000, 1484.878965
+2.269393, 0.000000, 1484.878965
+2.279375, 0.000000, 1484.878965
+2.289416, 0.000000, 1484.878965
+2.299368, 0.000000, 1484.878965
+2.309379, 0.000000, 1484.878965
+2.319382, 0.000000, 1484.878965
+2.329435, 0.000000, 1484.878965
+2.339329, 0.000000, 1484.878965
+2.349389, 0.000000, 1484.878965
+2.359454, 0.000000, 1484.878965
+2.369832, 0.000000, 1484.878965
+2.379390, 0.000000, 1484.878965
+2.389381, 0.000000, 1484.878965
+2.399429, 0.000000, 1484.878965
+2.409394, 0.000000, 1484.878965
+2.419367, 0.000000, 1484.878965
+2.429384, 0.000000, 1484.878965
+2.439408, 0.000000, 1484.878965
+2.449391, 0.000000, 1484.878965
+2.459343, 0.000000, 1484.878965
+2.469424, 0.000000, 1484.878965
+2.479357, 0.000000, 1484.878965
+2.489388, 0.000000, 1484.878965
+2.499413, 0.000000, 1484.878965
+2.510081, 0.000000, 1484.878965
+2.519397, 0.000000, 1484.878965
+2.529342, 0.000000, 1484.878965
+2.539372, 0.000000, 1484.878965
+2.549674, 0.000000, 1484.878965
+2.559586, 0.000000, 1484.878965
+2.569807, 0.000000, 1484.878965
+2.579362, 0.000000, 1484.878965
+2.589325, 0.000000, 1484.878965
+2.599300, 0.000000, 1484.878965
+2.609436, 0.000000, 1484.878965
+2.619476, 0.000000, 1484.878965
+2.629668, 0.000000, 1484.878965
+2.639301, 0.000000, 1484.878965
+2.649411, 0.000000, 1484.878965
+2.659301, 0.000000, 1484.878965
+2.669336, 0.000000, 1484.878965
+2.679460, 0.000000, 1484.878965
+2.689691, 0.000000, 1484.878965
+2.699310, 0.000000, 1484.878965
+2.710046, 0.000000, 1484.878965
+2.719584, 0.000000, 1484.878965
+2.729333, 0.000000, 1484.878965
+2.739288, 0.000000, 1484.878965
+2.749320, 0.000000, 1484.878965
+2.759517, 0.000000, 1484.878965
+2.769811, 0.000000, 1484.878965
+2.779463, 0.000000, 1484.878965
+2.789708, 0.000000, 1484.878965
+2.799310, 12.000000, 1484.878965
+2.809361, 12.000000, 1484.878965
+2.819345, 12.000000, 1484.943934
+2.829470, 12.000000, 1485.117183
+2.839666, 12.000000, 1485.355402
+2.849432, 12.000000, 1485.680245
+2.859547, 12.000000, 1486.091712
+2.869422, 12.000000, 1486.589805
+2.879352, 12.000000, 1487.152866
+2.889431, 12.000000, 1487.802552
+2.899538, 12.000000, 1488.538863
+2.909416, 12.000000, 1489.340142
+2.919676, 12.000000, 1490.163078
+2.929470, 11.856977, 1491.072638
+2.939341, 10.941776, 1492.090480
+2.949422, 9.709468, 1493.086665
+2.959343, 9.484298, 1494.212787
+2.969480, 9.024482, 1495.360566
+2.979482, 8.408468, 1496.616625
+2.989402, 7.584528, 1497.851029
+2.999839, 7.318006, 1499.193713
+3.009487, 6.726255, 1500.601366
+3.019345, 5.691274, 1502.030675
+3.029433, 5.445505, 1503.503297
+3.039661, 5.201068, 1505.019231
+3.049419, 4.805405, 1506.556821
+3.059323, 4.164102, 1508.116067
+3.069465, 3.901448, 1509.696970
+3.079658, 3.715078, 1511.321185
+3.089408, 3.656437, 1512.902087
+3.099346, 3.325052, 1514.504646
+3.109498, 3.310343, 1516.128861
+3.119381, 3.348580, 1517.753076
+3.129434, 3.031678, 1519.377291
+3.139461, 3.165136, 1520.979850
