diff --git a/y2023/control_loops/python/BUILD b/y2023/control_loops/python/BUILD
index 7825675..f94772d 100644
--- a/y2023/control_loops/python/BUILD
+++ b/y2023/control_loops/python/BUILD
@@ -90,3 +90,19 @@
     visibility = ["//visibility:public"],
     deps = ["//y2023/control_loops:python_init"],
 )
+
+py_binary(
+    name = "roll",
+    srcs = [
+        "roll.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",
+    ],
+)
diff --git a/y2023/control_loops/python/roll.py b/y2023/control_loops/python/roll.py
new file mode 100644
index 0000000..7e342b2
--- /dev/null
+++ b/y2023/control_loops/python/roll.py
@@ -0,0 +1,67 @@
+#!/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.')
+
+kRoll = angular_system.AngularSystemParams(
+    name='Roll',
+    motor=control_loop.BAG(),
+    G=18.0 / 48.0 * 1.0 / 36.0,
+    # 598.006 in^2 lb
+    J=0.175,
+    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=13 * 0.0254)
+
+
+def main(argv):
+    if FLAGS.plot:
+        R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+        angular_system.PlotKick(kRoll, R)
+        angular_system.PlotMotion(kRoll, R)
+
+    # Write the generated constants out to a file.
+    if len(argv) != 5:
+        glog.fatal(
+            'Expected .h file name and .cc file name for the intake and integral intake.'
+        )
+    else:
+        namespaces = ['y2023', 'control_loops', 'superstructure', 'roll']
+        if FLAGS.hybrid:
+            kRoll.name = 'HybridRoll'
+            angular_system.WriteAngularSystem(
+                kRoll,
+                argv[1:3],
+                argv[3:5],
+                namespaces,
+                plant_type='StateFeedbackHybridPlant',
+                observer_type='HybridKalman')
+        else:
+            angular_system.WriteAngularSystem(kRoll, argv[1:3], argv[3:5],
+                                              namespaces)
+
+
+if __name__ == '__main__':
+    argv = FLAGS(sys.argv)
+    glog.init()
+    sys.exit(main(argv))