diff --git a/y2020/control_loops/python/turret.py b/y2020/control_loops/python/turret.py
index acddae3..6f15057 100644
--- a/y2020/control_loops/python/turret.py
+++ b/y2020/control_loops/python/turret.py
@@ -20,14 +20,14 @@
 
 kTurret = angular_system.AngularSystemParams(
     name='Turret',
-    motor=control_loop.Vex775Pro(),
-    G=(6.0 / 60.0) * (26.0 / 150.0),
+    motor=control_loop.MiniCIM(),
+    G=(26.0 / 150.0) * (14.0 / 60.0) * (20.0 / 60.0),
     J=0.20,
     q_pos=0.30,
     q_vel=4.5,
     kalman_q_pos=0.12,
     kalman_q_vel=10.0,
-    kalman_q_voltage=12.0,
+    kalman_q_voltage=20.0,
     kalman_r_position=0.05)
 
 def main(argv):
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index e4a9cb6..59e976e 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -26,9 +26,9 @@
 
   // Terms to control the velocity gain for the friction compensation, and the
   // voltage cap.
-  static constexpr double kTurretFrictionGain = 10.0;
+  static constexpr double kTurretFrictionGain = 0.0;
   static constexpr double kTurretFrictionVoltageLimit = 1.5;
-  static constexpr double kTurretDitherGain = 0.4;
+  static constexpr double kTurretDitherGain = 0.0;
 
   using PotAndAbsoluteEncoderSubsystem =
       ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<