diff --git a/y2020/control_loops/python/finisher.py b/y2020/control_loops/python/finisher.py
index 7ccccd6..8c33cc3 100644
--- a/y2020/control_loops/python/finisher.py
+++ b/y2020/control_loops/python/finisher.py
@@ -20,7 +20,7 @@
 G = 44.0 / 40.0
 # Overall flywheel inertia.
 J = 0.00507464
-J = 0.008
+J = 0.0035
 
 def AddResistance(motor, resistance):
     motor.resistance += resistance
@@ -40,7 +40,7 @@
     q_vel=10.0,
     q_voltage=4.0,
     r_pos=0.01,
-    controller_poles=[.89])
+    controller_poles=[.93])
 
 
 def main(argv):
@@ -58,4 +58,5 @@
 
 if __name__ == '__main__':
     argv = FLAGS(sys.argv)
+    glog.init()
     sys.exit(main(argv))
diff --git a/y2020/control_loops/python/flywheel.py b/y2020/control_loops/python/flywheel.py
index caaee96..6f41a17 100755
--- a/y2020/control_loops/python/flywheel.py
+++ b/y2020/control_loops/python/flywheel.py
@@ -70,6 +70,10 @@
 
         self.Kff = controls.TwoStateFeedForwards(self.B, self.Qff)
 
+        glog.debug('K: %s', str(self.K))
+        glog.debug('Poles: %s',
+                   str(numpy.linalg.eig(self.A - self.B * self.K)[0]))
+
 
 class Flywheel(VelocityFlywheel):
     def __init__(self, params, name="Flywheel"):