diff --git a/aos/common/controls/control_loop_test.cc b/aos/common/controls/control_loop_test.cc
index ecaafab..44af93a 100644
--- a/aos/common/controls/control_loop_test.cc
+++ b/aos/common/controls/control_loop_test.cc
@@ -51,8 +51,8 @@
     new_state->voltage_3v3 = 3.3;
     new_state->voltage_5v = 5.0;
 
-    new_state->voltage_roborio_in = 12.4;
-    new_state->voltage_battery = 12.4;
+    new_state->voltage_roborio_in = battery_voltage_;
+    new_state->voltage_battery = battery_voltage_;
 
     new_state.Send();
   }
diff --git a/aos/common/controls/control_loop_test.h b/aos/common/controls/control_loop_test.h
index 4ab4774..14fdd60 100644
--- a/aos/common/controls/control_loop_test.h
+++ b/aos/common/controls/control_loop_test.h
@@ -41,6 +41,11 @@
     ++reader_pid_;
   }
 
+  // Sets the battery voltage in robot_state.
+  void set_battery_voltage(double battery_voltage) {
+    battery_voltage_ = battery_voltage;
+  }
+
  private:
   static constexpr ::aos::time::Time kTimeTick = ::aos::time::Time::InUS(5000);
   static constexpr ::aos::time::Time kDSPacketTime =
@@ -48,6 +53,7 @@
 
   uint16_t team_id_ = 971;
   int32_t reader_pid_ = 1;
+  double battery_voltage_ = 12.4;
 
   ::aos::time::Time last_ds_time_ = ::aos::time::Time::InSeconds(0);
   ::aos::time::Time current_time_ = ::aos::time::Time::InSeconds(0);
diff --git a/frc971/analysis/analysis.py b/frc971/analysis/analysis.py
index 2dafb27..8817a26 100755
--- a/frc971/analysis/analysis.py
+++ b/frc971/analysis/analysis.py
@@ -1,8 +1,11 @@
 #!/usr/bin/python3
+
+import collections
 import matplotlib
 from matplotlib import pylab
 from matplotlib.font_manager import FontProperties
-import collections
+import re
+import sys
 
 class Dataset(object):
   def __init__(self):
@@ -134,34 +137,43 @@
         self.HandleLine(line)
 
 
+"""
+A regular expression to match the envelope part of the log entry.
+Parsing of the JSON msg is handled elsewhere.
+"""
+LOG_RE = re.compile("""
+  (.*?)              # 1 name
+  \((\d+)\)          # 2 pid
+  \((\d+)\)          # 3 message_index
+  :\s
+  (\w+?)             # 4 level
+  \s+at\s+
+  (\d+\.\d+)s        # 5 time
+  :\s
+  ([A-Za-z0-9_./-]+) # 6 filename
+  :\s
+  (\d+)              # 7 linenumber
+  :\s
+  (.*)               # 8 msg
+  """, re.VERBOSE)
+
 class LogEntry:
   """This class provides a way to parse log entries."""
 
   def __init__(self, line):
-    """Creates a LogEntry from a line."""
-    name_index = line.find('(')
-    self.name = line[0:name_index]
-
-    pid_index = line.find(')', name_index + 1)
-    self.pid = int(line[name_index + 1:pid_index])
-
-    msg_index_index = line.find(')', pid_index + 1)
-    self.msg_index = int(line[pid_index + 2:msg_index_index])
-
-    level_index = line.find(' ', msg_index_index + 3)
-    self.level = line[msg_index_index + 3:level_index]
-
-    time_index_start = line.find(' at ', level_index) + 4
-    time_index_end = line.find('s:', level_index)
-    self.time = float(line[time_index_start:time_index_end])
-
-    filename_end = line.find(':', time_index_end + 3)
-    self.filename = line[time_index_end + 3:filename_end]
-
-    linenumber_end = line.find(':', filename_end + 2)
-    self.linenumber = int(line[filename_end + 2:linenumber_end])
-
-    self.msg = line[linenumber_end+2:]
+    """Populates a LogEntry from a line."""
+    m = LOG_RE.match(line)
+    if m is None:
+        print("LOG_RE failed on", line)
+        sys.exit(1)
+    self.name = m.group(1)
+    self.pid_index = int(m.group(2))
+    self.msg_index = int(m.group(3))
+    self.level = m.group(4)
+    self.time = float(m.group(5))
+    self.filename = m.group(6)
+    self.linenumber = m.group(7)
+    self.msg = m.group(8)
 
   def __str__(self):
     """Formats the data cleanly."""
diff --git a/y2015/control_loops/claw/BUILD b/y2015/control_loops/claw/BUILD
index e671004..200b422 100644
--- a/y2015/control_loops/claw/BUILD
+++ b/y2015/control_loops/claw/BUILD
@@ -25,17 +25,41 @@
   ],
 )
 