+3.149456, 3.276186, 1522.604064
+3.159650, 3.130954, 1524.228279
+3.169436, 3.017931, 1525.852494
+3.179542, 2.968543, 1527.455053
+3.189425, 3.107515, 1529.079268
+3.199654, 3.010200, 1530.681827
+3.209442, 3.078322, 1532.306042
+3.219518, 2.953745, 1533.908601
+3.229434, 3.021034, 1535.511159
+3.239303, 4.196084, 1537.113718
+3.249474, 2.523334, 1538.716277
+3.259481, 2.549791, 1540.318836
+3.269395, 2.856174, 1541.943051
+3.279668, 2.830169, 1543.545609
+3.289491, 2.903769, 1545.148168
+3.299343, 2.930722, 1546.729071
+3.309430, 2.915555, 1548.331629
+3.319847, 2.887528, 1549.934188
+3.329444, 3.022588, 1551.515091
+3.339468, 2.922583, 1553.095993
+3.349700, 3.155171, 1554.676896
+3.359307, 2.959473, 1556.257798
+3.369439, 2.963462, 1557.817045
+3.379865, 3.151337, 1559.397947
+3.389482, 3.237455, 1560.957194
+3.399670, 3.075969, 1562.538096
+3.409431, 3.127616, 1564.097342
+3.419355, 3.012946, 1565.656589
+3.429472, 3.094794, 1567.237491
+3.439645, 2.986884, 1568.796738
+3.449433, 3.228489, 1570.355984
+3.459540, 3.042079, 1571.915230
+3.469425, 3.052375, 1573.474477
+3.479338, 3.083112, 1575.055379
+3.489491, 2.926137, 1576.614626
+3.499576, 2.990285, 1578.152216
+3.509412, 3.204911, 1579.711462
+3.519368, 3.134930, 1581.270709
+3.529436, 3.050871, 1582.829955
+3.539512, 3.012085, 1584.389201
+3.549482, 3.160836, 1585.948448
+3.559848, 3.076263, 1587.486038
+3.569480, 2.996910, 1589.045284
+3.579466, 2.963210, 1590.604530
+3.589392, 3.113684, 1592.142121
+3.599645, 3.029053, 1593.679711
+3.609466, 3.111230, 1595.238957
+3.619478, 3.001191, 1596.776547
+3.629414, 3.083010, 1598.335794
+3.639639, 2.977469, 1599.873384
+3.649431, 3.061646, 1601.410974
+3.659343, 2.956478, 1602.970220
+3.669437, 3.040410, 1604.507810
+3.679660, 3.096927, 1606.067057
+3.689414, 3.104633, 1607.582991
+3.699466, 3.092523, 1609.120581
+3.709581, 3.079314, 1610.658171
+3.719844, 3.069195, 1612.195761
+3.729455, 3.060854, 1613.755008
+3.739454, 2.890971, 1615.270942
+3.749456, 3.120861, 1616.808532
+3.759652, 2.943141, 1618.367778
+3.769565, 2.963262, 1619.905368
+3.779406, 3.162518, 1621.442958
+3.789419, 3.096059, 1622.958892
+3.799647, 2.857986, 1624.496482
+3.809451, 3.063847, 1626.034073
+3.819535, 3.048330, 1627.550007
+3.829423, 3.158748, 1629.087597
+3.839290, 3.053598, 1630.625187
+3.849534, 2.974064, 1632.162777
+3.859585, 2.947301, 1633.678711
+3.869342, 3.104581, 1635.194645
+3.879651, 3.025376, 1636.753891
+3.889461, 3.112302, 1638.269825
+3.899471, 3.006920, 1639.785759
+3.909503, 3.093474, 1641.323349
+3.919650, 2.992726, 1642.860940
+3.929493, 3.081710, 1644.376873
+3.939457, 2.981346, 1645.914464
+3.949675, 2.908199, 1647.430398
+3.959566, 3.045687, 1648.946332
+3.969420, 3.126825, 1650.505578
+3.979850, 2.816686, 1652.021512
+3.989429, 3.120514, 1653.537446
+3.999650, 3.009544, 1655.053380
+4.009434, 3.053283, 1656.590970
+4.019490, 2.769875, 1658.106904
+4.029473, 2.932334, 1659.644494
