diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain.cc b/y2014_bot3/control_loops/drivetrain/drivetrain.cc
new file mode 100644
index 0000000..3a40836
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain.cc
@@ -0,0 +1,718 @@
+#include "bot3/control_loops/drivetrain/drivetrain.h"
+
+#include <math.h>
+#include <stdio.h>
+#include <sched.h>
+
+#include <functional>
+#include <memory>
+
+#include "Eigen/Dense"
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/controls/polytope.h"
+#include "aos/common/commonmath.h"
+#include "aos/common/logging/queue_logging.h"
+#include "aos/common/logging/matrix_logging.h"
+
+#include "bot3/control_loops/drivetrain/drivetrain.q.h"
+#include "bot3/control_loops/drivetrain/drivetrain_constants.h"
+#include "bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h"
+#include "bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "bot3/shifter_hall_effect.h"
+#include "frc971/control_loops/coerce_goal.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/queues/other_sensors.q.h"
+
+using ::frc971::sensors::gyro_reading;
+using ::frc971::control_loops::DoCoerceGoal;
+using ::frc971::control_loops::CoerceGoal;
+
+namespace bot3 {
+namespace control_loops {
+
+class DrivetrainMotorsSS {
+ public:
+  class LimitedDrivetrainLoop : public StateFeedbackLoop<4, 2, 2> {
+   public:
+    LimitedDrivetrainLoop(StateFeedbackLoop<4, 2, 2> &&loop)
+        : StateFeedbackLoop<4, 2, 2>(::std::move(loop)),
+        U_Poly_((Eigen::Matrix<double, 4, 2>() << 1, 0,
+                 -1, 0,
+                 0, 1,
+                 0, -1).finished(),
+                (Eigen::Matrix<double, 4, 1>() << 12.0, 12.0,
+                 12.0, 12.0).finished()) {
+      ::aos::controls::HPolytope<0>::Init();
+      T << 1, -1, 1, 1;
+      T_inverse = T.inverse();
+    }
+
+    bool output_was_capped() const {
+      return output_was_capped_;
+    }
+
+   private:
+    virtual void CapU() {
+      const Eigen::Matrix<double, 4, 1> error = R() - X_hat();
+
+      if (::std::abs(U(0, 0)) > 12.0 || ::std::abs(U(1, 0)) > 12.0) {
+        output_was_capped_ = true;
+        LOG_MATRIX(DEBUG, "U at start", U());
+
+        Eigen::Matrix<double, 2, 2> position_K;
+        position_K << K(0, 0), K(0, 2),
+                   K(1, 0), K(1, 2);
+        Eigen::Matrix<double, 2, 2> velocity_K;
+        velocity_K << K(0, 1), K(0, 3),
+                   K(1, 1), K(1, 3);
+
+        Eigen::Matrix<double, 2, 1> position_error;
+        position_error << error(0, 0), error(2, 0);
+        const auto drive_error = T_inverse * position_error;
+        Eigen::Matrix<double, 2, 1> velocity_error;
+        velocity_error << error(1, 0), error(3, 0);
+        LOG_MATRIX(DEBUG, "error", error);
+
+        const auto &poly = U_Poly_;
+        const Eigen::Matrix<double, 4, 2> pos_poly_H =
+            poly.H() * position_K * T;
+        const Eigen::Matrix<double, 4, 1> pos_poly_k =
+            poly.k() - poly.H() * velocity_K * velocity_error;
+        const ::aos::controls::HPolytope<2> pos_poly(pos_poly_H, pos_poly_k);
+
+        Eigen::Matrix<double, 2, 1> adjusted_pos_error;
+        {
+          const auto &P = drive_error;
+
+          Eigen::Matrix<double, 1, 2> L45;
+          L45 << ::aos::sign(P(1, 0)), -::aos::sign(P(0, 0));
+          const double w45 = 0;
+
+          Eigen::Matrix<double, 1, 2> LH;
+          if (::std::abs(P(0, 0)) > ::std::abs(P(1, 0))) {
+            LH << 0, 1;
+          } else {
+            LH << 1, 0;
+          }
+          const double wh = LH.dot(P);
+
+          Eigen::Matrix<double, 2, 2> standard;
+          standard << L45, LH;
+          Eigen::Matrix<double, 2, 1> W;
+          W << w45, wh;
+          const Eigen::Matrix<double, 2, 1> intersection =
+              standard.inverse() * W;
+
+          bool is_inside_h;
+          const auto adjusted_pos_error_h =
+              DoCoerceGoal(pos_poly, LH, wh, drive_error, &is_inside_h);
+          const auto adjusted_pos_error_45 =
+              DoCoerceGoal(pos_poly, L45, w45, intersection, nullptr);
+          if (pos_poly.IsInside(intersection)) {
+            adjusted_pos_error = adjusted_pos_error_h;
+          } else {
+            if (is_inside_h) {
+              if (adjusted_pos_error_h.norm() > adjusted_pos_error_45.norm()) {
+                adjusted_pos_error = adjusted_pos_error_h;
+              } else {
+                adjusted_pos_error = adjusted_pos_error_45;
+              }
+            } else {
+              adjusted_pos_error = adjusted_pos_error_45;
+            }
+          }
+        }
+
+        LOG_MATRIX(DEBUG, "adjusted_pos_error", adjusted_pos_error);
+        mutable_U() =
+            velocity_K * velocity_error + position_K * T * adjusted_pos_error;
+        LOG_MATRIX(DEBUG, "U is now", U());
+      } else {
+        output_was_capped_ = false;
+      }
+    }
+
+    const ::aos::controls::HPolytope<2> U_Poly_;
+    Eigen::Matrix<double, 2, 2> T, T_inverse;
+    bool output_was_capped_ = false;;
+  };
+
+  DrivetrainMotorsSS()
+      : loop_(new LimitedDrivetrainLoop(
+            MakeDrivetrainLoop())),
+        filtered_offset_(0.0),
+        gyro_(0.0),
+        left_goal_(0.0),
+        right_goal_(0.0),
+        raw_left_(0.0),
+        raw_right_(0.0) {
+    // Low gear on both.
+    loop_->set_controller_index(0);
+  }
+
+  void SetGoal(double left, double left_velocity, double right,
+               double right_velocity) {
+    left_goal_ = left;
+    right_goal_ = right;
+    loop_->mutable_R() << left, left_velocity, right, right_velocity;
+  }
+  void SetRawPosition(double left, double right) {
+    raw_right_ = right;
+    raw_left_ = left;
+    Eigen::Matrix<double, 2, 1> Y;
+    Y << left + filtered_offset_, right - filtered_offset_;
+    loop_->Correct(Y);
+  }
+  void SetPosition(double left, double right, double gyro) {
+    // Decay the offset quickly because this gyro is great.
+    const double offset =
+        (right - left - gyro * kBot3TurnWidth) / 2.0;
+    // TODO(brians): filtered_offset_ = offset first time around.
+    filtered_offset_ = 0.25 * offset + 0.75 * filtered_offset_;
+    gyro_ = gyro;
+    SetRawPosition(left, right);
+  }
+
+  void SetExternalMotors(double left_voltage, double right_voltage) {
+    loop_->mutable_U() << left_voltage, right_voltage;
+  }
+
+  void Update(bool stop_motors, bool enable_control_loop) {
+    if (enable_control_loop) {
+      loop_->Update(stop_motors);
+    } else {
+      if (stop_motors) {
+        loop_->mutable_U().setZero();
+        loop_->mutable_U_uncapped().setZero();
+      }
+      loop_->UpdateObserver();
+    }
+    ::Eigen::Matrix<double, 4, 1> E = loop_->R() - loop_->X_hat();
+    LOG_MATRIX(DEBUG, "E", E);
+  }
+
+  double GetEstimatedRobotSpeed() const {
+    // lets just call the average of left and right velocities close enough
+    return (loop_->X_hat(1, 0) + loop_->X_hat(3, 0)) / 2;
+  }
+
+  double GetEstimatedLeftEncoder() const {
+    return loop_->X_hat(0, 0);
+  }
+
+  double GetEstimatedRightEncoder() const {
+    return loop_->X_hat(2, 0);
+  }
+
+  bool OutputWasCapped() const {
+    return loop_->output_was_capped();
+  }
+
+  void SendMotors(Drivetrain::Output *output) const {
+    if (output) {
+      output->left_voltage = loop_->U(0, 0);
+      output->right_voltage = loop_->U(1, 0);
+      output->left_high = false;
+      output->right_high = false;
+    }
+  }
+
+  const LimitedDrivetrainLoop &loop() const { return *loop_; }
+
+ private:
+  ::std::unique_ptr<LimitedDrivetrainLoop> loop_;
+
+  double filtered_offset_;
+  double gyro_;
+  double left_goal_;
+  double right_goal_;
+  double raw_left_;
+  double raw_right_;
+};
+
+class PolyDrivetrain {
+ public:
+
+  enum Gear {
+    HIGH,
+    LOW,
+    SHIFTING_UP,
+    SHIFTING_DOWN
+  };
+  // Stall Torque in N m
+  static constexpr double kStallTorque = 2.42;
+  // Stall Current in Amps
+  static constexpr double kStallCurrent = 133;
+  // Free Speed in RPM. Used number from last year.
+  static constexpr double kFreeSpeed = 4650.0;
+  // Free Current in Amps
+  static constexpr double kFreeCurrent = 2.7;
+  // Moment of inertia of the drivetrain in kg m^2
+  // Just borrowed from last year.
+  static constexpr double J = 6.4;
+  // Mass of the robot, in kg.
+  static constexpr double m = 68;
+  // Radius of the robot, in meters (from last year).
+  static constexpr double rb = 0.617998644 / 2.0;
+  static constexpr double kWheelRadius = 0.04445;
+  // Resistance of the motor, divided by the number of motors.