+genrule(
+  name = 'genrule_claw',
+  visibility = ['//visibility:private'],
+  cmd = '$(location //y2015/control_loops/python:claw) $(OUTS)',
+  tools = [
+    '//y2015/control_loops/python:claw',
+  ],
+  outs = [
+    'claw_motor_plant.h',
+    'claw_motor_plant.cc',
+  ],
+)
+
 cc_library(
-  name = 'claw_lib',
+  name = 'claw_plants',
   srcs = [
-    'claw.cc',
     'claw_motor_plant.cc',
   ],
   hdrs = [
-    'claw.h',
     'claw_motor_plant.h',
   ],
   deps = [
+    '//frc971/control_loops:state_feedback_loop',
+  ],
+)
+
+cc_library(
+  name = 'claw_lib',
+  hdrs = [
+    'claw.h',
+  ],
+  srcs = [
+    'claw.cc',
+  ],
+  deps = [
     ':claw_queue',
     '//aos/common/controls:control_loop',
     '//aos/common:time',
@@ -43,6 +67,7 @@
     '//y2015:constants',
     '//frc971/control_loops:state_feedback_loop',
     '//frc971/zeroing:zeroing',
+    ':claw_plants',
   ],
 )
 
diff --git a/y2015/control_loops/claw/claw.cc b/y2015/control_loops/claw/claw.cc
index e487024..e6ab9e7 100644
--- a/y2015/control_loops/claw/claw.cc
+++ b/y2015/control_loops/claw/claw.cc
@@ -33,7 +33,8 @@
 Claw::Claw(control_loops::ClawQueue *claw)
     : aos::controls::ControlLoop<control_loops::ClawQueue>(claw),
       last_piston_edge_(Time::Now()),
-      claw_loop_(new ClawCappedStateFeedbackLoop(MakeClawLoop())),
+      claw_loop_(new ClawCappedStateFeedbackLoop(
+          ::y2015::control_loops::claw::MakeClawLoop())),
       claw_estimator_(constants::GetValues().claw.zeroing),
       profile_(::aos::controls::kLoopFrequency) {}
 
