diff --git a/y2024/control_loops/python/BUILD b/y2024/control_loops/python/BUILD
index 93d4fe2..9cbfcf8 100644
--- a/y2024/control_loops/python/BUILD
+++ b/y2024/control_loops/python/BUILD
@@ -122,6 +122,22 @@
     ],
 )
 
+py_binary(
+    name = "extend",
+    srcs = [
+        "extend.py",
+    ],
+    legacy_create_init = False,
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    deps = [
+        ":python_init",
+        "//frc971/control_loops/python:controls",
+        "//frc971/control_loops/python:linear_system",
+        "@pip//glog",
+        "@pip//python_gflags",
+    ],
+)
+
 py_library(
     name = "python_init",
     srcs = ["__init__.py"],
diff --git a/y2024/control_loops/python/extend.py b/y2024/control_loops/python/extend.py
new file mode 100644
index 0000000..e84b45e
--- /dev/null
+++ b/y2024/control_loops/python/extend.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 linear_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.')
+
+kExtend = linear_system.LinearSystemParams(
+    name='Extend',
+    motor=control_loop.KrakenFOC(),
+    G=(14. / 60.) * (32. / 48.),
+    radius=36 * 0.005 / numpy.pi / 2.0,
+    mass=5.0,
+    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,
+)
+
+
+def main(argv):
+    if FLAGS.plot:
+        R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+        linear_system.PlotKick(kExtend, R)
+        linear_system.PlotMotion(kExtend, 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 extend pivot and integral extend pivot.'
+        )
+    else:
+        namespaces = ['y2024', 'control_loops', 'superstructure', 'extend']
+        linear_system.WriteLinearSystem(kExtend, 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/extend/BUILD b/y2024/control_loops/superstructure/extend/BUILD
new file mode 100644
index 0000000..7a28bde
--- /dev/null
+++ b/y2024/control_loops/superstructure/extend/BUILD
@@ -0,0 +1,42 @@
+package(default_visibility = ["//y2024:__subpackages__"])
+
+genrule(
+    name = "genrule_extend",
+    outs = [
+        "extend_plant.h",
+        "extend_plant.cc",
+        "extend_plant.json",
+        "integral_extend_plant.h",
+        "integral_extend_plant.cc",
+        "integral_extend_plant.json",
+    ],
+    cmd = "$(location //y2024/control_loops/python:extend) $(OUTS)",
+    target_compatible_with = ["@platforms//os:linux"],
+    tools = [
+        "//y2024/control_loops/python:extend",
+    ],
+)
+
+cc_library(
+    name = "extend_plants",
+    srcs = [
+        "extend_plant.cc",
+        "integral_extend_plant.cc",
+    ],
+    hdrs = [
+        "extend_plant.h",
+        "integral_extend_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 = "extend_json",
+    srcs = ["integral_extend_plant.json"],
+    visibility = ["//visibility:public"],
+)