+  static constexpr double kR = (12.0 / kStallCurrent / 4 + 0.03) / (0.93 * 0.93);
+  // Motor velocity constant
+  static constexpr double Kv =
+      ((kFreeSpeed / 60.0 * 2.0 * M_PI) / (12.0 - kR * kFreeCurrent));
+  // Torque constant
+  static constexpr double Kt = kStallTorque / kStallCurrent;
+
+  PolyDrivetrain()
+      : U_Poly_((Eigen::Matrix<double, 4, 2>() << /*[[*/ 1, 0 /*]*/,
+                 /*[*/ -1, 0 /*]*/,
+                 /*[*/ 0, 1 /*]*/,
+                 /*[*/ 0, -1 /*]]*/).finished(),
+                (Eigen::Matrix<double, 4, 1>() << /*[[*/ 12 /*]*/,
+                 /*[*/ 12 /*]*/,
+                 /*[*/ 12 /*]*/,
+                 /*[*/ 12 /*]]*/).finished()),
+        loop_(new StateFeedbackLoop<2, 2, 2>(
+            MakeVelocityDrivetrainLoop())),
+        ttrust_(1.1),
+        wheel_(0.0),
+        throttle_(0.0),
+        quickturn_(false),
+        stale_count_(0),
+        position_time_delta_(0.01),
+        left_gear_(LOW),
+        right_gear_(LOW),
+        counter_(0) {
+
+    last_position_.Zero();
+    position_.Zero();
+  }
+  static bool IsInGear(Gear gear) { return gear == LOW || gear == HIGH; }
+
+  static double MotorSpeed(const constants::ShifterHallEffect &hall_effect,
+                           double shifter_position, double velocity, Gear gear) {
+    // TODO(austin): G_high, G_low and kWheelRadius
+    const double avg_hall_effect =
+        (hall_effect.clear_high + hall_effect.clear_low) / 2.0;
+
+    const bool use_high =
+        kBot3SimpleShifting ? gear == HIGH : shifter_position > avg_hall_effect;
+    if (use_high) {
+      return velocity / kBot3HighGearRatio / kWheelRadius;
+    } else {
+      return velocity / kBot3LowGearRatio / kWheelRadius;
+    }
+  }
+
+  void SetGoal(double wheel, double throttle, bool quickturn, bool highgear) {
+    const double kWheelNonLinearity = 0.3;
+    // Apply a sin function that's scaled to make it feel better.
+    const double angular_range = M_PI_2 * kWheelNonLinearity;
+    wheel_ = sin(angular_range * wheel) / sin(angular_range);
+    wheel_ = sin(angular_range * wheel_) / sin(angular_range);
+    quickturn_ = quickturn;
+
+    static const double kThrottleDeadband = 0.05;
+    if (::std::abs(throttle) < kThrottleDeadband) {
+      throttle_ = 0;
+    } else {
+      throttle_ = copysign((::std::abs(throttle) - kThrottleDeadband) /
+                           (1.0 - kThrottleDeadband), throttle);
+    }
+
+    // TODO(austin): Fix the upshift logic to include states.
+    Gear requested_gear;
+    requested_gear = highgear ? HIGH : LOW;
+
+    // Can be set to HIGH and LOW instead if we want to use simple shifting.
+    const Gear shift_up = kBot3SimpleShifting ? HIGH : SHIFTING_UP;
+    const Gear shift_down = kBot3SimpleShifting ? LOW : SHIFTING_DOWN;
+
+    if (left_gear_ != requested_gear) {
+      if (IsInGear(left_gear_)) {
+        if (requested_gear == HIGH) {
+          left_gear_ = shift_up;
+        } else {
+          left_gear_ = shift_down;
+        }
+      } else {
+        if (requested_gear == HIGH && left_gear_ == SHIFTING_DOWN) {
+          left_gear_ = SHIFTING_UP;
+        } else if (requested_gear == LOW && left_gear_ == SHIFTING_UP) {
+          left_gear_ = SHIFTING_DOWN;
+        }
+      }
+    }
+    if (right_gear_ != requested_gear) {
+      if (IsInGear(right_gear_)) {
+        if (requested_gear == HIGH) {
+          right_gear_ = shift_up;
+        } else {
+          right_gear_ = shift_down;
+        }
+      } else {
+        if (requested_gear == HIGH && right_gear_ == SHIFTING_DOWN) {
+          right_gear_ = SHIFTING_UP;
+        } else if (requested_gear == LOW && right_gear_ == SHIFTING_UP) {
+          right_gear_ = SHIFTING_DOWN;
+        }
+      }
+    }
+  }
+
+  void SetPosition(const Drivetrain::Position *position) {
+    if (position == NULL) {
+      ++stale_count_;
+    } else {
+      last_position_ = position_;
+      position_ = *position;
+      position_time_delta_ = (stale_count_ + 1) * 0.01;
+      stale_count_ = 0;
+    }
+
+    if (position) {
+      GearLogging gear_logging;
+      // Switch to the correct controller.
+      const double left_middle_shifter_position =
+          (kBot3LeftDriveShifter.clear_high +
+          kBot3LeftDriveShifter.clear_low) / 2.0;
+      const double right_middle_shifter_position =
+          (kBot3RightDriveShifter.clear_high +
+          kBot3RightDriveShifter.clear_low) / 2.0;
+
+      if (position->left_shifter_position < left_middle_shifter_position ||
+          left_gear_ == LOW) {
+        if (position->right_shifter_position < right_middle_shifter_position ||
+            right_gear_ == LOW) {
+          gear_logging.left_loop_high = false;
+          gear_logging.right_loop_high = false;
+          loop_->set_controller_index(gear_logging.controller_index = 0);
+        } else {
+          gear_logging.left_loop_high = false;
+          gear_logging.right_loop_high = true;
+          loop_->set_controller_index(gear_logging.controller_index = 1);
+        }
+      } else {
+        if (position->right_shifter_position < right_middle_shifter_position ||
+            right_gear_ == LOW) {
+          gear_logging.left_loop_high = true;
+          gear_logging.right_loop_high = false;
+          loop_->set_controller_index(gear_logging.controller_index = 2);
+        } else {
+          gear_logging.left_loop_high = true;
+          gear_logging.right_loop_high = true;
+          loop_->set_controller_index(gear_logging.controller_index = 3);
+        }
+      }
+
+      // TODO(austin): Constants.
+      if (position->left_shifter_position >
+          kBot3LeftDriveShifter.clear_high &&
+          left_gear_ == SHIFTING_UP) {
+        left_gear_ = HIGH;
+      }
+      if (position->left_shifter_position <
+          kBot3LeftDriveShifter.clear_low &&
+          left_gear_ == SHIFTING_DOWN) {
+        left_gear_ = LOW;
+      }
+      if (position->right_shifter_position >
+          kBot3RightDriveShifter.clear_high &&
+          right_gear_ == SHIFTING_UP) {
+        right_gear_ = HIGH;
+      }
+      if (position->right_shifter_position <
+          kBot3RightDriveShifter.clear_low &&
+          right_gear_ == SHIFTING_DOWN) {
+        right_gear_ = LOW;
+      }
+
+      gear_logging.left_state = left_gear_;
+      gear_logging.right_state = right_gear_;
+      LOG_STRUCT(DEBUG, "state", gear_logging);
+    }
+  }
+
+  double FilterVelocity(double throttle) {
+    const Eigen::Matrix<double, 2, 2> FF =
+        loop_->B().inverse() *
+        (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
+
+    constexpr int kHighGearController = 3;
+    const Eigen::Matrix<double, 2, 2> FF_high =
+        loop_->controller(kHighGearController).plant.B().inverse() *
+        (Eigen::Matrix<double, 2, 2>::Identity() -
+         loop_->controller(kHighGearController).plant.A());
+
+    ::Eigen::Matrix<double, 1, 2> FF_sum = FF.colwise().sum();
+    int min_FF_sum_index;
+    const double min_FF_sum = FF_sum.minCoeff(&min_FF_sum_index);
+    const double min_K_sum = loop_->K().col(min_FF_sum_index).sum();
+    const double high_min_FF_sum = FF_high.col(0).sum();
+
+    const double adjusted_ff_voltage = ::aos::Clip(
+        throttle * 12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0);
+    return ((adjusted_ff_voltage +
+             ttrust_ * min_K_sum * (loop_->X_hat(0, 0) + loop_->X_hat(1, 0)) / 2.0) /
+            (ttrust_ * min_K_sum + min_FF_sum));
+  }
+
+  double MaxVelocity() {
+    const Eigen::Matrix<double, 2, 2> FF =
+        loop_->B().inverse() *
+        (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
+
+    constexpr int kHighGearController = 3;
+    const Eigen::Matrix<double, 2, 2> FF_high =
+        loop_->controller(kHighGearController).plant.B().inverse() *
+        (Eigen::Matrix<double, 2, 2>::Identity() -
+         loop_->controller(kHighGearController).plant.A());
+
+    ::Eigen::Matrix<double, 1, 2> FF_sum = FF.colwise().sum();
+    int min_FF_sum_index;
+    const double min_FF_sum = FF_sum.minCoeff(&min_FF_sum_index);
+    //const double min_K_sum = loop_->K().col(min_FF_sum_index).sum();
+    const double high_min_FF_sum = FF_high.col(0).sum();
+
+    const double adjusted_ff_voltage = ::aos::Clip(
+        12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0);
+    return adjusted_ff_voltage / min_FF_sum;
+  }
+
+  void Update() {
+    // TODO(austin): Observer for the current velocity instead of difference
+    // calculations.
+    ++counter_;
+    const double current_left_velocity =
+        (position_.left_encoder - last_position_.left_encoder) /
+        position_time_delta_;
+    const double current_right_velocity =
+        (position_.right_encoder - last_position_.right_encoder) /
+        position_time_delta_;
+    const double left_motor_speed =
+        MotorSpeed(kBot3LeftDriveShifter,
+                   position_.left_shifter_position,
+                   current_left_velocity,
+                   left_gear_);
+    const double right_motor_speed =
+        MotorSpeed(kBot3RightDriveShifter,
+                   position_.right_shifter_position,
+                   current_right_velocity,
+                   right_gear_);
+
+    {
+      CIMLogging logging;
+
+      // Reset the CIM model to the current conditions to be ready for when we
+      // shift.