diff --git a/y2015/control_loops/claw/claw_lib_test.cc b/y2015/control_loops/claw/claw_lib_test.cc
index 10fcc07..6b3ad87 100644
--- a/y2015/control_loops/claw/claw_lib_test.cc
+++ b/y2015/control_loops/claw/claw_lib_test.cc
@@ -25,7 +25,8 @@
  public:
   // Constructs a claw simulation.
   ClawSimulation()
-      : claw_plant_(new StateFeedbackPlant<2, 1, 1>(MakeClawPlant())),
+      : claw_plant_(new StateFeedbackPlant<2, 1, 1>(
+            y2015::control_loops::claw::MakeClawPlant())),
         pot_and_encoder_(constants::GetValues().claw.zeroing.index_difference),
         claw_queue_(".frc971.control_loops.claw_queue", 0x9d7452fb,
                     ".frc971.control_loops.claw_queue.goal",
diff --git a/y2015/control_loops/claw/claw_motor_plant.cc b/y2015/control_loops/claw/claw_motor_plant.cc
deleted file mode 100644
index 5f5c206..0000000
--- a/y2015/control_loops/claw/claw_motor_plant.cc
+++ /dev/null
@@ -1,49 +0,0 @@
-#include "y2015/control_loops/claw/claw_motor_plant.h"
-
-#include <vector>
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<2, 1, 1> MakeClawPlantCoefficients() {
-  Eigen::Matrix<double, 2, 2> A;
-  A << 1.0, 0.00482455476758, 0.0, 0.930652495326;
-  Eigen::Matrix<double, 2, 1> B;
-  B << 6.97110924671e-05, 0.0275544125308;
-  Eigen::Matrix<double, 1, 2> C;
-  C << 1, 0;
-  Eigen::Matrix<double, 1, 1> D;
-  D << 0;
-  Eigen::Matrix<double, 1, 1> U_max;
-  U_max << 12.0;
-  Eigen::Matrix<double, 1, 1> U_min;
-  U_min << -12.0;
-  return StateFeedbackPlantCoefficients<2, 1, 1>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackController<2, 1, 1> MakeClawController() {
-  Eigen::Matrix<double, 2, 1> L;
-  L << 0.998251427366, 26.9874526231;
-  Eigen::Matrix<double, 1, 2> K;
-  K << 74.4310031124, 4.72251126222;
-  Eigen::Matrix<double, 2, 2> A_inv;
-  A_inv << 1.0, -0.00518405612386, 0.0, 1.07451492907;
-  return StateFeedbackController<2, 1, 1>(L, K, A_inv, MakeClawPlantCoefficients());
-}
-
-StateFeedbackPlant<2, 1, 1> MakeClawPlant() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 1, 1>>> plants(1);
-  plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 1, 1>>(new StateFeedbackPlantCoefficients<2, 1, 1>(MakeClawPlantCoefficients()));
-  return StateFeedbackPlant<2, 1, 1>(&plants);
-}
-
-StateFeedbackLoop<2, 1, 1> MakeClawLoop() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackController<2, 1, 1>>> controllers(1);
-  controllers[0] = ::std::unique_ptr<StateFeedbackController<2, 1, 1>>(new StateFeedbackController<2, 1, 1>(MakeClawController()));
-  return StateFeedbackLoop<2, 1, 1>(&controllers);
-}
-
-}  // namespace control_loops
-}  // namespace frc971
diff --git a/y2015/control_loops/claw/claw_motor_plant.h b/y2015/control_loops/claw/claw_motor_plant.h
deleted file mode 100644
index 6cb9cdb..0000000
--- a/y2015/control_loops/claw/claw_motor_plant.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef Y2015_CONTROL_LOOPS_CLAW_CLAW_MOTOR_PLANT_H_
-#define Y2015_CONTROL_LOOPS_CLAW_CLAW_MOTOR_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<2, 1, 1> MakeClawPlantCoefficients();
-
-StateFeedbackController<2, 1, 1> MakeClawController();
-
-StateFeedbackPlant<2, 1, 1> MakeClawPlant();
-
-StateFeedbackLoop<2, 1, 1> MakeClawLoop();
-
-}  // namespace control_loops
-}  // namespace frc971
-
-#endif  // Y2015_CONTROL_LOOPS_CLAW_CLAW_MOTOR_PLANT_H_
diff --git a/y2015/control_loops/python/BUILD b/y2015/control_loops/python/BUILD
new file mode 100644
index 0000000..ab66d3e
--- /dev/null
+++ b/y2015/control_loops/python/BUILD
@@ -0,0 +1,25 @@
+package(default_visibility = ['//y2015:__subpackages__'])
+
+py_binary(
+  name = 'arm',
+  srcs = [
+    'arm.py',
+  ],
+  deps = [
+    '//external:python-gflags',
+    '//external:python-glog',
+    '//frc971/control_loops/python:controls',
+  ],
+)
+
+py_binary(
+  name = 'claw',
+  srcs = [
+    'claw.py',
+  ],
+  deps = [
+    '//external:python-gflags',
+    '//external:python-glog',
+    '//frc971/control_loops/python:controls',
+  ],
+)
diff --git a/y2015/control_loops/python/claw.py b/y2015/control_loops/python/claw.py
index cdb76ae..86a261d 100755
--- a/y2015/control_loops/python/claw.py
+++ b/y2015/control_loops/python/claw.py
@@ -1,13 +1,21 @@
 #!/usr/bin/python
 
-import control_loop
-import controls
-import polytope
-import polydrivetrain
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import controls
+from frc971.control_loops.python import polytope
 import numpy
 import sys
 import matplotlib
 from matplotlib import pylab
+import glog
+import gflags
+
+FLAGS = gflags.FLAGS
+
+try:
+  gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+  pass
 
 class Claw(control_loop.ControlLoop):
   def __init__(self, name="Claw", mass=None):
@@ -110,7 +118,7 @@
 
 
 def run_test(claw, initial_X, goal, max_separation_error=0.01,
-             show_graph=True, iterations=200, controller_claw=None,
+             show_graph=False, iterations=200, controller_claw=None,
              observer_claw=None):
   """Runs the claw plant with an initial condition and goal.
 
@@ -198,14 +206,13 @@
 
   # Write the generated constants out to a file.
   if len(argv) != 3:
-    print "Expected .h file name and .cc file name for the claw."
+    glog.fatal('Expected .h and .cc filename for claw.')
   else:
-    claw = Claw("Claw")
-    loop_writer = control_loop.ControlLoopWriter("Claw", [claw])
-    if argv[1][-3:] == '.cc':
-      loop_writer.Write(argv[2], argv[1])
-    else:
-      loop_writer.Write(argv[1], argv[2])
+    namespaces = ['y2015', 'control_loops', 'claw']
+    claw = Claw('Claw')
+    loop_writer = control_loop.ControlLoopWriter('Claw', [claw],
+                                                 namespaces=namespaces)
+    loop_writer.Write(argv[1], argv[2])
 
