diff --git a/y2019/control_loops/python/BUILD b/y2019/control_loops/python/BUILD
index 6f2d140..f3e4ca1 100644
--- a/y2019/control_loops/python/BUILD
+++ b/y2019/control_loops/python/BUILD
@@ -103,3 +103,19 @@
         "//frc971/control_loops/python:controls",
     ],
 )
+
+py_binary(
+    name = "lift",
+    srcs = [
+        "lift.py",
+    ],
+    legacy_create_init = False,
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":python_init",
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:linear_system",
+        "//frc971/control_loops/python:controls",
+    ],
+)
diff --git a/y2019/control_loops/python/lift.py b/y2019/control_loops/python/lift.py
new file mode 100755
index 0000000..dab2754
--- /dev/null
+++ b/y2019/control_loops/python/lift.py
@@ -0,0 +1,54 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import linear_system
+import numpy
+import sys
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+    gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+    pass
+
+kLift = linear_system.LinearSystemParams(
+    name='Lift',
+    motor=control_loop.Vex775Pro(),
+    G=(12.0 / 100.0) * (14.0 / 52.0),
+    # 5mm pitch, 18 tooth
+    radius=0.005 * 18.0 / (2.0 * numpy.pi),
+    # Or, 2.34 lb * 2 (2.1 kg) when lifting back up
+    mass=40.0,
+    q_pos=0.070,
+    q_vel=1.2,
+    kalman_q_pos=0.12,
+    kalman_q_vel=2.00,
+    kalman_q_voltage=35.0,
+    kalman_r_position=0.05,
+    dt=0.00505)
+
+
+def main(argv):
+    if FLAGS.plot:
+        R = numpy.matrix([[1.5], [0.0]])
+        linear_system.PlotKick(kLift, R)
+        linear_system.PlotMotion(kLift, R, max_velocity=5.0)
+
+    # Write the generated constants out to a file.
+    if len(argv) != 5:
+        glog.fatal(
+            'Expected .h file name and .cc file name for the elevator and integral elevator.'
+        )
+    else:
+        namespaces = ['y2019', 'control_loops', 'superstructure', 'lift']
+        linear_system.WriteLinearSystem(kLift, argv[1:3], argv[3:5],
+                                        namespaces)
+
+
+if __name__ == '__main__':
+    argv = FLAGS(sys.argv)
+    glog.init()
+    sys.exit(main(argv))