+      if (IsInGear(left_gear_)) {
+        logging.left_in_gear = true;
+      } else {
+        logging.left_in_gear = false;
+      }
+      logging.left_motor_speed = left_motor_speed;
+      logging.left_velocity = current_left_velocity;
+      if (IsInGear(right_gear_)) {
+        logging.right_in_gear = true;
+      } else {
+        logging.right_in_gear = false;
+      }
+      logging.right_motor_speed = right_motor_speed;
+      logging.right_velocity = current_right_velocity;
+
+      LOG_STRUCT(DEBUG, "currently", logging);
+    }
+
+    if (IsInGear(left_gear_) && IsInGear(right_gear_)) {
+      // FF * X = U (steady state)
+      const Eigen::Matrix<double, 2, 2> FF =
+          loop_->B().inverse() *
+          (Eigen::Matrix<double, 2, 2>::Identity() - loop_->A());
+
+      // Invert the plant to figure out how the velocity filter would have to
+      // work
+      // out in order to filter out the forwards negative inertia.
+      // This math assumes that the left and right power and velocity are
+      // equals,
+      // and that the plant is the same on the left and right.
+      const double fvel = FilterVelocity(throttle_);
+
+      const double sign_svel = wheel_ * ((fvel > 0.0) ? 1.0 : -1.0);
+      double steering_velocity;
+      if (quickturn_) {
+        steering_velocity = wheel_ * MaxVelocity();
+      } else {
+        steering_velocity = ::std::abs(fvel) * wheel_;
+      }
+      const double left_velocity = fvel - steering_velocity;
+      const double right_velocity = fvel + steering_velocity;
+
+      // Integrate velocity to get the position.
+      // This position is used to get integral control.
+      loop_->mutable_R() << left_velocity, right_velocity;
+
+      if (!quickturn_) {
+        // K * R = w
+        Eigen::Matrix<double, 1, 2> equality_k;
+        equality_k << 1 + sign_svel, -(1 - sign_svel);
+        const double equality_w = 0.0;
+
+        // Construct a constraint on R by manipulating the constraint on U
+        ::aos::controls::HPolytope<2> R_poly = ::aos::controls::HPolytope<2>(
+            U_Poly_.H() * (loop_->K() + FF),
+            U_Poly_.k() + U_Poly_.H() * loop_->K() * loop_->X_hat());
+
+        // Limit R back inside the box.
+        loop_->mutable_R() =
+            CoerceGoal(R_poly, equality_k, equality_w, loop_->R());
+      }
+
+      const Eigen::Matrix<double, 2, 1> FF_volts = FF * loop_->R();
+      const Eigen::Matrix<double, 2, 1> U_ideal =
+          loop_->K() * (loop_->R() - loop_->X_hat()) + FF_volts;
+
+      for (int i = 0; i < 2; i++) {
+        loop_->mutable_U()[i] = ::aos::Clip(U_ideal[i], -12, 12);
+      }
+
+      // TODO(austin): Model this better.
+      // TODO(austin): Feed back?
+      loop_->mutable_X_hat() =
+          loop_->A() * loop_->X_hat() + loop_->B() * loop_->U();
+    } else {
+      // Any motor is not in gear.  Speed match.
+      ::Eigen::Matrix<double, 1, 1> R_left;
+      ::Eigen::Matrix<double, 1, 1> R_right;
+      R_left(0, 0) = left_motor_speed;
+      R_right(0, 0) = right_motor_speed;
+
+      const double wiggle =
+          (static_cast<double>((counter_ % 20) / 10) - 0.5) * 5.0;
+
+      loop_->mutable_U(0, 0) = ::aos::Clip(
+          (R_left / Kv)(0, 0) + (IsInGear(left_gear_) ? 0 : wiggle),
+          -12.0, 12.0);
+      loop_->mutable_U(1, 0) = ::aos::Clip(
+          (R_right / Kv)(0, 0) + (IsInGear(right_gear_) ? 0 : wiggle),
+          -12.0, 12.0);
+      loop_->mutable_U() *= 12.0 / position_.battery_voltage;
+    }
+  }
+
+  void SendMotors(Drivetrain::Output *output) {
+    if (output != NULL) {
+      output->left_voltage = loop_->U(0, 0);
+      output->right_voltage = loop_->U(1, 0);
+      output->left_high = left_gear_ == HIGH || left_gear_ == SHIFTING_UP;
+      output->right_high = right_gear_ == HIGH || right_gear_ == SHIFTING_UP;
+    }
+  }
+
+ private:
+  const ::aos::controls::HPolytope<2> U_Poly_;
+
+  ::std::unique_ptr<StateFeedbackLoop<2, 2, 2>> loop_;
+
+  const double ttrust_;
+  double wheel_;
+  double throttle_;
+  bool quickturn_;
+  int stale_count_;
+  double position_time_delta_;
+  Gear left_gear_;
+  Gear right_gear_;
+  Drivetrain::Position last_position_;
+  Drivetrain::Position position_;
+  int counter_;
+};
+constexpr double PolyDrivetrain::kStallTorque;
+constexpr double PolyDrivetrain::kStallCurrent;
+constexpr double PolyDrivetrain::kFreeSpeed;
+constexpr double PolyDrivetrain::kFreeCurrent;
+constexpr double PolyDrivetrain::J;
+constexpr double PolyDrivetrain::m;
+constexpr double PolyDrivetrain::rb;
+constexpr double PolyDrivetrain::kWheelRadius;
+constexpr double PolyDrivetrain::kR;
+constexpr double PolyDrivetrain::Kv;
+constexpr double PolyDrivetrain::Kt;
+
+
+void DrivetrainLoop::RunIteration(const Drivetrain::Goal *goal,
+                                  const Drivetrain::Position *position,
+                                  Drivetrain::Output *output,
+                                  Drivetrain::Status * status) {
+  // TODO(aschuh): These should be members of the class.
+  static DrivetrainMotorsSS dt_closedloop;
+  static PolyDrivetrain dt_openloop;
+
+  bool bad_pos = false;
+  if (position == nullptr) {
+    LOG_INTERVAL(no_position_);
+    bad_pos = true;
+  }
+  no_position_.Print();
+
+  double wheel = goal->steering;
+  double throttle = goal->throttle;
+  bool quickturn = goal->quickturn;
+  bool highgear = goal->highgear;
+
+  bool control_loop_driving = goal->control_loop_driving;
+  double left_goal = goal->left_goal;
+  double right_goal = goal->right_goal;
+
+  dt_closedloop.SetGoal(left_goal, goal->left_velocity_goal, right_goal,
+                        goal->right_velocity_goal);
+  if (!bad_pos) {
+    const double left_encoder = position->left_encoder;
+    const double right_encoder = position->right_encoder;
+    if (gyro_reading.FetchLatest()) {
+      LOG_STRUCT(DEBUG, "using", *gyro_reading.get());
+      dt_closedloop.SetPosition(left_encoder, right_encoder,
+                                gyro_reading->angle);
+    } else {
+      dt_closedloop.SetRawPosition(left_encoder, right_encoder);
+    }
+  }
+  dt_openloop.SetPosition(position);
+  dt_openloop.SetGoal(wheel, throttle, quickturn, highgear);
+  dt_openloop.Update();
+
+  if (control_loop_driving) {
+    dt_closedloop.Update(output == NULL, true);
+    dt_closedloop.SendMotors(output);
+  } else {
+    dt_openloop.SendMotors(output);
+    if (output) {
+      dt_closedloop.SetExternalMotors(output->left_voltage,
+                                      output->right_voltage);
+    }
+    dt_closedloop.Update(output == NULL, false);
+  }
+
+  // set the output status of the control loop state
+  if (status) {
+    bool done = false;
+    if (goal) {
+      done = ((::std::abs(goal->left_goal -
+                          dt_closedloop.GetEstimatedLeftEncoder()) <
+               kBot3DrivetrainDoneDistance) &&
+              (::std::abs(goal->right_goal -
+                          dt_closedloop.GetEstimatedRightEncoder()) <
+               kBot3DrivetrainDoneDistance));
+    }
+    status->is_done = done;
+    status->robot_speed = dt_closedloop.GetEstimatedRobotSpeed();
+    status->filtered_left_position = dt_closedloop.GetEstimatedLeftEncoder();
+    status->filtered_right_position = dt_closedloop.GetEstimatedRightEncoder();
+    status->output_was_capped = dt_closedloop.OutputWasCapped();
+    status->uncapped_left_voltage = dt_closedloop.loop().U_uncapped(0, 0);
+    status->uncapped_right_voltage = dt_closedloop.loop().U_uncapped(1, 0);
+  }
+}
+
+}  // namespace control_loops
+}  // namespace bot3
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain.gyp b/y2014_bot3/control_loops/drivetrain/drivetrain.gyp
new file mode 100644
index 0000000..d17cdf2
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain.gyp
@@ -0,0 +1,102 @@
+{
+  'targets': [
+    {
+      'target_name': 'drivetrain_loop',
+      'type': 'static_library',
+      'sources': ['drivetrain.q'],
+      'variables': {
+        'header_path': 'bot3/control_loops/drivetrain',
+      },
+      'dependencies': [
+        '<(AOS)/common/controls/controls.gyp:control_loop_queues',
+      ],
+      'export_dependent_settings': [
+        '<(AOS)/common/controls/controls.gyp:control_loop_queues',
+      ],
+      'includes': ['../../../aos/build/queues.gypi'],
+    },
+    {
+      'target_name': 'polydrivetrain_plants',
+      'type': 'static_library',
+      'sources': [
+        'polydrivetrain_dog_motor_plant.cc',
+        'drivetrain_dog_motor_plant.cc',
+      ],
+      'dependencies': [
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+      ],
+      'export_dependent_settings': [
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+      ],
+    },
+    {
+      'target_name': 'drivetrain_constants',
+      'type': 'static_library',
+      'sources': [
+        #'drivetrain_constants.h'
+      ],
+      'dependencies': [
+        'polydrivetrain_plants',
+      ],
+      'export_dependent_settings': [
+        'polydrivetrain_plants',
+      ],
+    },
+    {
+      'target_name': 'drivetrain_lib',
+      'type': 'static_library',
+      'sources': [
+        'drivetrain.cc',
+        'polydrivetrain_cim_plant.cc',
+      ],
+      'dependencies': [
+        'drivetrain_loop',
+        'drivetrain_constants',
+        '<(AOS)/common/controls/controls.gyp:control_loop',
+        '<(AOS)/common/controls/controls.gyp:polytope',
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:coerce_goal',
+        '<(DEPTH)/frc971/queues/queues.gyp:queues',
+        '<(AOS)/common/util/util.gyp:log_interval',
+        '<(AOS)/common/logging/logging.gyp:queue_logging',
+        '<(AOS)/common/logging/logging.gyp:matrix_logging',
+      ],
+      'export_dependent_settings': [
+        '<(AOS)/common/controls/controls.gyp:polytope',
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:coerce_goal',
+        '<(AOS)/common/controls/controls.gyp:control_loop',
+        'drivetrain_loop',
+      ],
+    },
+    {
+      'target_name': 'drivetrain_lib_test',
+      'type': 'executable',
+      'sources': [
+        'drivetrain_lib_test.cc',
+      ],
+      'dependencies': [
+        '<(EXTERNALS):gtest',
+        'drivetrain_loop',
+        'drivetrain_lib',
+        '<(AOS)/common/controls/controls.gyp:control_loop_test',
+        '<(AOS)/common/network/network.gyp:team_number',
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+        '<(DEPTH)/frc971/queues/queues.gyp:queues',
+        '<(AOS)/common/common.gyp:queues',
+      ],
+    },
+    {
+      'target_name': 'drivetrain',
+      'type': 'executable',
+      'sources': [
+        'drivetrain_main.cc',
+      ],
+      'dependencies': [
+        '<(AOS)/linux_code/linux_code.gyp:init',
+        'drivetrain_lib',
+        'drivetrain_loop',
+      ],
+    },
+  ],
+}
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain.h b/y2014_bot3/control_loops/drivetrain/drivetrain.h
new file mode 100644
index 0000000..b2bed8c
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain.h
@@ -0,0 +1,43 @@
+#ifndef BOT3_CONTROL_LOOPS_DRIVETRAIN_H_
+#define BOT3_CONTROL_LOOPS_DRIVETRAIN_H_
+
+#include "Eigen/Dense"
+
+#include "aos/common/controls/polytope.h"
+#include "aos/common/controls/control_loop.h"
+#include "aos/common/controls/polytope.h"
+#include "aos/common/util/log_interval.h"
+#include "bot3/control_loops/drivetrain/drivetrain.q.h"
+
+namespace bot3 {
+namespace control_loops {
+
+class DrivetrainLoop
+    : public aos::controls::ControlLoop<control_loops::Drivetrain, true, false> {
+ public:
+  // Constructs a control loop which can take a Drivetrain or defaults to the
+  // drivetrain at bot3::control_loops::drivetrain
+  explicit DrivetrainLoop(
+      control_loops::Drivetrain *my_drivetrain = &control_loops::drivetrain)
+      : aos::controls::ControlLoop<control_loops::Drivetrain, true, false>(
+          my_drivetrain) {
+    ::aos::controls::HPolytope<0>::Init();
+  }
+
+ protected:
+  // Executes one cycle of the control loop.
