diff --git a/frc971/constants.cpp b/frc971/constants.cpp
index a7bbfa5..6c7c54b 100644
--- a/frc971/constants.cpp
+++ b/frc971/constants.cpp
@@ -2,6 +2,7 @@
 
 #include <stddef.h>
 #include <math.h>
+#include <array>
 
 #include "aos/common/inttypes.h"
 #include "aos/common/messages/RobotState.q.h"
@@ -11,6 +12,9 @@
 #define M_PI 3.14159265358979323846
 #endif
 
+// Note: So far, none of the Angle Adjust numbers have been measured.
+// Do not rely on them for real life.
+
 namespace frc971 {
 namespace constants {
 
@@ -28,6 +32,23 @@
 const double kPracticeWristLowerPhysicalLimit = -37.5 * M_PI / 180.0;
 const double kCompWristLowerPhysicalLimit = -37.5 * M_PI / 180.0;
 
+const int kAngleAdjustHallEffect = 2;
+
+const ::std::array<double, kAngleAdjustHallEffect>
+    kCompAngleAdjustHorizontalHallEffectStartAngle = {{-0.1, 1.0}};
+const ::std::array<double, kAngleAdjustHallEffect>
+    kPracticeAngleAdjustHorizontalHallEffectStartAngle = {{-0.1, 1.0}};
+
+const ::std::array<double, kAngleAdjustHallEffect>
+    kCompAngleAdjustHorizontalHallEffectStopAngle = {{0.5, 1.5}};
+const ::std::array<double, kAngleAdjustHallEffect>
+    kPracticeAngleAdjustHorizontalHallEffectStopAngle = {{0.5, 1.5}};
+
+const double kPracticeAngleAdjustHorizontalUpperPhysicalLimit =
+    3.0;
+const double kCompAngleAdjustHorizontalUpperPhysicalLimit =
+    3.0;
+
 const double kPracticeWristUpperLimit = 93 * M_PI / 180.0;
 const double kCompWristUpperLimit = 93 * M_PI / 180.0;
 
@@ -36,6 +57,23 @@
 
 const double kWristZeroingSpeed = 1.0;
 
+const double kPracticeAngleAdjustHorizontalLowerPhysicalLimit =
+    0.0;
+const double kCompAngleAdjustHorizontalLowerPhysicalLimit =
+    0.0;
+
+const double kPracticeAngleAdjustHorizontalUpperLimit =
+    3.0;
+const double kCompAngleAdjustHorizontalUpperLimit =
+    3.0;
+
+const double kPracticeAngleAdjustHorizontalLowerLimit =
+    0.0;
+const double kCompAngleAdjustHorizontalLowerLimit =
+    0.0;
+
+const double kAngleAdjustHorizontalZeroingSpeed = 1.0;
+
 const int kCompCameraCenter = -2;
 const int kPracticeCameraCenter = -5;
 
@@ -55,6 +93,20 @@
   // Zeroing speed.
   double wrist_zeroing_speed;
 
+  // AngleAdjust hall effect positive and negative edges.
+  ::std::array<double, 2> angle_adjust_horizontal_hall_effect_start_angle;
+  ::std::array<double, 2> angle_adjust_horizontal_hall_effect_stop_angle;
+
+  // Upper and lower extreme limits of travel for the angle adjust.
+  double angle_adjust_horizontal_upper_limit;
+  double angle_adjust_horizontal_lower_limit;
+  // Physical limits.  These are here for testing.
+  double angle_adjust_horizontal_upper_physical_limit;
+  double angle_adjust_horizontal_lower_physical_limit;
+
+  // Zeroing speed.
+  double angle_adjust_horizontal_zeroing_speed;
+
   // what camera_center returns
   int camera_center;
 };
@@ -77,6 +129,13 @@
                             kCompWristUpperPhysicalLimit,
                             kCompWristLowerPhysicalLimit,
                             kWristZeroingSpeed,
+                            kCompAngleAdjustHorizontalHallEffectStartAngle,
+                            kCompAngleAdjustHorizontalHallEffectStopAngle,
+                            kCompAngleAdjustHorizontalUpperLimit,
+                            kCompAngleAdjustHorizontalLowerLimit,
+                            kCompAngleAdjustHorizontalUpperPhysicalLimit,
+                            kCompAngleAdjustHorizontalLowerPhysicalLimit,
+                            kAngleAdjustHorizontalZeroingSpeed,
                             kCompCameraCenter};
         break;
       case kPracticeTeamNumber:
@@ -87,6 +146,13 @@
                             kPracticeWristUpperPhysicalLimit,
                             kPracticeWristLowerPhysicalLimit,
                             kWristZeroingSpeed,
+                            kPracticeAngleAdjustHorizontalHallEffectStartAngle,
+                            kPracticeAngleAdjustHorizontalHallEffectStopAngle,
+                            kPracticeAngleAdjustHorizontalUpperLimit,
+                            kPracticeAngleAdjustHorizontalLowerLimit,
+                            kPracticeAngleAdjustHorizontalUpperPhysicalLimit,
+                            kPracticeAngleAdjustHorizontalLowerPhysicalLimit,
+                            kAngleAdjustHorizontalZeroingSpeed,
                             kPracticeCameraCenter};
         break;
       default:
@@ -147,6 +213,55 @@
   return true;
 }
 
+bool angle_adjust_horizontal_hall_effect_start_angle(
+    ::std::array<double, 2> *angle) {
+  const Values *const values = GetValues();
+  if (values == NULL) return false;
+  *angle = values->angle_adjust_horizontal_hall_effect_start_angle;
+  return true;
+}
+bool angle_adjust_horizontal_hall_effect_stop_angle(
+    ::std::array<double, 2> *angle) {
+  const Values *const values = GetValues();
+  if (values == NULL) return false;
+  *angle = values->angle_adjust_horizontal_hall_effect_stop_angle;
+  return true;
+}
+bool angle_adjust_horizontal_upper_limit(double *angle) {
+  const Values *const values = GetValues();
+  if (values == NULL) return false;
+  *angle = values->angle_adjust_horizontal_upper_limit;
+  return true;
+}
+
+bool angle_adjust_horizontal_lower_limit(double *angle) {
+  const Values *const values = GetValues();
+  if (values == NULL) return false;
+  *angle = values->angle_adjust_horizontal_lower_limit;
+  return true;
+}
+
+bool angle_adjust_horizontal_upper_physical_limit(double *angle) {
+  const Values *const values = GetValues();
+  if (values == NULL) return false;
+  *angle = values->angle_adjust_horizontal_upper_physical_limit;
+  return true;
+}
+
+bool angle_adjust_horizontal_lower_physical_limit(double *angle) {
+  const Values *const values = GetValues();
+  if (values == NULL) return false;
+  *angle = values->angle_adjust_horizontal_lower_physical_limit;
+  return true;
+}
+
+bool angle_adjust_horizontal_zeroing_speed(double *speed) {
+  const Values *const values = GetValues();
+  if (values == NULL) return false;
+  *speed = values->angle_adjust_horizontal_zeroing_speed;
+  return true;
+}
+
 bool camera_center(int *center) {
   const Values *const values = GetValues();
   if (values == NULL) return false;