diff --git a/y2022/constants.cc b/y2022/constants.cc
index e71fb64..b89ef5a 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -11,8 +11,9 @@
 #include "aos/mutex/mutex.h"
 #include "aos/network/team_number.h"
 #include "glog/logging.h"
-#include "y2022/control_loops/superstructure/intake/integral_intake_plant.h"
 #include "y2022/control_loops/superstructure/climber/integral_climber_plant.h"
+#include "y2022/control_loops/superstructure/intake/integral_intake_plant.h"
+#include "y2022/control_loops/superstructure/turret/integral_turret_plant.h"
 
 namespace y2022 {
 namespace constants {
@@ -25,42 +26,64 @@
 const uint16_t kPracticeTeamNumber = 9971;
 const uint16_t kCodingRobotTeamNumber = 7971;
 
-const Values *DoGetValuesForTeam(uint16_t team) {
-  Values *const r = new Values();
+}  // namespace
+
+Values MakeValues(uint16_t team) {
+  LOG(INFO) << "creating a Constants for team: " << team;
+
+  Values r;
 
   // TODO(Yash): Set constants
   // Intake constants.
-  auto *const intake = &r->intake;
+  auto *const intake_front = &r.intake_front;
+  auto *const intake_back = &r.intake_back;
 
-  intake->zeroing_voltage = 3.0;
-  intake->operating_voltage = 12.0;
-  intake->zeroing_profile_params = {0.5, 3.0};
-  intake->default_profile_params = {6.0, 30.0};
-  intake->range = Values::kIntakeRange();
-  intake->make_integral_loop =
+  ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+      ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>
+      intake_params;
+
+  intake_params.zeroing_voltage = 3.0;
+  intake_params.operating_voltage = 12.0;
+  intake_params.zeroing_profile_params = {0.5, 3.0};
+  intake_params.default_profile_params = {6.0, 30.0};
+  intake_params.range = Values::kIntakeRange();
+  intake_params.make_integral_loop =
       control_loops::superstructure::intake::MakeIntegralIntakeLoop;
-
-  // The number of samples in the moving average filter.
-  intake->zeroing_constants.average_filter_size = Values::kZeroingSampleSize;
-  // The distance that the absolute encoder needs to complete a full rotation.
-  intake->zeroing_constants.one_revolution_distance =
+  intake_params.zeroing_constants.average_filter_size =
+      Values::kZeroingSampleSize;
+  intake_params.zeroing_constants.one_revolution_distance =
       M_PI * 2.0 * constants::Values::kIntakeEncoderRatio();
+  intake_params.zeroing_constants.zeroing_threshold = 0.0005;
+  intake_params.zeroing_constants.moving_buffer_size = 20;
+  intake_params.zeroing_constants.allowable_encoder_error = 0.9;
+  intake_params.zeroing_constants.measured_absolute_position = 0.0;
 
-  // Threshold for deciding if we are moving. moving_buffer_size samples need to
-  // be within this distance of each other before we use the middle one to zero.
-  intake->zeroing_constants.zeroing_threshold = 0.0005;
-  // Buffer size for deciding if we are moving.
-  intake->zeroing_constants.moving_buffer_size = 20;
+  intake_front->subsystem_params = intake_params;
+  intake_back->subsystem_params = intake_params;
 
-  // Value between 0 and 1 indicating what fraction of one_revolution_distance
-  // it is acceptable for the offset to move.
-  intake->zeroing_constants.allowable_encoder_error = 0.9;
+  // TODO(Yash): Set constants
+  // Turret constants.
+  auto *const turret = &r.turret;
+  auto *const turret_params = &turret->subsystem_params;
 
