diff --git a/frc971/control_loops/python/BUILD b/frc971/control_loops/python/BUILD
index 7f458b5..0e0cdb6 100644
--- a/frc971/control_loops/python/BUILD
+++ b/frc971/control_loops/python/BUILD
@@ -262,6 +262,22 @@
 )
 
 py_binary(
+    name = "wrapped_subsystem_test",
+    srcs = [
+        "wrapped_subsystem_test.py",
+    ],
+    legacy_create_init = False,
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    deps = [
+        ":angular_system",
+        ":controls",
+        ":python_init",
+        "@pip//glog",
+        "@pip//python_gflags",
+    ],
+)
+
+py_binary(
     name = "static_zeroing_single_dof_profiled_subsystem_test",
     srcs = [
         "static_zeroing_single_dof_profiled_subsystem_test.py",
diff --git a/frc971/control_loops/python/angular_system.py b/frc971/control_loops/python/angular_system.py
index 16773fa..9c5484c 100755
--- a/frc971/control_loops/python/angular_system.py
+++ b/frc971/control_loops/python/angular_system.py
@@ -24,7 +24,8 @@
                  radius=None,
                  dt=0.00505,
                  enable_voltage_error=True,
-                 delayed_u=0):
+                 delayed_u=0,
+                 wrap_point=0.0):
         """Constructs an AngularSystemParams object.
 
         Args:
@@ -46,6 +47,7 @@
         self.dt = dt
         self.enable_voltage_error = enable_voltage_error
         self.delayed_u = delayed_u
+        self.wrap_point = wrap_point
 
 
 class AngularSystem(control_loop.ControlLoop):
@@ -144,6 +146,8 @@
 
         self.InitializeState()
 
+        self.wrap_point = numpy.matrix([[self.params.wrap_point]])
+
 
 class IntegralAngularSystem(AngularSystem):
 
@@ -195,6 +199,8 @@
 
         self.InitializeState()
 
+        self.wrap_point = numpy.matrix([[self.params.wrap_point]])
+
 
 def RunTest(plant,
             end_goal,
diff --git a/frc971/control_loops/python/angular_system_current.py b/frc971/control_loops/python/angular_system_current.py
index 585f54a..0365a19 100755
--- a/frc971/control_loops/python/angular_system_current.py
+++ b/frc971/control_loops/python/angular_system_current.py
@@ -22,7 +22,8 @@
                  kalman_q_voltage,
                  kalman_r_position,
                  radius=None,
-                 dt=0.00505):
+                 dt=0.00505,
+                 wrap_point=0.0):
         """Constructs an AngularSystemCurrentParams object.
 
         Args:
@@ -38,6 +39,8 @@
           kalman_r_position: float, std deviation of the position measurement
           radius: float, radius of the mechanism in meters
           dt: float, length of the control loop period in seconds
+          wrap_point: float, point at which the position will wrap (if non-zero)
+             Will typically be 2 * pi if set.
         """
         self.name = name
         self.motor = motor
@@ -51,6 +54,7 @@
         self.kalman_r_position = kalman_r_position
         self.radius = radius
         self.dt = dt
+        self.wrap_point = wrap_point
 
 
 # An angular system that uses current control instead of voltage
@@ -160,6 +164,8 @@
 
         self.delayed_u = 1
 
+        self.wrap_point = numpy.matrix([[self.params.wrap_point]])
+
         self.InitializeState()
 
 
@@ -216,6 +222,8 @@
 
         self.InitializeState()
 
