diff --git a/y2020/control_loops/python/BUILD b/y2020/control_loops/python/BUILD
index b9dfbe0..923d239 100644
--- a/y2020/control_loops/python/BUILD
+++ b/y2020/control_loops/python/BUILD
@@ -114,6 +114,48 @@
 )
 
 py_library(
+    name = "flywheel",
+    srcs = [
+        "flywheel.py",
+    ],
+    restricted_to = ["//tools:k8"],
+    deps = [
+        "//frc971/control_loops/python:controls",
+        "@matplotlib_repo//:matplotlib2.7",
+    ],
+)
+
+py_binary(
+    name = "accelerator",
+    srcs = [
+        "accelerator.py",
+    ],
+    legacy_create_init = False,
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":python_init",
+        ":flywheel",
+        "//external:python-gflags",
+        "//external:python-glog",
+    ],
+)
+
+py_binary(
+    name = "finisher",
+    srcs = [
+        "finisher.py",
+    ],
+    legacy_create_init = False,
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":python_init",
+        ":flywheel",
+        "//external:python-gflags",
+        "//external:python-glog",
+    ],
+)
+
+py_library(
     name = "python_init",
     srcs = ["__init__.py"],
     visibility = ["//visibility:public"],
diff --git a/y2020/control_loops/python/accelerator.py b/y2020/control_loops/python/accelerator.py
new file mode 100644
index 0000000..257ed23
--- /dev/null
+++ b/y2020/control_loops/python/accelerator.py
@@ -0,0 +1,46 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import control_loop
+from y2020.control_loops.python import flywheel
+import numpy
+
+import sys
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+kAccelerator = flywheel.FlywheelParams(
+    name='Accelerator',
+    motor=control_loop.Falcon(),
+    G=1.0,
+    J=0.006,
+    q_pos=0.08,
+    q_vel=4.00,
+    q_voltage=0.3,
+    r_pos=0.05,
+    controller_poles=[.87],
+    dt=0.00505)
+
+
+def main(argv):
+    if FLAGS.plot:
+        R = numpy.matrix([[0.0], [100.0], [0.0]])
+        flywheel.PlotSpinup(kAccelerator, goal=R, iterations=200)
+        return 0
+
+    if len(argv) != 5:
+        glog.fatal('Expected .h file name and .cc file name')
+    else:
+        namespaces = [
+            'y2020', 'control_loops', 'superstructure', 'accelerator'
+        ]
+        flywheel.WriteFlywheel(kAccelerator, argv[1:3], argv[3:5], namespaces)
+
+
+if __name__ == '__main__':
+    argv = FLAGS(sys.argv)
+    sys.exit(main(argv))
diff --git a/y2020/control_loops/python/finisher.py b/y2020/control_loops/python/finisher.py
new file mode 100644
index 0000000..0b0fbb4
--- /dev/null
+++ b/y2020/control_loops/python/finisher.py
@@ -0,0 +1,44 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import control_loop
+from y2020.control_loops.python import flywheel
+import numpy
+
+import sys
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+kFinisher = flywheel.FlywheelParams(
+    name='Finisher',
+    motor=control_loop.Falcon(),
+    G=1.0,
+    J=0.006,
+    q_pos=0.08,
+    q_vel=4.00,
+    q_voltage=0.3,
+    r_pos=0.05,
+    controller_poles=[.87],
+    dt=0.00505)
+
+
+def main(argv):
+    if FLAGS.plot:
+        R = numpy.matrix([[0.0], [100.0], [0.0]])
+        flywheel.PlotSpinup(params=kFinisher, goal=R, iterations=200)
+        return 0
+
+    if len(argv) != 5:
+        glog.fatal('Expected .h file name and .cc file name')
+    else:
+        namespaces = ['y2020', 'control_loops', 'superstructure', 'finisher']
+        flywheel.WriteFlywheel(kFinisher, argv[1:3], argv[3:5], namespaces)
+
+
+if __name__ == '__main__':
+    argv = FLAGS(sys.argv)
+    sys.exit(main(argv))
diff --git a/y2020/control_loops/python/flywheel.py b/y2020/control_loops/python/flywheel.py
new file mode 100755
index 0000000..9a6fc46
--- /dev/null
+++ b/y2020/control_loops/python/flywheel.py
@@ -0,0 +1,285 @@
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import controls
+import numpy
+from matplotlib import pylab
+
+import glog
+
+
+class FlywheelParams(object):
+    def __init__(self,
+                 name,
+                 motor,
+                 G,
+                 J,
+                 q_pos,
+                 q_vel,
+                 q_voltage,
+                 r_pos,
+                 controller_poles,
+                 dt=0.00505):
+        self.name = name
+        self.motor = motor
+        self.G = G
+        self.J = J
+        self.q_pos = q_pos
+        self.q_vel = q_vel
+        self.q_voltage = q_voltage
+        self.r_pos = r_pos
+        self.dt = dt
+        self.controller_poles = controller_poles
+
+
+class VelocityFlywheel(control_loop.ControlLoop):
+    def __init__(self, params, name="Flywheel"):
+        super(VelocityFlywheel, self).__init__(name=name)
+        self.params = params
+        # Set Motor
+        self.motor = self.params.motor
+        # Moment of inertia of the flywheel wheel in kg m^2
+        self.J = self.params.J
+        # Gear ratio
+        self.G = self.params.G
+        # Control loop time step
+        self.dt = self.params.dt
+
+        # State feedback matrices
+        # [angular velocity]
+        self.A_continuous = numpy.matrix([[
+            -self.motor.Kt / self.motor.Kv /
+            (self.J * self.G * self.G * self.motor.resistance)
+        ]])
+        self.B_continuous = numpy.matrix(
+            [[self.motor.Kt / (self.J * self.G * self.motor.resistance)]])
+        self.C = numpy.matrix([[1]])
+        self.D = numpy.matrix([[0]])
+
+        self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+                                                   self.B_continuous, self.dt)
+
+        self.PlaceControllerPoles(self.params.controller_poles)
+
+        # Generated controller not used.
