diff --git a/y2024/control_loops/superstructure/altitude/BUILD b/y2024/control_loops/superstructure/altitude/BUILD
new file mode 100644
index 0000000..71e2e3b
--- /dev/null
+++ b/y2024/control_loops/superstructure/altitude/BUILD
@@ -0,0 +1,42 @@
+package(default_visibility = ["//y2024:__subpackages__"])
+
+genrule(
+    name = "genrule_altitude",
+    outs = [
+        "altitude_plant.h",
+        "altitude_plant.cc",
+        "altitude_plant.json",
+        "integral_altitude_plant.h",
+        "integral_altitude_plant.cc",
+        "integral_altitude_plant.json",
+    ],
+    cmd = "$(location //y2024/control_loops/python:altitude) $(OUTS)",
+    target_compatible_with = ["@platforms//os:linux"],
+    tools = [
+        "//y2024/control_loops/python:altitude",
+    ],
+)
+
+cc_library(
+    name = "altitude_plants",
+    srcs = [
+        "altitude_plant.cc",
+        "integral_altitude_plant.cc",
+    ],
+    hdrs = [
+        "altitude_plant.h",
+        "integral_altitude_plant.h",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops:hybrid_state_feedback_loop",
+        "//frc971/control_loops:state_feedback_loop",
+    ],
+)
+
+filegroup(
+    name = "altitude_json",
+    srcs = ["integral_altitude_plant.json"],
+    visibility = ["//visibility:public"],
+)
diff --git a/y2024/control_loops/superstructure/catapult/BUILD b/y2024/control_loops/superstructure/catapult/BUILD
new file mode 100644
index 0000000..a6025d8
--- /dev/null
+++ b/y2024/control_loops/superstructure/catapult/BUILD
@@ -0,0 +1,42 @@
+package(default_visibility = ["//y2024:__subpackages__"])
+
+genrule(
+    name = "genrule_catapult",
+    outs = [
+        "catapult_plant.h",
+        "catapult_plant.cc",
+        "catapult_plant.json",
+        "integral_catapult_plant.h",
+        "integral_catapult_plant.cc",
+        "integral_catapult_plant.json",
+    ],
+    cmd = "$(location //y2024/control_loops/python:catapult) $(OUTS)",
+    target_compatible_with = ["@platforms//os:linux"],
+    tools = [
+        "//y2024/control_loops/python:catapult",
+    ],
+)
+
+cc_library(
+    name = "catapult_plants",
+    srcs = [
+        "catapult_plant.cc",
+        "integral_catapult_plant.cc",
+    ],
+    hdrs = [
+        "catapult_plant.h",
+        "integral_catapult_plant.h",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops:hybrid_state_feedback_loop",
+        "//frc971/control_loops:state_feedback_loop",
+    ],
+)
+
+filegroup(
+    name = "catapult_json",
+    srcs = ["integral_catapult_plant.json"],
+    visibility = ["//visibility:public"],
+)
diff --git a/y2024/control_loops/superstructure/superstructure_can_position.fbs b/y2024/control_loops/superstructure/superstructure_can_position.fbs
index 69bcdd0..0f751ab 100644
--- a/y2024/control_loops/superstructure/superstructure_can_position.fbs
+++ b/y2024/control_loops/superstructure/superstructure_can_position.fbs
@@ -26,6 +26,12 @@
 
     // CAN Position of the retention roller falcon
     retention_roller:frc971.control_loops.CANTalonFX (id: 6);
+
+    // CAN Position of the shooter turret falcon
+    turret:frc971.control_loops.CANTalonFX (id: 7);
+
+    // CAN Position of the shooter altitude falcon
+    altitude:frc971.control_loops.CANTalonFX (id: 8);
 }
 
 root_type CANPosition;
diff --git a/y2024/control_loops/superstructure/superstructure_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index 3a4b443..ceed417 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -57,6 +57,9 @@
 
   // Estimated angle and angular velocitiy of the climber.
   climber_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 5);
+
+  // Status of the subsytems involved in the shooter
+  shooter_status:ShooterStatus (id: 6);
 }
 
 root_type Status;
diff --git a/y2024/control_loops/superstructure/turret/BUILD b/y2024/control_loops/superstructure/turret/BUILD
new file mode 100644
index 0000000..c67eb89
--- /dev/null
+++ b/y2024/control_loops/superstructure/turret/BUILD
@@ -0,0 +1,42 @@
+package(default_visibility = ["//y2024:__subpackages__"])
+
+genrule(
+    name = "genrule_turret",
+    outs = [
+        "turret_plant.h",
+        "turret_plant.cc",
+        "turret_plant.json",
+        "integral_turret_plant.h",
+        "integral_turret_plant.cc",
+        "integral_turret_plant.json",
+    ],
+    cmd = "$(location //y2024/control_loops/python:turret) $(OUTS)",
+    target_compatible_with = ["@platforms//os:linux"],
+    tools = [
+        "//y2024/control_loops/python:turret",
+    ],
+)
+
+cc_library(
+    name = "turret_plants",
+    srcs = [
+        "integral_turret_plant.cc",
+        "turret_plant.cc",
+    ],
+    hdrs = [
+        "integral_turret_plant.h",
+        "turret_plant.h",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops:hybrid_state_feedback_loop",
+        "//frc971/control_loops:state_feedback_loop",
+    ],
+)
+
+filegroup(
+    name = "turret_json",
+    srcs = ["integral_turret_plant.json"],
+    visibility = ["//visibility:public"],
+)