+        self.wrap_point = numpy.matrix([[self.params.wrap_point]])
+
 
 def RunTest(plant,
             end_goal,
diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index a6fcd3e..ec44092 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -353,6 +353,7 @@
         self.X_hat = numpy.matrix(numpy.zeros((self.A.shape[0], 1)))
         self.last_U = numpy.matrix(
             numpy.zeros((self.B.shape[1], max(1, self.delayed_u))))
+        self.wrap_point = numpy.matrix(numpy.zeros(self.Y.shape))
 
     def PlaceControllerPoles(self, poles):
         """Places the controller poles.
@@ -451,7 +452,8 @@
             "u_max": MatrixToJson(self.U_max),
             "u_limit_coefficient": MatrixToJson(self.U_limit_coefficient),
             "u_limit_constant": MatrixToJson(self.U_limit_constant),
-            "delayed_u": self.delayed_u
+            "delayed_u": self.delayed_u,
+            "wrap_point": MatrixToJson(self.wrap_point)
         }
         if plant_coefficient_type.startswith('StateFeedbackPlant'):
             result["a"] = MatrixToJson(self.A)
@@ -502,11 +504,13 @@
         if plant_coefficient_type.startswith('StateFeedbackPlant'):
             ans.append(self._DumpMatrix('A', self.A, scalar_type))
             ans.append(self._DumpMatrix('B', self.B, scalar_type))
+            ans.append(
+                self._DumpMatrix('wrap_point', self.wrap_point, scalar_type))
             ans.append('  const std::chrono::nanoseconds dt(%d);\n' %
                        (self.dt * 1e9))
             ans.append(
                 '  return %s'
-                '(A, B, C, D, U_max, U_min, U_limit_coefficient, U_limit_constant, dt, %s);\n'
+                '(A, B, C, D, U_max, U_min, U_limit_coefficient, U_limit_constant, dt, %s, wrap_point);\n'
                 % (plant_coefficient_type, delayed_u_string))
         elif plant_coefficient_type.startswith('StateFeedbackHybridPlant'):
             ans.append(
diff --git a/frc971/control_loops/python/polydrivetrain.py b/frc971/control_loops/python/polydrivetrain.py
index a529378..02a61f1 100644
--- a/frc971/control_loops/python/polydrivetrain.py
+++ b/frc971/control_loops/python/polydrivetrain.py
@@ -170,6 +170,7 @@
 
         self.U_max = self._drivetrain.U_max
         self.U_min = self._drivetrain.U_min
+        self.wrap_point = numpy.matrix(numpy.zeros((2, 1)))
 
     @property
     def robot_radius_l(self):
diff --git a/frc971/control_loops/python/wrapped_subsystem_test.py b/frc971/control_loops/python/wrapped_subsystem_test.py
new file mode 100644
index 0000000..0a68103
--- /dev/null
+++ b/frc971/control_loops/python/wrapped_subsystem_test.py
@@ -0,0 +1,55 @@
+#!/usr/bin/python3
+
+# Generates profiled subsystem for use in
+# static_zeroing_single_dof_profiled_subsystem_test
+
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import angular_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
+
+kWrappedSystem = angular_system.AngularSystemParams(
+    name='TestWrappedSystem',
+    motor=control_loop.Vex775Pro(),
+    G=(1.0 / 35.0) * (20.0 / 40.0),
+    radius=16.0 * 0.25 / (2.0 * numpy.pi) * 0.0254,
+    J=5.4,
+    q_pos=0.015,
+    q_vel=0.3,
+    kalman_q_pos=0.12,
+    kalman_q_vel=2.00,
+    kalman_q_voltage=40.0,
+    kalman_r_position=0.05,
+    wrap_point=2.0 * numpy.pi)
+
+
+def main(argv):
+    if FLAGS.plot:
+        R = numpy.matrix([[0.1], [0.0]])
+        angular_system.PlotMotion(kWrappedSystem, R)
+
+    # Write the generated constants out to a file.
+    if len(argv) != 7:
+        glog.fatal(
+            'Expected .h, .cc, and .json filenames and .json file name for the \
+            static_zeroing_single_dof_profiled_subsystem_test and integral \
+            static_zeroing_single_dof_profiled_subsystem_test.')
+    else:
+        namespaces = ['frc971', 'control_loops']
+        angular_system.WriteAngularSystem(kWrappedSystem, argv[1:4], argv[4:7],
+                                          namespaces)
+
+
+if __name__ == '__main__':
+    argv = FLAGS(sys.argv)
+    glog.init()
+    sys.exit(main(argv))