diff --git a/y2020/control_loops/superstructure/shooter/BUILD b/y2020/control_loops/superstructure/shooter/BUILD
index 4894b16..d3b055c 100644
--- a/y2020/control_loops/superstructure/shooter/BUILD
+++ b/y2020/control_loops/superstructure/shooter/BUILD
@@ -57,3 +57,26 @@
     gen_reflections = 1,
     target_compatible_with = ["@platforms//os:linux"],
 )
+
+flatbuffer_cc_library(
+    name = "shooter_tuning_params_fbs",
+    srcs = [
+        "shooter_tuning_params.fbs",
+    ],
+    gen_reflections = 1,
+    target_compatible_with = ["@platforms//os:linux"],
+)
+
+cc_binary(
+    name = "shooter_tuning_params_setter",
+    srcs = ["shooter_tuning_params_setter.cc"],
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        ":shooter_tuning_params_fbs",
+        ":shooter_tuning_readings_fbs",
+        "//aos:init",
+        "//aos/events:shm_event_loop",
+        "@com_github_gflags_gflags//:gflags",
+        "@com_github_google_glog//:glog",
+    ],
+)
diff --git a/y2020/control_loops/superstructure/shooter/shooter_tuning_params.fbs b/y2020/control_loops/superstructure/shooter/shooter_tuning_params.fbs
new file mode 100644
index 0000000..7fe2dc7
--- /dev/null
+++ b/y2020/control_loops/superstructure/shooter/shooter_tuning_params.fbs
@@ -0,0 +1,26 @@
+namespace y2020.control_loops.superstructure.shooter;
+
+// Parameters for tuning a flywheel's velocity.
+// Using this for the parameters of the accelerators and the finisher.
+table FlywheelTuningParams {
+  // Shoot balls at
+  // velocity_initial, velocity_initial + velocity_increment, ...,
+  // up to velocity_final, randomizing the order of these velocities.
+  velocity_initial:double (id: 0);
+  velocity_final:double (id: 1);
+  velocity_increment:double (id: 2);
+}
+
+// Parameters for the auto mode that tunes the shooter
+table TuningParams {
+  // Parameters for the flywheels
+  accelerator:FlywheelTuningParams (id: 0);
+  finisher:FlywheelTuningParams (id: 1);
+
+  // Number of balls to shooter at each iteration in
+  // the sweep of all possible accelerator and finisher
+  // velocities.
+  balls_per_iteration:int (id: 2);
+}
+
+root_type TuningParams;
\ No newline at end of file
diff --git a/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc b/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
new file mode 100644
index 0000000..3c6158e
--- /dev/null
+++ b/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
@@ -0,0 +1,58 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "y2020/control_loops/superstructure/shooter/shooter_tuning_params_generated.h"
+
+DEFINE_double(velocity_initial_finisher, 300.0, "Initial finisher velocity");
+DEFINE_double(velocity_final_finisher, 500.0, "Final finisher velocity");
+DEFINE_double(velocity_finisher_increment, 25.0, "Finisher velocity increment");
+
+DEFINE_double(velocity_initial_accelerator, 180.0,
+              "Initial accelerator velocity");
+DEFINE_double(velocity_final_accelerator, 250.0, "Final accelerator velocity");
+DEFINE_double(velocity_accelerator_increment, 20.0,
+              "Accelerator velocity increment");
+
+DEFINE_int32(balls_per_iteration, 10,
+             "Balls to shoot per iteration in the velocity sweep");
+
+namespace shooter = y2020::control_loops::superstructure::shooter;
+
+flatbuffers::Offset<shooter::FlywheelTuningParams> BuildFlywheelTuningParams(
+    aos::Sender<shooter::TuningParams>::Builder &builder,
+    double velocity_initial, double velocity_final, double velocity_increment) {
+  auto flywheel_tuning_params_builder =
+      builder.MakeBuilder<shooter::FlywheelTuningParams>();
+  flywheel_tuning_params_builder.add_velocity_initial(velocity_initial);
+  flywheel_tuning_params_builder.add_velocity_final(velocity_final);
+  flywheel_tuning_params_builder.add_velocity_increment(velocity_increment);
+  return flywheel_tuning_params_builder.Finish();
+}
+
+int main(int argc, char **argv) {
+  aos::InitGoogle(&argc, &argv);
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  aos::ShmEventLoop event_loop(&config.message());
+
+  auto sender = event_loop.MakeSender<shooter::TuningParams>("/superstructure");
+  auto builder = sender.MakeBuilder();
+
+  auto finisher_params = BuildFlywheelTuningParams(
+      builder, FLAGS_velocity_initial_finisher, FLAGS_velocity_final_finisher,
+      FLAGS_velocity_finisher_increment);
+  auto accelerator_params = BuildFlywheelTuningParams(
+      builder, FLAGS_velocity_initial_accelerator,
+      FLAGS_velocity_final_accelerator, FLAGS_velocity_accelerator_increment);
+
+  auto tuning_params_builder = builder.MakeBuilder<shooter::TuningParams>();
+  tuning_params_builder.add_finisher(finisher_params);
+  tuning_params_builder.add_accelerator(accelerator_params);
+  tuning_params_builder.add_balls_per_iteration(FLAGS_balls_per_iteration);
+  CHECK(builder.Send(tuning_params_builder.Finish()));
+
+  return 0;
+}