diff --git a/y2024_defense/constants.h b/y2024_defense/constants.h
new file mode 100644
index 0000000..7e359f4
--- /dev/null
+++ b/y2024_defense/constants.h
@@ -0,0 +1,66 @@
+#ifndef Y2023_CONSTANTS_H_
+#define Y2023_CONSTANTS_H_
+
+#include <array>
+#include <cmath>
+#include <cstdint>
+
+#include "frc971/constants.h"
+#include "frc971/control_loops/pose.h"
+#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
+#include "y2024_defense/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+
+namespace y2024_defense {
+namespace constants {
+
+constexpr uint16_t kTeamNumber = 9972;
+
+struct Values {
+  static const int kZeroingSampleSize = 200;
+
+  static const int kDrivetrainWriterPriority = 35;
+  static const int kDrivetrainTxPriority = 36;
+  static const int kDrivetrainRxPriority = 36;
+
+  static constexpr double kDrivetrainCyclesPerRevolution() { return 512.0; }
+  static constexpr double kDrivetrainEncoderCountsPerRevolution() {
+    return kDrivetrainCyclesPerRevolution() * 4;
+  }
+  static constexpr double kDrivetrainEncoderRatio() { return 1.0; }
+  static constexpr double kMaxDrivetrainEncoderPulsesPerSecond() {
+    return control_loops::drivetrain::kFreeSpeed / (2.0 * M_PI) *
+           control_loops::drivetrain::kHighOutputRatio /
+           constants::Values::kDrivetrainEncoderRatio() *
+           kDrivetrainEncoderCountsPerRevolution();
+  }
+
+  static constexpr double kDrivetrainSupplyCurrentLimit() { return 35.0; }
+  static constexpr double kDrivetrainStatorCurrentLimit() { return 60.0; }
+
+  static double DrivetrainEncoderToMeters(int32_t in) {
+    return ((static_cast<double>(in) /
+             kDrivetrainEncoderCountsPerRevolution()) *
+            (2.0 * M_PI)) *
+           kDrivetrainEncoderRatio() * control_loops::drivetrain::kWheelRadius;
+  }
+
+  static double DrivetrainCANEncoderToMeters(double rotations) {
+    return (rotations * (2.0 * M_PI)) *
+           control_loops::drivetrain::kHighOutputRatio;
+  }
+};
+
+// Creates and returns a Values instance for the constants.
+// Should be called before realtime because this allocates memory.
+// Only the first call to either of these will be used.
+Values MakeValues(uint16_t team);
+
+// Calls MakeValues with aos::network::GetTeamNumber()
+Values MakeValues();
+
+}  // namespace constants
+}  // namespace y2024_defense
+
+#endif  // Y2023_CONSTANTS_H_