+  virtual void RunIteration(
+      const control_loops::Drivetrain::Goal *goal,
+      const control_loops::Drivetrain::Position *position,
+      control_loops::Drivetrain::Output *output,
+      control_loops::Drivetrain::Status *status);
+
+  typedef ::aos::util::SimpleLogInterval SimpleLogInterval;
+  SimpleLogInterval no_position_ = SimpleLogInterval(
+      ::aos::time::Time::InSeconds(0.25), WARNING, "no position");
+};
+
+}  // namespace control_loops
+}  // namespace bot3
+
+#endif  // BOT3_CONTROL_LOOPS_DRIVETRAIN_H_
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain.q b/y2014_bot3/control_loops/drivetrain/drivetrain.q
new file mode 100644
index 0000000..f4fe3d5
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain.q
@@ -0,0 +1,70 @@
+package bot3.control_loops;
+
+import "aos/common/controls/control_loops.q";
+
+struct GearLogging {
+  int8_t controller_index;
+  bool left_loop_high;
+  bool right_loop_high;
+  int8_t left_state;
+  int8_t right_state;
+};
+
+struct CIMLogging {
+  bool left_in_gear;
+  bool right_in_gear;
+  double left_motor_speed;
+  double right_motor_speed;
+  double left_velocity;
+  double right_velocity;
+};
+
+queue_group Drivetrain {
+  implements aos.control_loops.ControlLoop;
+
+  message Goal {
+    double steering;
+    double throttle;
+    bool highgear;
+    bool quickturn;
+    bool control_loop_driving;
+    double left_goal;
+    double left_velocity_goal;
+    double right_goal;
+    double right_velocity_goal;
+  };
+
+  message Position {
+    double left_encoder;
+    double right_encoder;
+    double left_shifter_position;
+    double right_shifter_position;
+    double battery_voltage;
+  };
+
+  message Output {
+    double left_voltage;
+    double right_voltage;
+    bool left_high;
+    bool right_high;
+  };
+
+  message Status {
+    double robot_speed;
+    double filtered_left_position;
+    double filtered_right_position;
+
+    double uncapped_left_voltage;
+    double uncapped_right_voltage;
+    bool output_was_capped;
+
+    bool is_done;
+  };
+
+  queue Goal goal;
+  queue Position position;
+  queue Output output;
+  queue Status status;
+};
+
+queue_group Drivetrain drivetrain;
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_constants.h b/y2014_bot3/control_loops/drivetrain/drivetrain_constants.h
new file mode 100644
index 0000000..28848b0
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_constants.h
@@ -0,0 +1,26 @@
+#ifndef BOT3_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_
+#define BOT3_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_
+
+#include "bot3/shifter_hall_effect.h"
+
+namespace bot3 {
+namespace control_loops {
+
+constexpr constants::ShifterHallEffect kBot3LeftDriveShifter =
+    {426, 171, 0.6, 0.47};
+constexpr constants::ShifterHallEffect kBot3RightDriveShifter =
+    {424, 172, 0.62, 0.55};
+
+constexpr double kBot3TurnWidth = 0.5;
+constexpr double kBot3DrivetrainDoneDistance = 0.02;
+
+constexpr double kBot3LowGearRatio = 14.0 / 60.0 * 17.0 / 50.0;
+constexpr double kBot3HighGearRatio = 30.0 / 44.0 * 17.0 / 50.0;
+
+// If this is true, we don't use the analog hall effects for shifting.
+constexpr bool kBot3SimpleShifting = true;
+
+}  // control_loops
+}  // bot3
+
+#endif
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.cc
new file mode 100644
index 0000000..da59426
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.cc
@@ -0,0 +1,125 @@
+#include "bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainLowLowPlantCoefficients() {
+  Eigen::Matrix<double, 4, 4> A;
+  A << 1.0, 0.00718627304278, 0.0, 0.000575327102319, 0.0, 0.498791664199, 0.0, 0.0897184892451, 0.0, 0.000575327102319, 1.0, 0.00718627304278, 0.0, 0.0897184892451, 0.0, 0.498791664199;
+  Eigen::Matrix<double, 4, 2> B;
+  B << 0.000404687213064, -8.27470202964e-05, 0.0720868114296, -0.0129038552514, -8.27470202964e-05, 0.000404687213064, -0.0129038552514, 0.0720868114296;
+  Eigen::Matrix<double, 2, 4> C;
+  C << 1, 0, 0, 0, 0, 0, 1, 0;
+  Eigen::Matrix<double, 2, 2> D;
+  D << 0, 0, 0, 0;
+  Eigen::Matrix<double, 2, 1> U_max;
+  U_max << 12.0, 12.0;
+  Eigen::Matrix<double, 2, 1> U_min;
+  U_min << -12.0, -12.0;
+  return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainLowHighPlantCoefficients() {
+  Eigen::Matrix<double, 4, 4> A;
+  A << 1.0, 0.00715806931946, 0.0, 8.27195198739e-05, 0.0, 0.491841728751, 0.0, 0.0145551608494, 0.0, 0.000706303878161, 1.0, 0.00959963582133, 0.0, 0.124279814134, 0.0, 0.921454874639;
+  Eigen::Matrix<double, 4, 2> B;
+  B << 0.000408743642973, -3.47646073582e-05, 0.0730863931411, -0.00611711060145, -0.000101584891631, 0.000168261415116, -0.0178746738354, 0.0330102308046;
+  Eigen::Matrix<double, 2, 4> C;
+  C << 1, 0, 0, 0, 0, 0, 1, 0;
+  Eigen::Matrix<double, 2, 2> D;
+  D << 0, 0, 0, 0;
+  Eigen::Matrix<double, 2, 1> U_max;
+  U_max << 12.0, 12.0;
+  Eigen::Matrix<double, 2, 1> U_min;
+  U_min << -12.0, -12.0;
+  return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainHighLowPlantCoefficients() {
+  Eigen::Matrix<double, 4, 4> A;
+  A << 1.0, 0.00959963582133, 0.0, 0.000706303878161, 0.0, 0.921454874639, 0.0, 0.124279814134, 0.0, 8.27195198739e-05, 1.0, 0.00715806931946, 0.0, 0.0145551608494, 0.0, 0.491841728751;
+  Eigen::Matrix<double, 4, 2> B;
+  B << 0.000168261415116, -0.000101584891631, 0.0330102308046, -0.0178746738354, -3.47646073582e-05, 0.000408743642973, -0.00611711060145, 0.0730863931411;
+  Eigen::Matrix<double, 2, 4> C;
+  C << 1, 0, 0, 0, 0, 0, 1, 0;
+  Eigen::Matrix<double, 2, 2> D;
+  D << 0, 0, 0, 0;
+  Eigen::Matrix<double, 2, 1> U_max;
+  U_max << 12.0, 12.0;
+  Eigen::Matrix<double, 2, 1> U_min;
+  U_min << -12.0, -12.0;
+  return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainHighHighPlantCoefficients() {
+  Eigen::Matrix<double, 4, 4> A;
+  A << 1.0, 0.00959512220091, 0.0, 0.000100752776744, 0.0, 0.920202836632, 0.0, 0.0195951135, 0.0, 0.000100752776744, 1.0, 0.00959512220091, 0.0, 0.0195951135, 0.0, 0.920202836632;
+  Eigen::Matrix<double, 4, 2> B;
+  B << 0.000170158358449, -4.23434605168e-05, 0.0335364259492, -0.00823525605573, -4.23434605168e-05, 0.000170158358449, -0.00823525605573, 0.0335364259492;
+  Eigen::Matrix<double, 2, 4> C;
+  C << 1, 0, 0, 0, 0, 0, 1, 0;
+  Eigen::Matrix<double, 2, 2> D;
+  D << 0, 0, 0, 0;
+  Eigen::Matrix<double, 2, 1> U_max;
+  U_max << 12.0, 12.0;
+  Eigen::Matrix<double, 2, 1> U_min;
+  U_min << -12.0, -12.0;
+  return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainLowLowController() {
+  Eigen::Matrix<double, 4, 2> L;
+  L << 0.798791664199, 0.0897184892451, 3.57844915691, 3.42875197165, 0.0897184892451, 0.798791664199, 3.42875197165, 3.57844915691;
+  Eigen::Matrix<double, 2, 4> K;
+  K << 118.526561433, 4.19900632703, 7.79020074229, 0.921948843301, 7.79020074228, 0.921948843301, 118.526561433, 4.19900632703;
+  return StateFeedbackController<4, 2, 2>(L, K, MakeDrivetrainLowLowPlantCoefficients());
+}
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainLowHighController() {
+  Eigen::Matrix<double, 4, 2> L;
+  L << 0.780361183952, 0.0157698223449, 2.31127571816, 1.09059511674, 0.0157698223449, 1.23293541944, 3.02157734826, 34.5051463402;
+  Eigen::Matrix<double, 2, 4> K;
+  K << 116.74766142, 4.04674599343, -6.38397728262, -0.174173971494, 20.8480994015, 2.49474383494, 135.799605924, 11.0272286082;
+  return StateFeedbackController<4, 2, 2>(L, K, MakeDrivetrainLowHighPlantCoefficients());
+}
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainHighLowController() {
+  Eigen::Matrix<double, 4, 2> L;
+  L << 1.26735275667, 0.0994717602348, 37.3766125148, 7.14618746927, 0.0994717602348, 0.745943846725, 2.20133516364, 1.9922178483;
+  Eigen::Matrix<double, 2, 4> K;
+  K << 135.799605924, 11.0272286082, 20.8480994015, 2.49474383494, -6.38397728263, -0.174173971495, 116.74766142, 4.04674599343;
+  return StateFeedbackController<4, 2, 2>(L, K, MakeDrivetrainHighLowPlantCoefficients());
+}
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainHighHighController() {
