diff --git a/y2020/control_loops/python/BUILD b/y2020/control_loops/python/BUILD
index 492326b..2d1af66 100644
--- a/y2020/control_loops/python/BUILD
+++ b/y2020/control_loops/python/BUILD
@@ -81,6 +81,21 @@
     ],
 )
 
+py_binary(
+    name = "turret",
+    srcs = [
+        "turret.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",
diff --git a/y2020/control_loops/python/turret.py b/y2020/control_loops/python/turret.py
new file mode 100644
index 0000000..58ea7d8
--- /dev/null
+++ b/y2020/control_loops/python/turret.py
@@ -0,0 +1,50 @@
+#!/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 copy
+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
+
+kTurret = angular_system.AngularSystemParams(
+    name='Turret',
+    motor=control_loop.Vex775Pro(),
+    #TODO: Update Gear Ratios when they are ready
+    G=(6.0 / 60.0) * (20.0 / 100.0) * (24.0 / 84.0),
+    #TODO: Get number from Bryan (moment of inertia)
+    J=0.30,
+    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):
+    # Write the generated constants out to a file.
+    if len(argv) != 5:
+        glog.fatal(
+            'Expected .h file name and .cc file name for the turret.'
+        )
+    else:
+        namespaces = ['y2020', 'control_loops', 'superstructure', 'turret']
+        angular_system.WriteAngularSystem([kTurret],
+                                          argv[1:3], argv[3:5], namespaces)
+
+
+if __name__ == '__main__':
+    argv = FLAGS(sys.argv)
+    glog.init()
+    sys.exit(main(argv))
diff --git a/y2020/control_loops/superstructure/turret/BUILD b/y2020/control_loops/superstructure/turret/BUILD
new file mode 100644
index 0000000..894d418
--- /dev/null
+++ b/y2020/control_loops/superstructure/turret/BUILD
@@ -0,0 +1,32 @@
+package(default_visibility = ["//y2020:__subpackages__"])
+
+genrule(
+    name = "genrule_turret",
+    outs = [
+        "turret_plant.h",
+        "turret_plant.cc",
+        "integral_turret_plant.h",
+        "integral_turret_plant.cc",
+    ],
+    cmd = "$(location //y2020/control_loops/python:turret) $(OUTS)",
+    tools = [
+        "//y2020/control_loops/python:turret",
+    ],
+)
+
+cc_library(
+    name = "turret_plants",
+    srcs = [
+        "integral_turret_plant.cc",
+        "turret_plant.cc",
+    ],
+    hdrs = [
+        "integral_turret_plant.h",
+        "turret_plant.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops:hybrid_state_feedback_loop",
+        "//frc971/control_loops:state_feedback_loop",
+    ],
+)