diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index ae79e76..4fb5c1d 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -75,18 +75,15 @@
   aos::FlatbufferFixedAllocatorArray<ShooterGoal, 64> shooter_goal;
 
   constants::Values::ShotParams shot_params;
-  constants::Values::FlywheelShotParams flywheel_shot_params;
   if (constants::GetValues().shot_interpolation_table.GetInRange(
-          distance_to_goal, &shot_params) &&
-      constants::GetValues().flywheel_shot_interpolation_table.GetInRange(
-          shot_params.velocity_ball, &flywheel_shot_params)) {
+          distance_to_goal, &shot_params)) {
     hood_goal.Finish(frc971::control_loops::
                          CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
                              *hood_goal.fbb(), shot_params.hood_angle));
 
     shooter_goal.Finish(CreateShooterGoal(
-        *shooter_goal.fbb(), flywheel_shot_params.velocity_accelerator,
-        flywheel_shot_params.velocity_finisher));
+        *shooter_goal.fbb(), shot_params.velocity_accelerator,
+        shot_params.velocity_finisher));
   } else {
     hood_goal.Finish(
         frc971::control_loops::
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index 2e6ec08..f148296 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -1460,10 +1460,10 @@
                 ->accelerator_right()
                 ->angular_velocity_goal(),
             250.0);
-  EXPECT_DOUBLE_EQ(superstructure_status_fetcher_->shooter()
-                       ->finisher()
-                       ->angular_velocity_goal(),
-                   350.0);
+  EXPECT_GE(superstructure_status_fetcher_->shooter()
+                ->finisher()
+                ->angular_velocity_goal(),
+            250.0);
   EXPECT_GE(superstructure_status_fetcher_->hood()->position(),
             constants::Values::kHoodRange().lower);
 }
diff --git a/y2020/control_loops/superstructure/turret/aiming.cc b/y2020/control_loops/superstructure/turret/aiming.cc
index cdc6181..c8f8f6e 100644
--- a/y2020/control_loops/superstructure/turret/aiming.cc
+++ b/y2020/control_loops/superstructure/turret/aiming.cc
@@ -67,12 +67,12 @@
 // speed. Assuming a constant average speed over the course of the trajectory
 // should be reasonable, since all we are trying to do here is calculate an
 // overall time-of-flight (we don't actually care about the ball speed itself).
-constexpr double kBallSpeedOverGround = 15.0;  // m/s
+constexpr double kBallSpeedOverGround = 17.0;  // m/s
 
 // Minimum distance that we must be from the inner port in order to attempt the
 // shot--this is to account for the fact that if we are too close to the target,
 // then we won't have a clear shot on the inner port.
-constexpr double kMinimumInnerPortShotDistance = 3.9;
+constexpr double kMinimumInnerPortShotDistance = 1.9;
 
 // Amount of buffer, in radians, to leave to help avoid wrapping. I.e., any time
 // that we are in kAvoidEdges mode, we will keep ourselves at least