+  Eigen::Matrix<double, 4, 2> L;
+  L << 1.22020283663, 0.0195951135, 33.6437810428, 1.9756574066, 0.0195951135, 1.22020283663, 1.9756574066, 33.6437810428;
+  Eigen::Matrix<double, 2, 4> K;
+  K << 136.125709167, 11.0402255404, 6.0764292977, 1.24911698877, 6.0764292977, 1.24911698877, 136.125709167, 11.0402255404;
+  return StateFeedbackController<4, 2, 2>(L, K, MakeDrivetrainHighHighPlantCoefficients());
+}
+
+StateFeedbackPlant<4, 2, 2> MakeDrivetrainPlant() {
+  ::std::vector<StateFeedbackPlantCoefficients<4, 2, 2> *> plants(4);
+  plants[0] = new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainLowLowPlantCoefficients());
+  plants[1] = new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainLowHighPlantCoefficients());
+  plants[2] = new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainHighLowPlantCoefficients());
+  plants[3] = new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainHighHighPlantCoefficients());
+  return StateFeedbackPlant<4, 2, 2>(plants);
+}
+
+StateFeedbackLoop<4, 2, 2> MakeDrivetrainLoop() {
+  ::std::vector<StateFeedbackController<4, 2, 2> *> controllers(4);
+  controllers[0] = new StateFeedbackController<4, 2, 2>(MakeDrivetrainLowLowController());
+  controllers[1] = new StateFeedbackController<4, 2, 2>(MakeDrivetrainLowHighController());
+  controllers[2] = new StateFeedbackController<4, 2, 2>(MakeDrivetrainHighLowController());
+  controllers[3] = new StateFeedbackController<4, 2, 2>(MakeDrivetrainHighHighController());
+  return StateFeedbackLoop<4, 2, 2>(controllers);
+}
+
+}  // namespace control_loops
+}  // namespace bot3
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h b/y2014_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h
new file mode 100644
index 0000000..f5d5896
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h
@@ -0,0 +1,32 @@
+#ifndef BOT3_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
+#define BOT3_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainLowLowPlantCoefficients();
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainLowLowController();
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainLowHighPlantCoefficients();
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainLowHighController();
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainHighLowPlantCoefficients();
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainHighLowController();
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainHighHighPlantCoefficients();
+
+StateFeedbackController<4, 2, 2> MakeDrivetrainHighHighController();
+
+StateFeedbackPlant<4, 2, 2> MakeDrivetrainPlant();
+
+StateFeedbackLoop<4, 2, 2> MakeDrivetrainLoop();
+
+}  // namespace control_loops
+}  // namespace bot3
+
+#endif  // BOT3_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_lib_test.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_lib_test.cc
new file mode 100644
index 0000000..89e41c6
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -0,0 +1,294 @@
+#include <unistd.h>
+
+#include <memory>
+
+#include "gtest/gtest.h"
+#include "aos/common/network/team_number.h"
+#include "aos/common/queue_testutils.h"
+#include "aos/common/controls/polytope.h"
+#include "aos/common/controls/control_loop_test.h"
+
+#include "bot3/control_loops/drivetrain/drivetrain.q.h"
+#include "bot3/control_loops/drivetrain/drivetrain.h"
+#include "bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/coerce_goal.h"
+#include "frc971/queues/other_sensors.q.h"
+
+
+namespace bot3 {
+namespace control_loops {
+namespace testing {
+
+class Environment : public ::testing::Environment {
+ public:
+  virtual ~Environment() {}
+  // how to set up the environment.
+  virtual void SetUp() {
+    aos::controls::HPolytope<0>::Init();
+  }
+};
+::testing::Environment* const holder_env =
+  ::testing::AddGlobalTestEnvironment(new Environment);
+
+class TeamNumberEnvironment : public ::testing::Environment {
+ public:
+  // Override this to define how to set up the environment.
+  virtual void SetUp() { aos::network::OverrideTeamNumber(971); }
+};
+
+::testing::Environment* const team_number_env =
+    ::testing::AddGlobalTestEnvironment(new TeamNumberEnvironment);
+
+// Class which simulates the drivetrain and sends out queue messages containing
+// the position.
+class DrivetrainSimulation {
+ public:
+  // Constructs a motor simulation.
+  // TODO(aschuh) Do we want to test the clutch one too?
+  DrivetrainSimulation()
+      : drivetrain_plant_(
+            new StateFeedbackPlant<4, 2, 2>(MakeDrivetrainPlant())),
+        my_drivetrain_loop_(".frc971.control_loops.drivetrain",
+                       0x8a8dde77, ".frc971.control_loops.drivetrain.goal",
+                       ".frc971.control_loops.drivetrain.position",
+                       ".frc971.control_loops.drivetrain.output",
+                       ".frc971.control_loops.drivetrain.status") {
+    Reinitialize();
+  }
+
+  // Resets the plant.
+  void Reinitialize() {
+    drivetrain_plant_->mutable_X(0, 0) = 0.0;
+    drivetrain_plant_->mutable_X(1, 0) = 0.0;
+    drivetrain_plant_->mutable_Y() =
+        drivetrain_plant_->C() * drivetrain_plant_->X();
+    last_left_position_ = drivetrain_plant_->Y(0, 0);
+    last_right_position_ = drivetrain_plant_->Y(1, 0);
+  }
+
+  // Returns the position of the drivetrain.
+  double GetLeftPosition() const { return drivetrain_plant_->Y(0, 0); }
+  double GetRightPosition() const { return drivetrain_plant_->Y(1, 0); }
+
+  // Sends out the position queue messages.
+  void SendPositionMessage() {
+    const double left_encoder = GetLeftPosition();
+    const double right_encoder = GetRightPosition();
+
+    ::aos::ScopedMessagePtr<control_loops::Drivetrain::Position> position =
+        my_drivetrain_loop_.position.MakeMessage();
+    position->left_encoder = left_encoder;
+    position->right_encoder = right_encoder;
+    position.Send();
+  }
+
+  // Simulates the drivetrain moving for one timestep.
+  void Simulate() {
+    last_left_position_ = drivetrain_plant_->Y(0, 0);
+    last_right_position_ = drivetrain_plant_->Y(1, 0);
+    EXPECT_TRUE(my_drivetrain_loop_.output.FetchLatest());
+    drivetrain_plant_->mutable_U() << my_drivetrain_loop_.output->left_voltage,
+        my_drivetrain_loop_.output->right_voltage;
+    drivetrain_plant_->Update();
+  }
+
+  ::std::unique_ptr<StateFeedbackPlant<4, 2, 2>> drivetrain_plant_;
+ private:
+  Drivetrain my_drivetrain_loop_;
+  double last_left_position_;
+  double last_right_position_;
+};
+
+class DrivetrainTest : public ::aos::testing::ControlLoopTest {
+ protected:
+  // Create a new instance of the test queue so that it invalidates the queue
+  // that it points to.  Otherwise, we will have a pointer to shared memory that
+  // is no longer valid.
+  Drivetrain my_drivetrain_loop_;
+
+  // Create a loop and simulation plant.
+  DrivetrainLoop drivetrain_motor_;
+  DrivetrainSimulation drivetrain_motor_plant_;
+
+  DrivetrainTest() : my_drivetrain_loop_(".frc971.control_loops.drivetrain",
+                               0x8a8dde77,
+                               ".frc971.control_loops.drivetrain.goal",
+                               ".frc971.control_loops.drivetrain.position",
+                               ".frc971.control_loops.drivetrain.output",
+                               ".frc971.control_loops.drivetrain.status"),
+                drivetrain_motor_(&my_drivetrain_loop_),
+                drivetrain_motor_plant_() {
+    ::frc971::sensors::gyro_reading.Clear();
+  }
+
+  void VerifyNearGoal() {
+    my_drivetrain_loop_.goal.FetchLatest();
+    my_drivetrain_loop_.position.FetchLatest();
+    EXPECT_NEAR(my_drivetrain_loop_.goal->left_goal,
+                drivetrain_motor_plant_.GetLeftPosition(),
+                1e-2);
+    EXPECT_NEAR(my_drivetrain_loop_.goal->right_goal,
+                drivetrain_motor_plant_.GetRightPosition(),
+                1e-2);
+  }
+
+  virtual ~DrivetrainTest() {
+    ::frc971::sensors::gyro_reading.Clear();
+  }
+};
+
+// Tests that the drivetrain converges on a goal.
