diff --git a/y2020/constants.h b/y2020/constants.h
index 47b8543..69e7f28 100644
--- a/y2020/constants.h
+++ b/y2020/constants.h
@@ -11,6 +11,7 @@
 #include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
 #include "y2020/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 #include "y2020/control_loops/superstructure/hood/hood_plant.h"
+#include "y2020/control_loops/superstructure/intake/intake_plant.h"
 
 namespace y2020 {
 namespace constants {
@@ -33,7 +34,7 @@
   // Hood
   static constexpr double kHoodEncoderCountsPerRevolution() { return 4096.0; }
 
-  //TODO(sabina): Update constants
+  // TODO(sabina): Update constants
   static constexpr double kHoodEncoderRatio() { return 1.0; }
 
   static constexpr double kMaxHoodEncoderPulsesPerSecond() {
@@ -52,17 +53,42 @@
     };
   }
 
+  // Intake
+  static constexpr double kIntakeEncoderCountsPerRevolution() { return 4096.0; }
+
+  static constexpr double kIntakeEncoderRatio() { return (16.0 / 32.0); }
+
+  static constexpr double kMaxIntakeEncoderPulsesPerSecond() {
+    return control_loops::superstructure::intake::kFreeSpeed *
+           control_loops::superstructure::intake::kOutputRatio /
+           kIntakeEncoderRatio() / (2.0 * M_PI) *
+           kIntakeEncoderCountsPerRevolution();
+  }
+
+  // TODO(sabina): update range
+  static constexpr ::frc971::constants::Range kIntakeRange() {
+    return ::frc971::constants::Range{
+        -1,     // Back Hard
+        1,      // Front Hard
+        -0.95,  // Back Soft
+        0.95    // Front Soft
+    };
+  }
+
   ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
       ::frc971::zeroing::AbsoluteEncoderZeroingEstimator>
       hood;
+  ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+      ::frc971::zeroing::AbsoluteEncoderZeroingEstimator>
+      intake;
 };
 
 // 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.
+// Creates Values instances for each team number it is called with and
+// returns them.
 const Values &GetValuesForTeam(uint16_t team_number);
 
 }  // namespace constants