 if __name__ == '__main__':
   sys.exit(main(sys.argv))
diff --git a/y2016/constants.h b/y2016/constants.h
index 98d38c7..d9ae7c4 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -35,7 +35,7 @@
   static constexpr double kIntakeEncoderRatio =
       16.0 / 48.0 * 18.0 / 72.0 * 14.0 / 64.0;
   static constexpr double kShoulderEncoderRatio =
-      16.0 / 58.0 * 18.0 / 72.0 * 14.0 / 64.0;
+      12.0 / 42.0 * 18.0 / 72.0 * 14.0 / 64.0;
   static constexpr double kWristEncoderRatio =
       16.0 / 48.0 * 18.0 / 64.0 * 14.0 / 54.0;
 
diff --git a/y2016/control_loops/python/intake.py b/y2016/control_loops/python/intake.py
index 1fcf393..63cc0f4 100755
--- a/y2016/control_loops/python/intake.py
+++ b/y2016/control_loops/python/intake.py
@@ -40,10 +40,9 @@
     # Gear ratio
     self.G = (56.0 / 12.0) * (54.0 / 14.0) * (64.0 / 18.0) * (48.0 / 16.0)
 
-    # Measured in CAD
-    # self.J = 0.9
-    # With extra mass to compensate for friction.
-    self.J = 1.2
+    # Moment of inertia, measured in CAD.
+    # Extra mass to compensate for friction is added on.
+    self.J = 0.34 + 0.1
 
     # Control loop time step
     self.dt = 0.005
diff --git a/y2016/control_loops/python/shoulder.py b/y2016/control_loops/python/shoulder.py
index 9b70dbd..07a67f6 100755
--- a/y2016/control_loops/python/shoulder.py
+++ b/y2016/control_loops/python/shoulder.py
@@ -37,7 +37,7 @@
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
     # Gear ratio
-    self.G = (56.0 / 12.0) * (64.0 / 14.0) * (72.0 / 18.0) * (58.0 / 16.0)
+    self.G = (56.0 / 12.0) * (64.0 / 14.0) * (72.0 / 18.0) * (42.0 / 12.0)
 
     self.J = 3.0
 
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index ba49675..8147fc2 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -14,8 +14,6 @@
 namespace superstructure {
 
 namespace {
-constexpr double kZeroingVoltage = 5.0;
-constexpr double kOperatingVoltage = 12.0;
 constexpr double kLandingShoulderDownVoltage = -2.0;
 // The maximum voltage the intake roller will be allowed to use.
 constexpr float kMaxIntakeTopVoltage = 12.0;
@@ -644,6 +642,8 @@
   last_state_ = state_before_switch;
 }
 
+constexpr double Superstructure::kZeroingVoltage;
+constexpr double Superstructure::kOperatingVoltage;
 constexpr double Superstructure::kShoulderMiddleAngle;
 constexpr double Superstructure::kLooseTolerance;
 constexpr double Superstructure::kIntakeUpperClear;
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index b7cfbd4..083b5b8 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -101,6 +101,9 @@
       control_loops::SuperstructureQueue *my_superstructure =
           &control_loops::superstructure_queue);
 
+  static constexpr double kZeroingVoltage = 5.0;
+  static constexpr double kOperatingVoltage = 12.0;
+
   // This is the angle above which we will do a HIGH_ARM_ZERO, and below which
   // we will do a LOW_ARM_ZERO.
   static constexpr double kShoulderMiddleAngle = M_PI / 4.0;
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index bc33c9b..2c2bf5a 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -170,18 +170,18 @@
         superstructure_queue_.status->state ==
             Superstructure::LANDING_RUNNING) {
       CHECK_LE(::std::abs(superstructure_queue_.output->voltage_intake),
-               12.00001);
+               Superstructure::kOperatingVoltage);
       CHECK_LE(::std::abs(superstructure_queue_.output->voltage_shoulder),
-               12.00001);
+               Superstructure::kOperatingVoltage);
       CHECK_LE(::std::abs(superstructure_queue_.output->voltage_wrist),
-               12.00001);
+               Superstructure::kOperatingVoltage);
     } else {
       CHECK_LE(::std::abs(superstructure_queue_.output->voltage_intake),
-               4.00001);
+               Superstructure::kZeroingVoltage);
       CHECK_LE(::std::abs(superstructure_queue_.output->voltage_shoulder),
-               4.00001);
+               Superstructure::kZeroingVoltage);
       CHECK_LE(::std::abs(superstructure_queue_.output->voltage_wrist),
-               4.00001);
+               Superstructure::kZeroingVoltage);
     }
     if (arm_plant_->X(0, 0) <=
         Superstructure::kShoulderTransitionToLanded + 1e-4) {
@@ -960,7 +960,7 @@
                   .max_angular_acceleration_wrist(100)
                   .Send());
 
-  set_peak_intake_velocity(4.60);
+  set_peak_intake_velocity(4.65);
   set_peak_shoulder_velocity(1.00);
   set_peak_wrist_velocity(1.00);
   RunForTime(Time::InSeconds(4));