+TEST_F(DrivetrainTest, ConvergesCorrectly) {
+  my_drivetrain_loop_.goal.MakeWithBuilder().control_loop_driving(true)
+      .left_goal(-1.0)
+      .right_goal(1.0).Send();
+  for (int i = 0; i < 200; ++i) {
+    drivetrain_motor_plant_.SendPositionMessage();
+    drivetrain_motor_.Iterate();
+    drivetrain_motor_plant_.Simulate();
+    SimulateTimestep(true);
+  }
+  VerifyNearGoal();
+}
+
+// Tests that it survives disabling.
+TEST_F(DrivetrainTest, SurvivesDisabling) {
+  my_drivetrain_loop_.goal.MakeWithBuilder().control_loop_driving(true)
+      .left_goal(-1.0)
+      .right_goal(1.0).Send();
+  for (int i = 0; i < 500; ++i) {
+    drivetrain_motor_plant_.SendPositionMessage();
+    drivetrain_motor_.Iterate();
+    drivetrain_motor_plant_.Simulate();
+    if (i > 20 && i < 200) {
+      SimulateTimestep(false);
+    } else {
+      SimulateTimestep(true);
+    }
+  }
+  VerifyNearGoal();
+}
+
+// Tests surviving bad positions.
+TEST_F(DrivetrainTest, SurvivesBadPosition) {
+  my_drivetrain_loop_.goal.MakeWithBuilder().control_loop_driving(true)
+      .left_goal(-1.0)
+      .right_goal(1.0).Send();
+  for (int i = 0; i < 500; ++i) {
+    if (i > 20 && i < 200) {
+    } else {
+      drivetrain_motor_plant_.SendPositionMessage();
+    }
+    drivetrain_motor_.Iterate();
+    drivetrain_motor_plant_.Simulate();
+    SimulateTimestep(true);
+  }
+  VerifyNearGoal();
+}
+
+::aos::controls::HPolytope<2> MakeBox(double x1_min, double x1_max,
+                                      double x2_min, double x2_max) {
+  Eigen::Matrix<double, 4, 2> box_H;
+  box_H << /*[[*/ 1.0, 0.0 /*]*/,
+            /*[*/-1.0, 0.0 /*]*/,
+            /*[*/ 0.0, 1.0 /*]*/,
+            /*[*/ 0.0,-1.0 /*]]*/;
+  Eigen::Matrix<double, 4, 1> box_k;
+  box_k << /*[[*/ x1_max /*]*/,
+            /*[*/-x1_min /*]*/,
+            /*[*/ x2_max /*]*/,
+            /*[*/-x2_min /*]]*/;
+  ::aos::controls::HPolytope<2> t_poly(box_H, box_k);
+  return t_poly;
+}
+
+class CoerceGoalTest : public ::testing::Test {
+ public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+// WHOOOHH!
+TEST_F(CoerceGoalTest, Inside) {
+  ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
+
+  Eigen::Matrix<double, 1, 2> K;
+  K << /*[[*/ 1, -1 /*]]*/;
+
+  Eigen::Matrix<double, 2, 1> R;
+  R << /*[[*/ 1.5, 1.5 /*]]*/;
+
+  Eigen::Matrix<double, 2, 1> output =
+      ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+  EXPECT_EQ(R(0, 0), output(0, 0));
+  EXPECT_EQ(R(1, 0), output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, Outside_Inside_Intersect) {
+  ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
+
+  Eigen::Matrix<double, 1, 2> K;
+  K << 1, -1;
+
+  Eigen::Matrix<double, 2, 1> R;
+  R << 5, 5;
+
+  Eigen::Matrix<double, 2, 1> output =
+      ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+  EXPECT_EQ(2.0, output(0, 0));
+  EXPECT_EQ(2.0, output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, Outside_Inside_no_Intersect) {
+  ::aos::controls::HPolytope<2> box = MakeBox(3, 4, 1, 2);
+
+  Eigen::Matrix<double, 1, 2> K;
+  K << 1, -1;
+
+  Eigen::Matrix<double, 2, 1> R;
+  R << 5, 5;
+
+  Eigen::Matrix<double, 2, 1> output =
+      ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+  EXPECT_EQ(3.0, output(0, 0));
+  EXPECT_EQ(2.0, output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, Middle_Of_Edge) {
+  ::aos::controls::HPolytope<2> box = MakeBox(0, 4, 1, 2);
+
+  Eigen::Matrix<double, 1, 2> K;
+  K << -1, 1;
+
+  Eigen::Matrix<double, 2, 1> R;
+  R << 5, 5;
+
+  Eigen::Matrix<double, 2, 1> output =
+      ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+  EXPECT_EQ(2.0, output(0, 0));
+  EXPECT_EQ(2.0, output(1, 0));
+}
+
+TEST_F(CoerceGoalTest, PerpendicularLine) {
+  ::aos::controls::HPolytope<2> box = MakeBox(1, 2, 1, 2);
+
+  Eigen::Matrix<double, 1, 2> K;
+  K << 1, 1;
+
+  Eigen::Matrix<double, 2, 1> R;
+  R << 5, 5;
+
+  Eigen::Matrix<double, 2, 1> output =
+      ::frc971::control_loops::CoerceGoal(box, K, 0, R);
+
+  EXPECT_EQ(1.0, output(0, 0));
+  EXPECT_EQ(1.0, output(1, 0));
+}
+
+}  // namespace testing
+}  // namespace control_loops
+}  // namespace bot3
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..f06acc0
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,11 @@
+#include "bot3/control_loops/drivetrain/drivetrain.h"
+
+#include "aos/linux_code/init.h"
+
+int main() {
+  ::aos::Init();
+  bot3::control_loops::DrivetrainLoop drivetrain;
+  drivetrain.Run();
+  ::aos::Cleanup();
+  return 0;
+}
diff --git a/y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.cc b/y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.cc
new file mode 100644
index 0000000..1287483
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.cc
@@ -0,0 +1,47 @@
+#include "frc971/control_loops/drivetrain/polydrivetrain_cim_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<1, 1, 1> MakeCIMPlantCoefficients() {
+  Eigen::Matrix<double, 1, 1> A;
+  A << 0.614537580221;
+  Eigen::Matrix<double, 1, 1> B;
+  B << 15.9657598852;
+  Eigen::Matrix<double, 1, 1> C;
+  C << 1;
+  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<1, 1, 1>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<1, 1, 1> MakeCIMController() {
+  Eigen::Matrix<double, 1, 1> L;
+  L << 0.604537580221;
+  Eigen::Matrix<double, 1, 1> K;
+  K << 0.0378646293422;
+  return StateFeedbackController<1, 1, 1>(L, K, MakeCIMPlantCoefficients());
+}
+
+StateFeedbackPlant<1, 1, 1> MakeCIMPlant() {
+  ::std::vector<StateFeedbackPlantCoefficients<1, 1, 1> *> plants(1);
+  plants[0] = new StateFeedbackPlantCoefficients<1, 1, 1>(MakeCIMPlantCoefficients());
+  return StateFeedbackPlant<1, 1, 1>(plants);
+}
+
+StateFeedbackLoop<1, 1, 1> MakeCIMLoop() {
+  ::std::vector<StateFeedbackController<1, 1, 1> *> controllers(1);
+  controllers[0] = new StateFeedbackController<1, 1, 1>(MakeCIMController());
+  return StateFeedbackLoop<1, 1, 1>(controllers);
+}
+
+}  // namespace control_loops
+}  // namespace frc971
diff --git a/y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h b/y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h
new file mode 100644
index 0000000..12b2c59
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h
@@ -0,0 +1,20 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<1, 1, 1> MakeCIMPlantCoefficients();
+
+StateFeedbackController<1, 1, 1> MakeCIMController();
+
+StateFeedbackPlant<1, 1, 1> MakeCIMPlant();
+
+StateFeedbackLoop<1, 1, 1> MakeCIMLoop();
+
+}  // namespace control_loops
+}  // namespace frc971
+
+#endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
diff --git a/y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc b/y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
new file mode 100644
index 0000000..540741c
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
@@ -0,0 +1,125 @@
+#include "bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowLowPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 0.498791664199, 0.0897184892451, 0.0897184892451, 0.498791664199;
+  Eigen::Matrix<double, 2, 2> B;
+  B << 0.0720868114296, -0.0129038552514, -0.0129038552514, 0.0720868114296;
+  Eigen::Matrix<double, 2, 2> C;
+  C << 1.0, 0.0, 0.0, 1.0;
+  Eigen::Matrix<double, 2, 2> D;
+  D << 0.0, 0.0, 0.0, 0.0;
+  Eigen::Matrix<double, 2, 1> U_max;
+  U_max << 12.0, 12.0;
+  Eigen::Matrix<double, 2, 1> U_min;
+  U_min << -12.0, -12.0;
+  return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowHighPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 0.491841728751, 0.0145551608494, 0.124279814134, 0.921454874639;
+  Eigen::Matrix<double, 2, 2> B;
+  B << 0.0730863931411, -0.00611711060145, -0.0178746738354, 0.0330102308046;
+  Eigen::Matrix<double, 2, 2> C;
+  C << 1.0, 0.0, 0.0, 1.0;
+  Eigen::Matrix<double, 2, 2> D;
+  D << 0.0, 0.0, 0.0, 0.0;
+  Eigen::Matrix<double, 2, 1> U_max;
+  U_max << 12.0, 12.0;
+  Eigen::Matrix<double, 2, 1> U_min;
+  U_min << -12.0, -12.0;
+  return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighLowPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 0.921454874639, 0.124279814134, 0.0145551608494, 0.491841728751;
+  Eigen::Matrix<double, 2, 2> B;
+  B << 0.0330102308046, -0.0178746738354, -0.00611711060145, 0.0730863931411;
+  Eigen::Matrix<double, 2, 2> C;
+  C << 1.0, 0.0, 0.0, 1.0;
+  Eigen::Matrix<double, 2, 2> D;
+  D << 0.0, 0.0, 0.0, 0.0;
+  Eigen::Matrix<double, 2, 1> U_max;
+  U_max << 12.0, 12.0;
+  Eigen::Matrix<double, 2, 1> U_min;
+  U_min << -12.0, -12.0;
+  return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighHighPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 0.920202836632, 0.0195951135, 0.0195951135, 0.920202836632;
+  Eigen::Matrix<double, 2, 2> B;
+  B << 0.0335364259492, -0.00823525605573, -0.00823525605573, 0.0335364259492;
+  Eigen::Matrix<double, 2, 2> C;
+  C << 1.0, 0.0, 0.0, 1.0;
+  Eigen::Matrix<double, 2, 2> D;
+  D << 0.0, 0.0, 0.0, 0.0;
+  Eigen::Matrix<double, 2, 1> U_max;
+  U_max << 12.0, 12.0;
+  Eigen::Matrix<double, 2, 1> U_min;
+  U_min << -12.0, -12.0;
+  return StateFeedbackPlantCoefficients<2, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowLowController() {
+  Eigen::Matrix<double, 2, 2> L;
+  L << 0.478791664199, 0.0897184892451, 0.0897184892451, 0.478791664199;
+  Eigen::Matrix<double, 2, 2> K;