+4.039639, 2.903060, 1661.182084
+4.049524, 3.176347, 1662.698018
+4.059463, 2.998063, 1664.213952
+4.069518, 3.013137, 1665.729886
+4.079855, 3.051287, 1667.267476
+4.089451, 3.065561, 1668.783410
+4.099514, 2.901543, 1670.299344
+4.109450, 2.971613, 1671.793622
+4.119835, 3.035151, 1673.331212
+4.129459, 3.052225, 1674.847146
+4.139393, 2.884954, 1676.363080
+4.149517, 3.114730, 1677.879014
+4.159643, 3.101587, 1679.373292
+4.169483, 3.212047, 1680.889226
+4.179478, 2.947840, 1682.405160
+4.189417, 3.111024, 1683.921094
+4.199352, 3.081820, 1685.415371
+4.209534, 3.196368, 1686.931305
+4.219472, 2.937203, 1688.447239
+4.229358, 3.102203, 1689.963173
+4.239581, 4.044265, 1691.479107
+4.249471, 2.568287, 1692.995041
+4.259564, 2.592233, 1694.510975
+4.269489, 2.874029, 1696.048565
+4.279649, 2.848913, 1697.564499
+4.289504, 3.102328, 1699.058777
+4.299467, 2.913154, 1700.574711
+4.309396, 2.926342, 1702.090645
+4.319635, 3.127416, 1703.584923
+4.329463, 3.066398, 1705.122513
+4.339462, 3.157757, 1706.616790
+4.349523, 3.054520, 1708.132724
+4.359685, 2.982710, 1709.627002
+4.369520, 3.124646, 1711.142936
+4.379481, 2.887285, 1712.658870
+4.389476, 3.058346, 1714.174804
+4.399662, 3.028207, 1715.647426
+4.409523, 3.140828, 1717.163360
+4.419532, 3.042732, 1718.679293
+4.429478, 3.131501, 1720.195227
+4.439668, 3.033777, 1721.667849
+4.449451, 3.127131, 1723.183783
+4.459519, 3.031674, 1724.699717
+4.469529, 3.125338, 1726.193995
+4.479652, 3.029621, 1727.709929
+4.489541, 3.123096, 1729.204206
+4.499285, 2.865452, 1730.720140
+4.509567, 3.035110, 1732.236074
+4.519358, 3.169872, 1733.752008
+4.529256, 3.046239, 1735.246286
+4.539423, 2.956041, 1736.762220
+4.549418, 3.092368, 1738.278154
+4.559287, 3.017417, 1739.772432
+4.569392, 3.113609, 1741.266709
+4.579389, 3.015401, 1742.804300
+4.589391, 3.107141, 1744.298577
+4.599271, 3.010950, 1745.792855
+4.609237, 3.104538, 1747.308789
+4.619397, 2.847040, 1748.803067
+4.629258, 3.016751, 1750.340657
+4.639391, 3.151513, 1751.834935
+4.649382, 3.027871, 1753.329212
+4.659249, 2.937667, 1754.845146
+4.669717, 3.073994, 1756.361080
+4.679709, 2.837164, 1757.877014
+4.689305, 3.009530, 1759.371292
+4.699414, 2.979957, 1760.865570
+4.709265, 3.254504, 1762.381504
+4.719267, 2.918277, 1763.875782
+4.729387, 3.014535, 1765.391715
+4.739263, 2.964507, 1766.885993
+4.749394, 3.242657, 1768.401927
+4.759241, 3.073913, 1769.917861
+4.769396, 2.934311, 1771.412139
+4.779436, 2.891905, 1772.928073
+4.789376, 3.055522, 1774.444007
+4.799259, 2.823787, 1775.938285
+4.809430, 2.993720, 1777.454219
+4.819715, 2.961969, 1778.948496
+4.829635, 3.235854, 1780.442774
+4.839637, 3.061570, 1781.958708
+4.849506, 3.081810, 1783.474642
+4.859505, 2.801335, 1784.968920
+4.869352, 3.134735, 1786.484854
+4.879650, 3.036602, 1787.979131
+4.889446, 3.084670, 1789.495065
+4.899459, 2.966217, 1790.989343
+4.909516, 3.056512, 1792.483621