-  // Measured absolute position of the encoder when at zero.
-  intake->zeroing_constants.measured_absolute_position = 0.0;
+  turret_params->zeroing_voltage = 4.0;
+  turret_params->operating_voltage = 8.0;
+  turret_params->zeroing_profile_params = {0.5, 2.0};
+  turret_params->default_profile_params = {15.0, 40.0};
+  turret_params->range = Values::kTurretRange();
+  turret_params->make_integral_loop =
+      control_loops::superstructure::turret::MakeIntegralTurretLoop;
+  turret_params->zeroing_constants.average_filter_size =
+      Values::kZeroingSampleSize;
+  turret_params->zeroing_constants.one_revolution_distance =
+      M_PI * 2.0 * constants::Values::kTurretEncoderRatio();
+  turret_params->zeroing_constants.zeroing_threshold = 0.0005;
+  turret_params->zeroing_constants.moving_buffer_size = 20;
+  turret_params->zeroing_constants.allowable_encoder_error = 0.9;
+  turret_params->zeroing_constants.measured_absolute_position = 0.0;
 
   // Climber constants
-  auto *const climber = &r->climber;
+  auto *const climber = &r.climber;
   climber->subsystem_params.zeroing_voltage = 3.0;
   climber->subsystem_params.operating_voltage = 12.0;
   climber->subsystem_params.zeroing_profile_params = {0.5, 0.1};
@@ -73,18 +96,54 @@
     // A set of constants for tests.
     case 1:
       climber->potentiometer_offset = 0.0;
+      intake_front->potentiometer_offset = 0.0;
+      intake_front->subsystem_params.zeroing_constants
+          .measured_absolute_position = 0.0;
+      intake_back->potentiometer_offset = 0.0;
+      intake_back->subsystem_params.zeroing_constants
+          .measured_absolute_position = 0.0;
+      turret->potentiometer_offset = 0.0;
+      turret->subsystem_params.zeroing_constants.measured_absolute_position =
+          0.0;
       break;
 
     case kCompTeamNumber:
       climber->potentiometer_offset = 0.0;
+      intake_front->potentiometer_offset = 0.0;
+      intake_front->subsystem_params.zeroing_constants
+          .measured_absolute_position = 0.0;
+      intake_back->potentiometer_offset = 0.0;
+      intake_back->subsystem_params.zeroing_constants
+          .measured_absolute_position = 0.0;
+      turret->potentiometer_offset = 0.0;
+      turret->subsystem_params.zeroing_constants.measured_absolute_position =
+          0.0;
       break;
 
     case kPracticeTeamNumber:
       climber->potentiometer_offset = 0.0;
+      intake_front->potentiometer_offset = 0.0;
+      intake_front->subsystem_params.zeroing_constants
+          .measured_absolute_position = 0.0;
+      intake_back->potentiometer_offset = 0.0;
+      intake_back->subsystem_params.zeroing_constants
+          .measured_absolute_position = 0.0;
+      turret->potentiometer_offset = 0.0;
+      turret->subsystem_params.zeroing_constants.measured_absolute_position =
+          0.0;
       break;
 
     case kCodingRobotTeamNumber:
       climber->potentiometer_offset = 0.0;
+      intake_front->potentiometer_offset = 0.0;
+      intake_front->subsystem_params.zeroing_constants
+          .measured_absolute_position = 0.0;
+      intake_back->potentiometer_offset = 0.0;
+      intake_back->subsystem_params.zeroing_constants
+          .measured_absolute_position = 0.0;
+      turret->potentiometer_offset = 0.0;
+      turret->subsystem_params.zeroing_constants.measured_absolute_position =
+          0.0;
       break;
 
     default:
@@ -94,26 +153,7 @@
   return r;
 }
 
-const Values *values = nullptr;
-
-void DoGetValues() {
-  uint16_t team = ::aos::network::GetTeamNumber();
-  LOG(INFO) << "creating a Constants for team: " << team;
-  values = DoGetValuesForTeam(team);
-}
-
-}  // namespace
-
-void InitValues() {
-  static absl::once_flag once;
-  absl::call_once(once, DoGetValues);
-}
-
-const Values &GetValues() {
-  CHECK(values)
-      << "Values are uninitialized. Call InitValues before accessing them.";
-  return *values;
-}
+Values MakeValues() { return MakeValues(aos::network::GetTeamNumber()); }
 
 }  // namespace constants
 }  // namespace y2022