+  K << -1.22029287467, 1.0261517351, 1.0261517351, -1.22029287467;
+  return StateFeedbackController<2, 2, 2>(L, K, MakeVelocityDrivetrainLowLowPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowHighController() {
+  Eigen::Matrix<double, 2, 2> L;
+  L << 0.450790078471, 0.12008012565, 0.12008012565, 0.922506524919;
+  Eigen::Matrix<double, 2, 2> K;
+  K << -1.22005303899, 1.06234079364, 3.10424257883, 10.3132835345;
+  return StateFeedbackController<2, 2, 2>(L, K, MakeVelocityDrivetrainLowHighPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighLowController() {
+  Eigen::Matrix<double, 2, 2> L;
+  L << 0.918551885829, 0.0172871978996, 0.0172871978996, 0.454744717561;
+  Eigen::Matrix<double, 2, 2> K;
+  K << 10.3132835345, 3.10424257883, 1.06234079364, -1.22005303899;
+  return StateFeedbackController<2, 2, 2>(L, K, MakeVelocityDrivetrainHighLowPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighHighController() {
+  Eigen::Matrix<double, 2, 2> L;
+  L << 0.900202836632, 0.0195951135, 0.0195951135, 0.900202836632;
+  Eigen::Matrix<double, 2, 2> K;
+  K << 10.3132878272, 3.11684016931, 3.11684016931, 10.3132878272;
+  return StateFeedbackController<2, 2, 2>(L, K, MakeVelocityDrivetrainHighHighPlantCoefficients());
+}
+
+StateFeedbackPlant<2, 2, 2> MakeVelocityDrivetrainPlant() {
+  ::std::vector<StateFeedbackPlantCoefficients<2, 2, 2> *> plants(4);
+  plants[0] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainLowLowPlantCoefficients());
+  plants[1] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainLowHighPlantCoefficients());
+  plants[2] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainHighLowPlantCoefficients());
+  plants[3] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainHighHighPlantCoefficients());
+  return StateFeedbackPlant<2, 2, 2>(plants);
+}
+
+StateFeedbackLoop<2, 2, 2> MakeVelocityDrivetrainLoop() {
+  ::std::vector<StateFeedbackController<2, 2, 2> *> controllers(4);
+  controllers[0] = new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainLowLowController());
+  controllers[1] = new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainLowHighController());
+  controllers[2] = new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainHighLowController());
+  controllers[3] = new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainHighHighController());
+  return StateFeedbackLoop<2, 2, 2>(controllers);
+}
+
+}  // namespace control_loops
+}  // namespace bot3
diff --git a/y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h b/y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h
new file mode 100644
index 0000000..191d1aa
--- /dev/null
+++ b/y2014_bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h
@@ -0,0 +1,32 @@
+#ifndef BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
+#define BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace bot3 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowLowPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowLowController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowHighPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowHighController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighLowPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighLowController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighHighPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighHighController();
+
+StateFeedbackPlant<2, 2, 2> MakeVelocityDrivetrainPlant();
+
+StateFeedbackLoop<2, 2, 2> MakeVelocityDrivetrainLoop();
+
+}  // namespace control_loops
+}  // namespace bot3
+
+#endif  // BOT3_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
diff --git a/y2014_bot3/control_loops/python/drivetrain.py b/y2014_bot3/control_loops/python/drivetrain.py
new file mode 100755
index 0000000..bc0df04
--- /dev/null
+++ b/y2014_bot3/control_loops/python/drivetrain.py
@@ -0,0 +1,239 @@
+#!/usr/bin/python
+
+import control_loop
+import controls
+import numpy
+import sys
+from matplotlib import pylab
+
+
+class CIM(control_loop.ControlLoop):
+  def __init__(self):
+    super(CIM, self).__init__("CIM")
+    # Stall Torque in N m
+    self.stall_torque = 2.42
+    # Stall Current in Amps
+    self.stall_current = 133
+    # Free Speed in RPM
+    self.free_speed = 4650.0
+    # Free Current in Amps
+    self.free_current = 2.7
+    # Moment of inertia of the CIM in kg m^2
+    self.J = 0.0001
+    # Resistance of the motor, divided by 2 to account for the 2 motors
+    self.R = 12.0 / self.stall_current
+    # Motor velocity constant
+    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+              (12.0 - self.R * self.free_current))
+    # Torque constant
+    self.Kt = self.stall_torque / self.stall_current
+    # Control loop time step
+    self.dt = 0.005
+
+    # State feedback matrices
+    self.A_continuous = numpy.matrix(
+        [[-self.Kt / self.Kv / (self.J * self.R)]])
+    self.B_continuous = numpy.matrix(
+        [[self.Kt / (self.J * self.R)]])
+    self.C = numpy.matrix([[1]])
+    self.D = numpy.matrix([[0]])
+
+    self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+                                               self.B_continuous, self.dt)
+
+    self.PlaceControllerPoles([0.01])
+    self.PlaceObserverPoles([0.01])
+
+    self.U_max = numpy.matrix([[12.0]])
+    self.U_min = numpy.matrix([[-12.0]])
+
+    self.InitializeState()
+
+
+class Drivetrain(control_loop.ControlLoop):
+  def __init__(self, name="Drivetrain", left_low=True, right_low=True):
+    super(Drivetrain, self).__init__(name)
+    # Stall Torque in N m
+    self.stall_torque = 2.42
+    # Stall Current in Amps
+    self.stall_current = 133
+    # Free Speed in RPM. Used number from last year.
+    self.free_speed = 4650.0
+    # Free Current in Amps
+    self.free_current = 2.7
+    # Moment of inertia of the drivetrain in kg m^2
+    # Just borrowed from last year.
+    self.J = 4.5
+    # Mass of the robot, in kg.
+    self.m = 60
+    # Radius of the robot, in meters (from last year).
+    self.rb = 0.7112 / 2.0
+    # Radius of the wheels, in meters.
+    self.r = .04445
+    # Resistance of the motor, divided by the number of motors.
+    self.R = 12.0 / self.stall_current / 4
+    # Motor velocity constant
+    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+               (12.0 - self.R * self.free_current))
+    # Torque constant
+    self.Kt = self.stall_torque / self.stall_current
+    # Gear ratios
+    self.G_low = 14.0 / 60.0 * 17.0 / 50.0
+    self.G_high = 30.0 / 44.0 * 17.0 / 50.0
+    if left_low:
+      self.Gl = self.G_low
+    else:
+      self.Gl = self.G_high
+    if right_low:
+      self.Gr = self.G_low
+    else:
+      self.Gr = self.G_high
+    # Control loop time step
+    self.dt = 0.01
+
+    # These describe the way that a given side of a robot will be influenced
+    # by the other side. Units of 1 / kg.
+    self.msp = 1.0 / self.m + self.rb * self.rb / self.J
+    self.msn = 1.0 / self.m - self.rb * self.rb / self.J
+    # The calculations which we will need for A and B.
+    self.tcl = -self.Kt / self.Kv / (self.Gl * self.Gl * self.R * self.r * self.r)
+    self.tcr = -self.Kt / self.Kv / (self.Gr * self.Gr * self.R * self.r * self.r)
+    self.mpl = self.Kt / (self.Gl * self.R * self.r)
+    self.mpr = self.Kt / (self.Gr * self.R * self.r)
+
+    # State feedback matrices
+    # X will be of the format
+    # [[positionl], [velocityl], [positionr], velocityr]]
+    self.A_continuous = numpy.matrix(
+        [[0, 1, 0, 0],
+         [0, self.msp * self.tcl, 0, self.msn * self.tcr],
+         [0, 0, 0, 1],
+         [0, self.msn * self.tcl, 0, self.msp * self.tcr]])
+    self.B_continuous = numpy.matrix(
+        [[0, 0],
+         [self.msp * self.mpl, self.msn * self.mpr],
+         [0, 0],
+         [self.msn * self.mpl, self.msp * self.mpr]])
+    self.C = numpy.matrix([[1, 0, 0, 0],
+                           [0, 0, 1, 0]])
+    self.D = numpy.matrix([[0, 0],
+                           [0, 0]])
+
+    #print "THE NUMBER I WANT" + str(numpy.linalg.inv(self.A_continuous) * -self.B_continuous * numpy.matrix([[12.0], [12.0]]))
+    self.A, self.B = self.ContinuousToDiscrete(
+        self.A_continuous, self.B_continuous, self.dt)
+
+    # Poles from last year.
+    self.hp = 0.65
+    self.lp = 0.83
+    self.PlaceControllerPoles([self.hp, self.lp, self.hp, self.lp])
+    print self.K
+    q_pos = 0.07
+    q_vel = 1.0
+    self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0, 0.0, 0.0],
+                           [0.0, (1.0 / (q_vel ** 2.0)), 0.0, 0.0],
+                           [0.0, 0.0, (1.0 / (q_pos ** 2.0)), 0.0],
+                           [0.0, 0.0, 0.0, (1.0 / (q_vel ** 2.0))]])
+
+    self.R = numpy.matrix([[(1.0 / (12.0 ** 2.0)), 0.0],
+                           [0.0, (1.0 / (12.0 ** 2.0))]])
+    self.K = controls.dlqr(self.A, self.B, self.Q, self.R)
+    print self.A
+    print self.B
+    print self.K
+    print numpy.linalg.eig(self.A - self.B * self.K)[0]
+
+    self.hlp = 0.3
+    self.llp = 0.4
+    self.PlaceObserverPoles([self.hlp, self.hlp, self.llp, self.llp])
+
+    self.U_max = numpy.matrix([[12.0], [12.0]])
+    self.U_min = numpy.matrix([[-12.0], [-12.0]])
+    self.InitializeState()
+
+def main(argv):
+  # Simulate the response of the system to a step input.
