diff --git a/y2020/control_loops/python/BUILD b/y2020/control_loops/python/BUILD
index b7f393b..492326b 100644
--- a/y2020/control_loops/python/BUILD
+++ b/y2020/control_loops/python/BUILD
@@ -65,6 +65,23 @@
     ],
 )
 
+py_binary(
+    name = "intake",
+    srcs = [
+        "intake.py",
+    ],
+    legacy_create_init = False,
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":python_init",
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:angular_system",
+        "//frc971/control_loops/python:controls",
+    ],
+)
+
+
 py_library(
     name = "python_init",
     srcs = ["__init__.py"],
diff --git a/y2020/control_loops/python/intake.py b/y2020/control_loops/python/intake.py
new file mode 100644
index 0000000..f65679a
--- /dev/null
+++ b/y2020/control_loops/python/intake.py
@@ -0,0 +1,54 @@
+#!/usr/bin/python
+
+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
+
+#TODO: update constants
+kIntake = angular_system.AngularSystemParams(
+    name='Intake',
+    motor=control_loop.BAG(),
+    G=(1.0 / 1.0),
+    J=0.3,
+    q_pos=0.20,
+    q_vel=5.0,
+    kalman_q_pos=0.12,
+    kalman_q_vel=2.0,
+    kalman_q_voltage=4.0,
+    kalman_r_position=0.05)
+
+
+def main(argv):
+    if FLAGS.plot:
+        R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+        angular_system.PlotKick(kIntake, R)
+        angular_system.PlotMotion(kIntake, 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 = ['y2020', 'control_loops', 'superstructure', 'intake']
+        angular_system.WriteAngularSystem(kIntake, argv[1:3], argv[3:5],
+                                          namespaces)
+
+
+if __name__ == '__main__':
+    argv = FLAGS(sys.argv)
+    glog.init()
+    sys.exit(main(argv))