+        self.PlaceObserverPoles([0.3])
+
+        self.U_max = numpy.matrix([[12.0]])
+        self.U_min = numpy.matrix([[-12.0]])
+
+        qff_vel = 8.0
+        self.Qff = numpy.matrix([[1.0 / (qff_vel**2.0)]])
+
+        self.Kff = controls.TwoStateFeedForwards(self.B, self.Qff)
+
+
+class Flywheel(VelocityFlywheel):
+    def __init__(self, params, name="Flywheel"):
+        super(Flywheel, self).__init__(params, name=name)
+
+        self.A_continuous_unaugmented = self.A_continuous
+        self.B_continuous_unaugmented = self.B_continuous
+
+        self.A_continuous = numpy.matrix(numpy.zeros((2, 2)))
+        self.A_continuous[1:2, 1:2] = self.A_continuous_unaugmented
+        self.A_continuous[0, 1] = 1
+
+        self.B_continuous = numpy.matrix(numpy.zeros((2, 1)))
+        self.B_continuous[1:2, 0] = self.B_continuous_unaugmented
+
+        # State feedback matrices
+        # [position, angular velocity]
+        self.C = numpy.matrix([[1, 0]])
+        self.D = numpy.matrix([[0]])
+
+        self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+                                                   self.B_continuous, self.dt)
+
+        rpl = 0.45
+        ipl = 0.07
+        self.PlaceObserverPoles([rpl + 1j * ipl, rpl - 1j * ipl])
+
+        self.K_unaugmented = self.K
+        self.K = numpy.matrix(numpy.zeros((1, 2)))
+        self.K[0, 1:2] = self.K_unaugmented
+        self.Kff_unaugmented = self.Kff
+        self.Kff = numpy.matrix(numpy.zeros((1, 2)))
+        self.Kff[0, 1:2] = self.Kff_unaugmented
+
+        self.InitializeState()
+
+
+class IntegralFlywheel(Flywheel):
+    def __init__(self, params, name="IntegralFlywheel"):
+        super(IntegralFlywheel, self).__init__(params, name=name)
+
+        self.A_continuous_unaugmented = self.A_continuous
+        self.B_continuous_unaugmented = self.B_continuous
+
+        self.A_continuous = numpy.matrix(numpy.zeros((3, 3)))
+        self.A_continuous[0:2, 0:2] = self.A_continuous_unaugmented
+        self.A_continuous[0:2, 2] = self.B_continuous_unaugmented
+
+        self.B_continuous = numpy.matrix(numpy.zeros((3, 1)))
+        self.B_continuous[0:2, 0] = self.B_continuous_unaugmented
+
+        # states
+        # [position, velocity, voltage_error]
+        self.C_unaugmented = self.C
+        self.C = numpy.matrix(numpy.zeros((1, 3)))
+        self.C[0:1, 0:2] = self.C_unaugmented
+
+        self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+                                                   self.B_continuous, self.dt)
+
+        q_pos = self.params.q_pos
+        q_vel = self.params.q_vel
+        q_voltage = self.params.q_voltage
+        self.Q = numpy.matrix([[(q_pos**2.0), 0.0, 0.0],
+                               [0.0, (q_vel**2.0), 0.0],
+                               [0.0, 0.0, (q_voltage**2.0)]])
+
+        r_pos = self.params.r_pos
+        self.R = numpy.matrix([[(r_pos**2.0)]])
+
+        self.KalmanGain, self.Q_steady = controls.kalman(
+            A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
+        self.L = self.A * self.KalmanGain
+
+        self.K_unaugmented = self.K
+        self.K = numpy.matrix(numpy.zeros((1, 3)))
+        self.K[0, 0:2] = self.K_unaugmented
+        self.K[0, 2] = 1
+        self.Kff_unaugmented = self.Kff
+        self.Kff = numpy.matrix(numpy.zeros((1, 3)))
+        self.Kff[0, 0:2] = self.Kff_unaugmented
+
+        self.InitializeState()
+
+
+def PlotSpinup(params, goal, iterations=200):
+    """Runs the flywheel plant with an initial condition and goal.