+4.919642, 2.963315, 1793.999555
+4.929515, 3.058695, 1795.493833
+4.939540, 2.963436, 1796.988110
+4.949486, 3.056827, 1798.504044
+4.959635, 2.960935, 1800.019978
+4.969264, 3.054371, 1801.514256
+4.979559, 3.120496, 1803.030190
+4.989369, 2.975943, 1804.502812
+4.999639, 3.049612, 1806.018745
+5.009522, 3.114635, 1807.513023
+5.019539, 2.811284, 1809.028957
+5.029502, 3.124778, 1810.523235
+5.039639, 3.020720, 1812.017513
+5.049531, 3.069436, 1813.511790
+5.059571, 2.952407, 1815.006068
+5.069509, 3.205185, 1816.522002
+5.079646, 3.035861, 1818.016280
+5.089525, 3.224397, 1819.532214
+5.099572, 2.870103, 1821.026492
+5.109284, 3.134886, 1822.542426
+5.119546, 3.015399, 1824.036703
+5.129816, 3.065232, 1825.530981
+5.139566, 2.951614, 1827.025259
+5.149507, 3.044046, 1828.541193
+5.159648, 2.951048, 1830.035471
+5.169497, 3.208013, 1831.551405
+5.179545, 2.874516, 1833.045682
+5.189501, 3.137284, 1834.539960
+5.199633, 3.012938, 1836.034238
+5.209521, 3.222545, 1837.528516
+5.219560, 3.032578, 1839.044450
+5.229503, 3.056672, 1840.538727
+5.239594, 4.237957, 1842.033005
+5.249532, 2.592533, 1843.527283
+5.259542, 2.486074, 1845.043217
+5.269566, 2.894539, 1846.515838
+5.279650, 3.123100, 1848.010116
+5.289252, 3.165125, 1849.504394
+5.299546, 3.307151, 1850.998672
+5.309525, 3.213976, 1852.471293
+5.319632, 3.141194, 1853.943915
+5.329458, 3.284019, 1855.459849
+5.339575, 3.050528, 1856.932470
+5.349266, 3.226635, 1858.448404
+5.359682, 3.201591, 1859.921026
+5.369278, 3.319115, 1861.436960
+5.379549, 3.063938, 1862.931237
+5.389254, 3.071781, 1864.447171
+5.399651, 2.961775, 1865.919793
+5.409641, 3.063785, 1867.435727
+5.419564, 0.000000, 1868.930005
+5.429518, 0.000000, 1870.424282
+5.439596, 0.000000, 1871.918560
+5.449485, 0.000000, 1873.347869
+5.459469, 0.000000, 1874.733866
+5.469640, 0.000000, 1876.098207
+5.479575, 0.000000, 1877.419235
+5.489492, 0.000000, 1878.675294
+5.499454, 0.000000, 1879.909698
+5.509441, 0.000000, 1881.100789
+5.519669, 0.000000, 1882.270223
+5.529268, 0.000000, 1883.396346
+5.539531, 0.000000, 1884.479156
+5.549491, 0.000000, 1885.518653
+5.559591, 0.000000, 1886.536495
+5.569479, 0.000000, 1887.532680
+5.579553, 0.000000, 1888.485553
+5.589263, 0.000000, 1889.416769
+5.599628, 0.000000, 1890.283017
+5.609531, 0.000000, 1891.149265
+5.619452, 0.000000, 1891.993857
+5.629254, 0.000000, 1892.795136
+5.639595, 0.000000, 1893.574759
+5.649382, 0.000000, 1894.332726
+5.659518, 0.000000, 1895.047381
+5.669510, 0.000000, 1895.740379
+5.679630, 0.000000, 1896.433378
+5.689513, 0.000000, 1897.083064
+5.699559, 0.000000, 1897.689437
+5.709897, 0.000000, 1898.295811
+5.719663, 0.000000, 1898.880528
+5.729785, 0.000000, 1899.443590
+5.739550, 0.000000, 1899.984995
+5.749477, 0.000000, 1900.504743
+5.759631, 0.000000, 1901.002836
+5.769499, 0.000000, 1901.500928
+5.779545, 0.000000, 1901.955709
+5.789477, 0.000000, 1902.388833
+5.799588, 0.000000, 1902.821957
