diff --git a/frc971/control_loops/python/angular_system.py b/frc971/control_loops/python/angular_system.py
index e5dd199..8d375f8 100755
--- a/frc971/control_loops/python/angular_system.py
+++ b/frc971/control_loops/python/angular_system.py
@@ -164,7 +164,9 @@
             duration=1.0,
             use_profile=True,
             kick_time=0.5,
-            kick_magnitude=0.0):
+            kick_magnitude=0.0,
+            max_velocity=10.0,
+            max_acceleration=70.0):
     """Runs the plant with an initial condition and goal.
 
     Args:
@@ -177,6 +179,8 @@
       duration: float, time in seconds to run the simulation for.
       kick_time: float, time in seconds to kick the robot.
       kick_magnitude: float, disturbance in volts to apply.
+      max_velocity: float, The maximum velocity for the profile.
+      max_acceleration: float, The maximum acceleration for the profile.
     """
     t_plot = []
     x_plot = []
@@ -197,8 +201,8 @@
         (plant.X, numpy.matrix(numpy.zeros((1, 1)))), axis=0)
 
     profile = TrapezoidProfile(plant.dt)
-    profile.set_maximum_acceleration(70.0)
-    profile.set_maximum_velocity(10.0)
+    profile.set_maximum_acceleration(max_acceleration)
+    profile.set_maximum_velocity(max_velocity)
     profile.SetGoal(goal[0, 0])
 
     U_last = numpy.matrix(numpy.zeros((1, 1)))
@@ -326,11 +330,13 @@
         kick_magnitude=2.0)
 
 
-def PlotMotion(params, R):
+def PlotMotion(params, R, max_velocity=10.0, max_acceleration=70.0):
     """Plots a trapezoidal motion.
 
     Args:
       R: numpy.matrix(2, 1), the goal,
+      max_velocity: float, The max velocity of the profile.
+      max_acceleration: float, The max acceleration of the profile.
     """
     plant = AngularSystem(params, params.name)
     controller = IntegralAngularSystem(params, params.name)
@@ -346,7 +352,9 @@
         controller=controller,
         observer=observer,
         duration=2.0,
-        use_profile=True)
+        use_profile=True,
+        max_velocity=max_velocity,
+        max_acceleration=max_acceleration)
 
 
 def WriteAngularSystem(params, plant_files, controller_files, year_namespaces):
diff --git a/frc971/control_loops/python/linear_system.py b/frc971/control_loops/python/linear_system.py
index 7129e32..322e41a 100755
--- a/frc971/control_loops/python/linear_system.py
+++ b/frc971/control_loops/python/linear_system.py
@@ -171,7 +171,8 @@
             use_profile=True,
             kick_time=0.5,
             kick_magnitude=0.0,
-            max_velocity=0.3):
+            max_velocity=0.3,
+            max_acceleration=10.0):
     """Runs the plant with an initial condition and goal.
 
     Args:
@@ -185,6 +186,7 @@
       kick_time: float, time in seconds to kick the robot.
       kick_magnitude: float, disturbance in volts to apply.
       max_velocity: float, the max speed in m/s to profile.
+      max_acceleration: float, the max acceleration in m/s/s to profile.
     """
     t_plot = []
     x_plot = []
@@ -205,7 +207,7 @@
         (plant.X, numpy.matrix(numpy.zeros((1, 1)))), axis=0)
 
     profile = TrapezoidProfile(plant.dt)
-    profile.set_maximum_acceleration(10.0)
+    profile.set_maximum_acceleration(max_acceleration)
     profile.set_maximum_velocity(max_velocity)
     profile.SetGoal(goal[0, 0])
 
@@ -334,12 +336,13 @@
         kick_magnitude=2.0)
 
 
-def PlotMotion(params, R, max_velocity=0.3):
+def PlotMotion(params, R, max_velocity=0.3, max_acceleration=10.0):
     """Plots a trapezoidal motion.
 
     Args:
       R: numpy.matrix(2, 1), the goal,
       max_velocity: float, The max velocity of the profile.
+      max_acceleration: float, The max acceleration of the profile.
     """
     plant = LinearSystem(params, params.name)
     controller = IntegralLinearSystem(params, params.name)
@@ -356,7 +359,8 @@
         observer=observer,
         duration=2.0,
         use_profile=True,
-        max_velocity=max_velocity)
+        max_velocity=max_velocity,
+        max_acceleration=max_acceleration)
 
 
 def WriteLinearSystem(params, plant_files, controller_files, year_namespaces):