+
+    Args:
+        flywheel: Flywheel object to use.
+        goal: goal state.
+        iterations: Number of timesteps to run the model for.
+        controller_flywheel: Flywheel object to get K from, or None if we should
+             use flywheel.
+        observer_flywheel: Flywheel object to use for the observer, or None if we
+            should use the actual state.
+    """
+
+    # Various lists for graphing things.
+    t = []
+    x = []
+    v = []
+    a = []
+    x_hat = []
+    u = []
+    offset = []
+
+    flywheel = Flywheel(params, params.name)
+    controller_flywheel = IntegralFlywheel(params, params.name)
+    observer_flywheel = IntegralFlywheel(params, params.name)
+    vbat = 12.0
+
+    if t:
+        initial_t = t[-1] + flywheel.dt
+    else:
+        initial_t = 0
+
+    for i in xrange(iterations):
+        X_hat = flywheel.X
+
+        if observer_flywheel is not None:
+            X_hat = observer_flywheel.X_hat
+            x_hat.append(observer_flywheel.X_hat[1, 0])
+
+        ff_U = controller_flywheel.Kff * (goal - observer_flywheel.A * goal)
+
+        U = controller_flywheel.K * (goal - X_hat) + ff_U
+        U[0, 0] = numpy.clip(U[0, 0], -vbat, vbat)
+        x.append(flywheel.X[0, 0])
+
+        if v:
+            last_v = v[-1]
+        else:
+            last_v = 0
+
+        v.append(flywheel.X[1, 0])
+        a.append((v[-1] - last_v) / flywheel.dt)
+
+        if observer_flywheel is not None:
+            observer_flywheel.Y = flywheel.Y
+            observer_flywheel.CorrectObserver(U)
+            offset.append(observer_flywheel.X_hat[2, 0])
+
+        applied_U = U.copy()
+        if i > 30:
+            applied_U += 2
+        flywheel.Update(applied_U)
+
+        if observer_flywheel is not None:
+            observer_flywheel.PredictObserver(U)
+
+        t.append(initial_t + i * flywheel.dt)
+        u.append(U[0, 0])
+
+        glog.debug('Time: %f', t[-1])
+    pylab.subplot(3, 1, 1)
+    pylab.plot(t, v, label='x')
+    pylab.plot(t, x_hat, label='x_hat')
+    pylab.legend()
+
+    pylab.subplot(3, 1, 2)
+    pylab.plot(t, u, label='u')
+    pylab.plot(t, offset, label='voltage_offset')
+    pylab.legend()
+
+    pylab.subplot(3, 1, 3)
+    pylab.plot(t, a, label='a')
+    pylab.legend()
+
+    pylab.show()
+
+
+def WriteFlywheel(params, plant_files, controller_files, namespace):
+    """Writes out the constants for a flywheel to a file.
+
+    Args:
+      params: list of Flywheel Params, the
+        parameters defining the system.
+      plant_files: list of strings, the cc and h files for the plant.
+      controller_files: list of strings, the cc and h files for the integral
+        controller.
+      namespaces: list of strings, the namespace list to use.
+    """
+    # Write the generated constants out to a file.
+    flywheels = []
+    integral_flywheels = []
+
+    if type(params) is list:
+        name = params[0].name
+        for index, param in enumerate(params):
+            flywheels.append(Flywheel(param, name=param.name + str(index)))
+            integral_flywheels.append(
+                IntegralFlywheel(
+                    param, name='Integral' + param.name + str(index)))
+    else:
+        name = params.name
+        flywheels.append(Flywheel(params, params.name))
+        integral_flywheels.append(
+            IntegralFlywheel(params, name='Integral' + params.name))
+
+    loop_writer = control_loop.ControlLoopWriter(
+        name, flywheels, namespaces=namespace)
+    loop_writer.AddConstant(
+        control_loop.Constant('kOutputRatio' + params.name, '%f',
+                              flywheels[0].G))
+    loop_writer.AddConstant(
+        control_loop.Constant('kFreeSpeed' + params.name, '%f',
+                              flywheels[0].motor.free_speed))
+    loop_writer.Write(plant_files[0], plant_files[1])
+
+    integral_loop_writer = control_loop.ControlLoopWriter(
+        'Integral' + name, integral_flywheels, namespaces=namespace)
+    integral_loop_writer.Write(controller_files[0], controller_files[1])