diff --git a/y2024/control_loops/python/BUILD b/y2024/control_loops/python/BUILD
index da80d87..93d4fe2 100644
--- a/y2024/control_loops/python/BUILD
+++ b/y2024/control_loops/python/BUILD
@@ -77,6 +77,51 @@
     ],
 )
 
+py_binary(
+    name = "catapult",
+    srcs = [
+        "catapult.py",
+    ],
+    legacy_create_init = False,
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    deps = [
+        "//frc971/control_loops/python:angular_system",
+        "//frc971/control_loops/python:controls",
+    ],
+)
+
+py_binary(
+    name = "turret",
+    srcs = [
+        "turret.py",
+    ],
+    legacy_create_init = False,
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    deps = [
+        ":python_init",
+        "//frc971/control_loops/python:angular_system",
+        "//frc971/control_loops/python:controls",
+        "@pip//glog",
+        "@pip//python_gflags",
+    ],
+)
+
+py_binary(
+    name = "altitude",
+    srcs = [
+        "altitude.py",
+    ],
+    legacy_create_init = False,
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    deps = [
+        ":python_init",
+        "//frc971/control_loops/python:angular_system",
+        "//frc971/control_loops/python:controls",
+        "@pip//glog",
+        "@pip//python_gflags",
+    ],
+)
+
 py_library(
     name = "python_init",
     srcs = ["__init__.py"],
diff --git a/y2024/control_loops/python/altitude.py b/y2024/control_loops/python/altitude.py
new file mode 100644
index 0000000..157c4a5
--- /dev/null
+++ b/y2024/control_loops/python/altitude.py
@@ -0,0 +1,58 @@
+#!/usr/bin/python3
+
+from aos.util.trapezoid_profile import TrapezoidProfile
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import angular_system
+from frc971.control_loops.python import controls
+import numpy
+import sys
+from matplotlib import pylab
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+    gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+    pass
+
+gflags.DEFINE_bool('hybrid', False, 'If true, make it hybrid.')
+
+kAltitude = angular_system.AngularSystemParams(
+    name='Altitude',
+    motor=control_loop.KrakenFOC(),
+    G=(16.0 / 60.0) * (16.0 / 162.0),
+    # 4340 in^ lb
+    J=1.27,
+    q_pos=0.40,
+    q_vel=3.0,
+    kalman_q_pos=0.12,
+    kalman_q_vel=2.0,
+    kalman_q_voltage=4.0,
+    kalman_r_position=0.05,
+    radius=10.5 * 0.0254)
+
+
+def main(argv):
+    if FLAGS.plot:
+        R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+        angular_system.PlotKick(kAltitude, R)
+        angular_system.PlotMotion(kAltitude, R)
+        return
+
+    # Write the generated constants out to a file.
+    if len(argv) != 7:
+        glog.fatal(
+            'Expected .h file name and .cc file name for the intake and integral intake.'
+        )
+    else:
+        namespaces = ['y2024', 'control_loops', 'superstructure', 'altitude']
+        angular_system.WriteAngularSystem(kAltitude, argv[1:4], argv[4:7],
+                                          namespaces)
+
+
+if __name__ == '__main__':
+    argv = FLAGS(sys.argv)
+    glog.init()
+    sys.exit(main(argv))
diff --git a/y2024/control_loops/python/catapult.py b/y2024/control_loops/python/catapult.py
new file mode 100644
index 0000000..c1b1472
--- /dev/null
+++ b/y2024/control_loops/python/catapult.py
@@ -0,0 +1,73 @@
+#!/usr/bin/python3
+
+from aos.util.trapezoid_profile import TrapezoidProfile
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import angular_system
+from frc971.control_loops.python import controls
+import numpy
+import sys
+from matplotlib import pylab
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+    gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+    pass
+
+gflags.DEFINE_bool('hybrid', False, 'If true, make it hybrid.')
+
+kCatapultWithGamePiece = angular_system.AngularSystemParams(
+    name='Catapult',
+    motor=control_loop.KrakenFOC(),
+    G=(14.0 / 60.0) * (12.0 / 24.0),
+    # 208.7328 in^2 lb
+    J=0.065,
+    q_pos=0.40,
+    q_vel=3.0,
+    kalman_q_pos=0.12,
+    kalman_q_vel=2.0,
+    kalman_q_voltage=4.0,
+    kalman_r_position=0.05,
+    radius=12 * 0.0254)
+
+kCatapultWithoutGamePiece = angular_system.AngularSystemParams(
+    name='Catapult',
+    motor=control_loop.KrakenFOC(),
+    G=(14.0 / 60.0) * (12.0 / 24.0),
+    # 135.2928 in^2 lb
+    J=0.04,
+    q_pos=0.40,
+    q_vel=3.0,
+    kalman_q_pos=0.12,
+    kalman_q_vel=2.0,
+    kalman_q_voltage=4.0,
+    kalman_r_position=0.05,
+    radius=12 * 0.0254)
+
+
+def main(argv):
+    if FLAGS.plot:
+        R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+        angular_system.PlotKick(kCatapult, R)
+        angular_system.PlotMotion(kCatapult, R)
+        return
+
+    # Write the generated constants out to a file.
+    if len(argv) != 7:
+        glog.fatal(
+            'Expected .h file name and .cc file name for the intake and integral intake.'
+        )
+    else:
+        namespaces = ['y2024', 'control_loops', 'superstructure', 'catapult']
+        angular_system.WriteAngularSystem(
+            [kCatapultWithGamePiece, kCatapultWithoutGamePiece], argv[1:4],
+            argv[4:7], namespaces)
+
+
+if __name__ == '__main__':
+    argv = FLAGS(sys.argv)
+    glog.init()
+    sys.exit(main(argv))
diff --git a/y2024/control_loops/python/turret.py b/y2024/control_loops/python/turret.py
new file mode 100644
index 0000000..259e104
--- /dev/null
+++ b/y2024/control_loops/python/turret.py
@@ -0,0 +1,55 @@
+#!/usr/bin/python3
+
+from aos.util.trapezoid_profile import TrapezoidProfile
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import angular_system
+from frc971.control_loops.python import controls
+import numpy
+import sys
+from matplotlib import pylab
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+    gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+    pass
+
+kTurret = angular_system.AngularSystemParams(
+    name='Turret',
+    motor=control_loop.KrakenFOC(),
+    G=(14.0 / 60.0) * (28.0 / 48.0) * (22.0 / 100.0),
+    # 1305 in^2 lb
+    J=0.4,
+    q_pos=0.40,
+    q_vel=20.0,
+    kalman_q_pos=0.12,
+    kalman_q_vel=2.0,
+    kalman_q_voltage=4.0,
+    kalman_r_position=0.05,
+    radius=24 * 0.0254)
+
+
+def main(argv):
+    if FLAGS.plot:
+        R = numpy.matrix([[numpy.pi], [0.0]])
+        angular_system.PlotKick(kTurret, R)
+        angular_system.PlotMotion(kTurret, R)
+
+    # Write the generated constants out to a file.
+    if len(argv) != 7:
+        glog.fatal(
+            'Expected .h file name and .cc file name for the turret and integral turret.'
+        )
+    else:
+        namespaces = ['y2024', 'control_loops', 'superstructure', 'turret']
+        angular_system.WriteAngularSystem(kTurret, argv[1:4], argv[4:7],
+                                          namespaces)
+
+
+if __name__ == '__main__':
+    argv = FLAGS(sys.argv)
+    glog.init()
+    sys.exit(main(argv))
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"],
+)