+5.809530, 0.000000, 1903.233424
+5.819550, 0.000000, 1903.623236
+5.829288, 0.000000, 1903.991391
+5.839583, 0.000000, 1904.359547
+5.849261, 0.000000, 1904.706046
+5.859488, 0.000000, 1905.030889
+5.869375, 0.000000, 1905.334076
+5.879665, 0.000000, 1905.658919
+5.889507, 0.000000, 1905.918793
+5.899530, 0.000000, 1906.200324
+5.909520, 0.000000, 1906.460198
+5.919633, 0.000000, 1906.720073
+5.929467, 0.000000, 1906.958291
+5.939535, 0.000000, 1907.174853
+5.949423, 0.000000, 1907.391415
+5.959583, 0.000000, 1907.586320
+5.969500, 0.000000, 1907.781226
+5.979548, 0.000000, 1907.954476
+5.989236, 0.000000, 1908.106069
+5.999631, 0.000000, 1908.279319
+6.009506, 0.000000, 1908.409256
+6.019548, 0.000000, 1908.560849
+6.029525, 0.000000, 1908.669130
+6.039582, 0.000000, 1908.799068
+6.049527, 0.000000, 1908.907349
+6.059538, 0.000000, 1909.015630
+6.069537, 0.000000, 1909.102254
+6.079650, 0.000000, 1909.188879
+6.089474, 0.000000, 1909.253848
+6.099533, 0.000000, 1909.318816
+6.109497, 0.000000, 1909.383785
+6.119587, 0.000000, 1909.448754
+6.129255, 0.000000, 1909.492066
+6.139524, 0.000000, 1909.513722
+6.149479, 0.000000, 1909.557035
+6.159584, 0.000000, 1909.578691
+6.169260, 0.000000, 1909.600347
+6.179536, 0.000000, 1909.600347
+6.189396, 0.000000, 1909.600347
+6.199574, 0.000000, 1909.600347
+6.209506, 0.000000, 1909.600347
+6.219521, 0.000000, 1909.600347
+6.229482, 0.000000, 1909.600347
+6.239565, 0.000000, 1909.600347
+6.249254, 0.000000, 1909.600347
+6.259521, 0.000000, 1909.600347
+6.269506, 0.000000, 1909.600347
+6.279589, 0.000000, 1909.600347
+6.289535, 0.000000, 1909.600347
+6.299542, 0.000000, 1909.600347
+6.309460, 0.000000, 1909.600347
+6.319858, 0.000000, 1909.600347
+6.329537, 0.000000, 1909.600347
+6.339535, 0.000000, 1909.600347
+6.349231, 0.000000, 1909.600347
+6.359649, 0.000000, 1909.600347
+6.369534, 0.000000, 1909.600347
+6.379535, 0.000000, 1909.600347
diff --git a/frc971/control_loops/shooter/shooter_motor_plant.cc b/frc971/control_loops/shooter/shooter_motor_plant.cc
index c13ce2d..809d918 100644
--- a/frc971/control_loops/shooter/shooter_motor_plant.cc
+++ b/frc971/control_loops/shooter/shooter_motor_plant.cc
@@ -8,9 +8,9 @@
 
 StateFeedbackPlant<2, 1, 1> MakeShooterPlant() {
   Eigen::Matrix<double, 2, 2> A;
-  A << 1.0, 0.0098571228289, 0.0, 0.971561310859;
+  A << 1.0, 0.00993695674898, 0.0, 0.987417901985;
   Eigen::Matrix<double, 2, 1> B;
-  B << 0.00785005397639, 1.56249765488;
+  B << 0.00319456032937, 0.637566599616;
   Eigen::Matrix<double, 1, 2> C;
   C << 1, 0;
   Eigen::Matrix<double, 1, 1> D;
@@ -24,9 +24,9 @@
 
 StateFeedbackLoop<2, 1, 1> MakeShooterLoop() {
   Eigen::Matrix<double, 2, 1> L;
-  L << 1.07156131086, 28.0940195016;
+  L << 1.08741790198, 29.5581442884;
   Eigen::Matrix<double, 1, 2> K;
-  K << 0.486400730028, 0.247515916371;
+  K << 1.19203233114, 0.631478943582;
   return StateFeedbackLoop<2, 1, 1>(L, K, MakeShooterPlant());
 }