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"):
diff --git a/y2020/control_loops/superstructure/shooter/shooter.cc b/y2020/control_loops/superstructure/shooter/shooter.cc
index 99854fe..9be6273 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.cc
+++ b/y2020/control_loops/superstructure/shooter/shooter.cc
@@ -116,6 +116,7 @@
       // come back up close to the last local maximum or is greater than it, the
       // ball has been shot.
       balls_shot_++;
+      VLOG(1) << "Shot ball at " << position_timestamp;
       ball_in_finisher_ = false;
     } else if (!ball_in_finisher_ &&
                (finisher_goal() > kVelocityToleranceFinisher)) {
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index c154c3d..0e51b7b 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -1087,18 +1087,21 @@
           ball_in_finisher_ = false;
           finisher_velocity_below_goal = false;
           balls_shot++;
+          LOG(INFO) << "Shot a ball at " << test_event_loop_->monotonic_now();
         }
         // Since here we are calculating the dip from the goal instead of the
         // local maximum, the shooter could have calculated that a ball was shot
         // slightly before we did if the local maximum was slightly below the
         // goal.
-        EXPECT_TRUE((superstructure_status_fetcher_->shooter()->balls_shot() ==
-                     balls_shot) ||
-                    ((superstructure_status_fetcher_->shooter()->balls_shot() ==
-                      balls_shot + 1) &&
-                     (finisher_velocity_dip -
-                          shooter::Shooter::kVelocityToleranceFinisher <
-                      0.2)));
+        if (superstructure_status_fetcher_->shooter()->balls_shot() !=
+            balls_shot) {
+          EXPECT_EQ(superstructure_status_fetcher_->shooter()->balls_shot(),
+                    balls_shot + 1)
+              << ": Failed at " << test_event_loop_->monotonic_now();
+          EXPECT_LT(finisher_velocity_dip,
+                    0.2 + shooter::Shooter::kVelocityToleranceFinisher)
+              << ": Failed at " << test_event_loop_->monotonic_now();
+        }
       },
       dt());
 
@@ -1108,8 +1111,8 @@
   // Maximum (since it is negative) flywheel voltage offsets for simulating the
   // friction of a ball at different finisher speeds.
   // Slower speeds require a higher magnitude of voltage offset.
-  static constexpr double kFastSpeedVoltageOffsetWithBall = -4.1;
-  static constexpr double kSlowSpeedVoltageOffsetWithBall = -4.5;
+  static constexpr double kFastSpeedVoltageOffsetWithBall = -3.1;
+  static constexpr double kSlowSpeedVoltageOffsetWithBall = -3.5;
 
   SetFinisherGoalAfter(kFastShootingSpeed, chrono::seconds(1));
   // Simulate shooting balls by applying friction to the finisher
@@ -1131,7 +1134,7 @@
   ApplyFrictionToFinisherAfter(kSlowSpeedVoltageOffsetWithBall, true,
                                chrono::seconds(31));
   // This smaller decrease in velocity shouldn't be counted as a ball
-  ApplyFrictionToFinisherAfter(kSlowSpeedVoltageOffsetWithBall / 2, false,
+  ApplyFrictionToFinisherAfter(kSlowSpeedVoltageOffsetWithBall / 10.0, false,
                                chrono::seconds(34));
 
   SetFinisherGoalAfter(kFastShootingSpeed, chrono::seconds(38));
@@ -1142,7 +1145,7 @@
   // This slow positive voltage offset that speeds up the flywheel instead of
   // slowing it down shouldn't be counted as a ball.
   // We wouldn't expect a positive voltage offset of more than ~2 volts.
-  ApplyFrictionToFinisherAfter(2, false, chrono::seconds(47));
+  ApplyFrictionToFinisherAfter(1, false, chrono::seconds(47));
 
   RunFor(chrono::seconds(50));