diff --git a/y2015/constants.h b/y2015/constants.h
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+#ifndef Y2015_CONSTANTS_H_
+#define Y2015_CONSTANTS_H_
+
+#include <stdint.h>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/shifter_hall_effect.h"
+#include "frc971/constants.h"
+
+namespace frc971 {
+namespace constants {
+
+// Has all of the numbers that change for both robots and makes it easy to
+// retrieve the values for the current one.
+
+// Everything is in SI units (volts, radians, meters, seconds, etc).
+// Some of these values are related to the conversion between raw values
+// (encoder counts, voltage, etc) to scaled units (radians, meters, etc).
+
+// This structure contains current values for all of the things that change.
+struct Values {
+  // Drivetrain Values /////
+
+  // The ratio from the encoder shaft to the drivetrain wheels.
+  double drivetrain_encoder_ratio;
+  // The ratio from the encoder shaft to the arm joint.
+  double arm_encoder_ratio;
+  // The ratio from the pot shaft to the arm joint.
+  double arm_pot_ratio;
+  // The ratio from the encoder shaft to the elevator output pulley.
+  double elev_encoder_ratio;
+  // The ratio from the pot shaft to the elevator output pulley.
+  double elev_pot_ratio;
+  // How far the elevator moves (meters) per radian on the output pulley.
+  double elev_distance_per_radian;
+  // The ratio from the encoder shaft to the claw joint.
+  double claw_encoder_ratio;
+  // The ratio from the pot shaft to the claw joint.
+  double claw_pot_ratio;
+
+  // How tall a tote is in meters.
+  double tote_height;
+
+  // The gear ratios from motor shafts to the drivetrain wheels for high and low
+  // gear.
+  double low_gear_ratio;
+  double high_gear_ratio;
+  ShifterHallEffect left_drive, right_drive;
+  bool clutch_transmission;
+
+  double turn_width;
+
+  ::std::function<StateFeedbackLoop<2, 2, 2>()> make_v_drivetrain_loop;
+  ::std::function<StateFeedbackLoop<4, 2, 2>()> make_drivetrain_loop;
+
+  double drivetrain_done_distance;
+  double drivetrain_max_speed;
+
+  // Superstructure Values /////
+
+  // Defines a range of motion for a subsystem.
+  // These are all absolute positions in scaled units.
+  struct Range {
+    double lower_hard_limit;
+    double upper_hard_limit;
+    double lower_limit;
+    double upper_limit;
+  };
+
+  struct Claw {
+    Range wrist;
+    ZeroingConstants zeroing;
+    // The value to add to potentiometer readings after they have been converted
+    // to radians so that the resulting value is 0 when the claw is at absolute
+    // 0 (horizontal straight out the front).
+    double potentiometer_offset;
+
+    // Time between sending commands to claw opening pistons and them reaching
+    // the new state.
+    double piston_switch_time;
+    // How far on either side we look for the index pulse before we give up.
+    double zeroing_range;
+  };
+  Claw claw;
+
+  struct Fridge {
+    Range elevator;
+    Range arm;
+
+    ZeroingConstants left_elev_zeroing;
+    ZeroingConstants right_elev_zeroing;
+    ZeroingConstants left_arm_zeroing;
+    ZeroingConstants right_arm_zeroing;
+
+    // Values to add to scaled potentiometer readings so 0 lines up with the
+    // physical absolute 0.
+    double left_elevator_potentiometer_offset;
+    double right_elevator_potentiometer_offset;
+    double left_arm_potentiometer_offset;
+    double right_arm_potentiometer_offset;
+
+    // How high the elevator has to be before we start zeroing the arm.
+    double arm_zeroing_height;
+
+    // The length of the arm, from the axis of the bottom pivot to the axis of
+    // the top pivot.
+    double arm_length;
+  };
+  Fridge fridge;
+
+  double max_allowed_left_right_arm_difference;
+  double max_allowed_left_right_elevator_difference;
+
+  struct ClawGeometry {
+    // Horizontal distance from the center of the grabber to the end.
+    double grabber_half_length;
+    // Vertical distance from the arm rotation center to the bottom of the
+    // grabber.  Distance measured with arm vertical (theta = 0).
+    double grabber_delta_y;
+    // Vertical separation of the claw and arm rotation centers with the
+    // elevator at 0.0 and the arm angle set to zero.
+    double grabber_arm_vert_separation;
+    // Horizontal separation of the claw and arm rotation centers with the
+    // elevator at 0.0 and the arm angle set to zero.
+    double grabber_arm_horz_separation;
+    // Distance between the center of the claw to the top of the claw.
+    // The line drawn at this distance parallel to the claw centerline is used
+    // to determine if claw interfears with the grabber.
+    double claw_top_thickness;
+    // The grabber is safe at any height if it is behind this location.
+    double grabber_always_safe_h_min;
+    // The grabber is safe at any x if it is above this location.
+    double grabber_always_safe_x_max;
+  };
+  ClawGeometry clawGeometry;
+};
+
+// Creates (once) a Values instance for ::aos::network::GetTeamNumber() and
+// returns a reference to it.
+const Values &GetValues();
+
+// Creates Values instances for each team number it is called with and returns
+// them.
+const Values &GetValuesForTeam(uint16_t team_number);
+
+}  // namespace constants
+}  // namespace frc971
+
+#endif  // Y2015_CONSTANTS_H_