diff --git a/y2022/constants.h b/y2022/constants.h
index 6927567..65aad44 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -9,7 +9,9 @@
 #include "frc971/control_loops/pose.h"
 #include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
 #include "y2022/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2022/control_loops/superstructure/climber/climber_plant.h"
 #include "y2022/control_loops/superstructure/intake/intake_plant.h"
+#include "y2022/control_loops/superstructure/turret/turret_plant.h"
 
 namespace y2022 {
 namespace constants {
@@ -35,35 +37,13 @@
     return ((static_cast<double>(in) /
              kDrivetrainEncoderCountsPerRevolution()) *
             (2.0 * M_PI)) *
-           kDrivetrainEncoderRatio() *
-           control_loops::drivetrain::kWheelRadius;
-  }
-
-  static constexpr double kRollerSupplyCurrentLimit() { return 30.0; }
-  static constexpr double kRollerStatorCurrentLimit() { return 40.0; }
-
-  ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
-      ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>
-      intake;
-
-  // TODO (Yash): Constants need to be tuned
-  static constexpr ::frc971::constants::Range kIntakeRange() {
-    return ::frc971::constants::Range{
-        .lower_hard = -0.5,         // Back Hard
-        .upper_hard = 2.85 + 0.05,  // Front Hard
-        .lower = -0.300,            // Back Soft
-        .upper = 2.725              // Front Soft
-    };
+           kDrivetrainEncoderRatio() * control_loops::drivetrain::kWheelRadius;
   }
 
   // Climber
   static constexpr ::frc971::constants::Range kClimberRange() {
     return ::frc971::constants::Range{
-        .lower_hard = -0.01,
-        .upper_hard = 0.6,
-        .lower = 0.0,
-        .upper = 0.5
-    };
+        .lower_hard = -0.01, .upper_hard = 0.6, .lower = 0.0, .upper = 0.5};
   }
   static constexpr double kClimberPotMetersPerRevolution() {
     return 22 * 0.25 * 0.0254;
@@ -81,23 +61,76 @@
 
   // Intake
   // two encoders with same gear ratio for intake
-  static constexpr double kIntakeEncoderCountsPerRevolution() { return 512.0; }
+  static constexpr double kIntakeEncoderCountsPerRevolution() { return 4096.0; }
 
   static constexpr double kIntakeEncoderRatio() {
-    return ((16.0 / 60.0) * (18.0 / 62.0));
+    return (16.0 / 64.0) * (20.0 / 50.0);
   }
 
-  // TODO(Milo): Also need to add specific PPR (Pulse per revolution)
+  static constexpr double kIntakePotRatio() { return 16.0 / 64.0; }
+
+  static constexpr double kMaxIntakeEncoderPulsesPerSecond() {
+    return control_loops::superstructure::intake::kFreeSpeed / (2.0 * M_PI) *
+           control_loops::superstructure::intake::kOutputRatio /
+           kIntakeEncoderRatio() * kIntakeEncoderCountsPerRevolution();
+  }
+
+  struct PotAndAbsEncoderConstants {
+    ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+        ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>
+        subsystem_params;
+    double potentiometer_offset;
+  };
+
+  PotAndAbsEncoderConstants intake_front;
+  PotAndAbsEncoderConstants intake_back;
+
+  // TODO (Yash): Constants need to be tuned
+  static constexpr ::frc971::constants::Range kIntakeRange() {
+    return ::frc971::constants::Range{
+        .lower_hard = -0.5,         // Back Hard
+        .upper_hard = 2.85 + 0.05,  // Front Hard
+        .lower = -0.300,            // Back Soft
+        .upper = 2.725              // Front Soft
+    };
+  }
+
+  // Intake rollers
+  static constexpr double kIntakeRollerSupplyCurrentLimit() { return 40.0; }
+  static constexpr double kIntakeRollerStatorCurrentLimit() { return 60.0; }
+
+  // Turret
+  PotAndAbsEncoderConstants turret;
+
+  // TODO (Yash): Constants need to be tuned
+  static constexpr ::frc971::constants::Range kTurretRange() {
+    return ::frc971::constants::Range{
+        .lower_hard = -3.45,  // Back Hard
+        .upper_hard = 3.45,   // Front Hard
+        .lower = -3.3,        // Back Soft
+        .upper = 3.3          // Front Soft
+    };
+  }
+
+  // Turret
+  static constexpr double kTurretPotRatio() { return 27.0 / 110.0; }
+  static constexpr double kTurretEncoderRatio() { return kTurretPotRatio(); }
+  static constexpr double kTurretEncoderCountsPerRevolution() { return 4096.0; }
+
+  static constexpr double kMaxTurretEncoderPulsesPerSecond() {
+    return control_loops::superstructure::turret::kFreeSpeed / (2.0 * M_PI) *
+           control_loops::superstructure::turret::kOutputRatio /
+           kTurretEncoderRatio() * kTurretEncoderCountsPerRevolution();
+  }
 };
 
-// Creates (once) a Values instance for ::aos::network::GetTeamNumber(). Should
-// be called before realtime because this allocates memory.
-void InitValues();
+// Creates and returns a Values instance for the constants.
+// Should be called before realtime because this allocates memory.
+// Only the first call to either of these will be used.
+Values MakeValues(uint16_t team);
 
-// Returns a reference to the Values instance for
-// ::aos::network::GetTeamNumber(). Values must be initialized through
-// InitValues() before calling this.
-const Values &GetValues();
+// Calls MakeValues with aos::network::GetTeamNumber()
+Values MakeValues();
 
 }  // namespace constants
 }  // namespace y2022