+  drivetrain = Drivetrain()
+  simulated_left = []
+  simulated_right = []
+  for _ in xrange(100):
+    drivetrain.Update(numpy.matrix([[12.0], [12.0]]))
+    simulated_left.append(drivetrain.X[0, 0])
+    simulated_right.append(drivetrain.X[2, 0])
+
+  #pylab.plot(range(100), simulated_left)
+  #pylab.plot(range(100), simulated_right)
+  #pylab.show()
+
+  # Simulate forwards motion.
+  drivetrain = Drivetrain()
+  close_loop_left = []
+  close_loop_right = []
+  R = numpy.matrix([[1.0], [0.0], [1.0], [0.0]])
+  for _ in xrange(100):
+    U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
+                   drivetrain.U_min, drivetrain.U_max)
+    drivetrain.UpdateObserver(U)
+    drivetrain.Update(U)
+    close_loop_left.append(drivetrain.X[0, 0])
+    close_loop_right.append(drivetrain.X[2, 0])
+
+  #pylab.plot(range(100), close_loop_left)
+  #pylab.plot(range(100), close_loop_right)
+  #pylab.show()
+
+  # Try turning in place
+  drivetrain = Drivetrain()
+  close_loop_left = []
+  close_loop_right = []
+  R = numpy.matrix([[-1.0], [0.0], [1.0], [0.0]])
+  for _ in xrange(100):
+    U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
+                   drivetrain.U_min, drivetrain.U_max)
+    drivetrain.UpdateObserver(U)
+    drivetrain.Update(U)
+    close_loop_left.append(drivetrain.X[0, 0])
+    close_loop_right.append(drivetrain.X[2, 0])
+
+  #pylab.plot(range(100), close_loop_left)
+  #pylab.plot(range(100), close_loop_right)
+  #pylab.show()
+
+  # Try turning just one side.
+  drivetrain = Drivetrain()
+  close_loop_left = []
+  close_loop_right = []
+  R = numpy.matrix([[0.0], [0.0], [1.0], [0.0]])
+  for _ in xrange(100):
+    U = numpy.clip(drivetrain.K * (R - drivetrain.X_hat),
+                   drivetrain.U_min, drivetrain.U_max)
+    drivetrain.UpdateObserver(U)
+    drivetrain.Update(U)
+    close_loop_left.append(drivetrain.X[0, 0])
+    close_loop_right.append(drivetrain.X[2, 0])
+
+  #pylab.plot(range(100), close_loop_left)
+  #pylab.plot(range(100), close_loop_right)
+  #pylab.show()
+
+  # Write the generated constants out to a file.
+  print "Output one"
+  drivetrain_low_low = Drivetrain(name="DrivetrainLowLow", left_low=True, right_low=True)
+  drivetrain_low_high = Drivetrain(name="DrivetrainLowHigh", left_low=True, right_low=False)
+  drivetrain_high_low = Drivetrain(name="DrivetrainHighLow", left_low=False, right_low=True)
+  drivetrain_high_high = Drivetrain(name="DrivetrainHighHigh", left_low=False, right_low=False)
+
+  if len(argv) != 3:
+    print "Expected .h file name and .cc file name"
+  else:
+    dog_loop_writer = control_loop.ControlLoopWriter(
+        "Drivetrain", [drivetrain_low_low, drivetrain_low_high,
+                       drivetrain_high_low, drivetrain_high_high],
+        namespaces = ["bot3", "control_loops"])
+    if argv[1][-3:] == '.cc':
+      dog_loop_writer.Write(argv[2], argv[1])
+    else:
+      dog_loop_writer.Write(argv[1], argv[2])
+
+if __name__ == '__main__':
+  sys.exit(main(sys.argv))
diff --git a/y2014_bot3/control_loops/python/polydrivetrain.py b/y2014_bot3/control_loops/python/polydrivetrain.py
new file mode 100755
index 0000000..49d390b
--- /dev/null
+++ b/y2014_bot3/control_loops/python/polydrivetrain.py
@@ -0,0 +1,501 @@
+#!/usr/bin/python
+
+import numpy
+import sys
+import polytope
+import drivetrain
+import control_loop
+import controls
+from matplotlib import pylab
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+
+def CoerceGoal(region, K, w, R):
+  """Intersects a line with a region, and finds the closest point to R.
+
+  Finds a point that is closest to R inside the region, and on the line
+  defined by K X = w.  If it is not possible to find a point on the line,
+  finds a point that is inside the region and closest to the line.  This
+  function assumes that
+
+  Args:
+    region: HPolytope, the valid goal region.
+    K: numpy.matrix (2 x 1), the matrix for the equation [K1, K2] [x1; x2] = w
+    w: float, the offset in the equation above.
+    R: numpy.matrix (2 x 1), the point to be closest to.
+
+  Returns:
+    numpy.matrix (2 x 1), the point.
+  """
+  return DoCoerceGoal(region, K, w, R)[0]
+
+def DoCoerceGoal(region, K, w, R):
+  if region.IsInside(R):
+    return (R, True)
+
+  perpendicular_vector = K.T / numpy.linalg.norm(K)
+  parallel_vector = numpy.matrix([[perpendicular_vector[1, 0]],
+                                  [-perpendicular_vector[0, 0]]])
+
+  # We want to impose the constraint K * X = w on the polytope H * X <= k.
+  # We do this by breaking X up into parallel and perpendicular components to
+  # the half plane.  This gives us the following equation.
+  #
+  #  parallel * (parallel.T \dot X) + perpendicular * (perpendicular \dot X)) = X
+  #
+  # Then, substitute this into the polytope.
+  #
+  #  H * (parallel * (parallel.T \dot X) + perpendicular * (perpendicular \dot X)) <= k
+  #
+  # Substitute K * X = w
+  #
+  # H * parallel * (parallel.T \dot X) + H * perpendicular * w <= k
+  #
+  # Move all the knowns to the right side.
+  #
+  # H * parallel * ([parallel1 parallel2] * X) <= k - H * perpendicular * w
+  #
+  # Let t = parallel.T \dot X, the component parallel to the surface.
+  #
+  # H * parallel * t <= k - H * perpendicular * w
+  #
+  # This is a polytope which we can solve, and use to figure out the range of X
+  # that we care about!
+
+  t_poly = polytope.HPolytope(
+      region.H * parallel_vector,
+      region.k - region.H * perpendicular_vector * w)
+
+  vertices = t_poly.Vertices()
+
+  if vertices.shape[0]:
+    # The region exists!
+    # Find the closest vertex
+    min_distance = numpy.infty
+    closest_point = None
+    for vertex in vertices:
+      point = parallel_vector * vertex + perpendicular_vector * w
+      length = numpy.linalg.norm(R - point)
+      if length < min_distance:
+        min_distance = length
+        closest_point = point
+
+    return (closest_point, True)
+  else:
+    # Find the vertex of the space that is closest to the line.
+    region_vertices = region.Vertices()
+    min_distance = numpy.infty
+    closest_point = None
+    for vertex in region_vertices:
+      point = vertex.T
+      length = numpy.abs((perpendicular_vector.T * point)[0, 0])
+      if length < min_distance:
+        min_distance = length
+        closest_point = point
+
+    return (closest_point, False)
+
+
+class VelocityDrivetrainModel(control_loop.ControlLoop):
+  def __init__(self, left_low=True, right_low=True, name="VelocityDrivetrainModel"):
+    super(VelocityDrivetrainModel, self).__init__(name)
+    self._drivetrain = drivetrain.Drivetrain(left_low=left_low,
+                                             right_low=right_low)
+    self.dt = 0.01
+    self.A_continuous = numpy.matrix(
+        [[self._drivetrain.A_continuous[1, 1], self._drivetrain.A_continuous[1, 3]],
+         [self._drivetrain.A_continuous[3, 1], self._drivetrain.A_continuous[3, 3]]])
+
+    self.B_continuous = numpy.matrix(
+        [[self._drivetrain.B_continuous[1, 0], self._drivetrain.B_continuous[1, 1]],
+         [self._drivetrain.B_continuous[3, 0], self._drivetrain.B_continuous[3, 1]]])
+    self.C = numpy.matrix(numpy.eye(2));
+    self.D = numpy.matrix(numpy.zeros((2, 2)));
+
+    self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+                                               self.B_continuous, self.dt)
+
+    # FF * X = U (steady state)
+    self.FF = self.B.I * (numpy.eye(2) - self.A)
+
+    self.PlaceControllerPoles([0.6, 0.6])
+    self.PlaceObserverPoles([0.02, 0.02])
+
+    self.G_high = self._drivetrain.G_high
+    self.G_low = self._drivetrain.G_low
+    self.R = self._drivetrain.R
+    self.r = self._drivetrain.r
+    self.Kv = self._drivetrain.Kv
+    self.Kt = self._drivetrain.Kt
+
+    self.U_max = self._drivetrain.U_max
+    self.U_min = self._drivetrain.U_min
+
+
+class VelocityDrivetrain(object):
+  HIGH = 'high'
+  LOW = 'low'
+  SHIFTING_UP = 'up'
+  SHIFTING_DOWN = 'down'
+
+  def __init__(self):
+    self.drivetrain_low_low = VelocityDrivetrainModel(
+        left_low=True, right_low=True, name='VelocityDrivetrainLowLow')
+    self.drivetrain_low_high = VelocityDrivetrainModel(left_low=True, right_low=False, name='VelocityDrivetrainLowHigh')
+    self.drivetrain_high_low = VelocityDrivetrainModel(left_low=False, right_low=True, name = 'VelocityDrivetrainHighLow')
+    self.drivetrain_high_high = VelocityDrivetrainModel(left_low=False, right_low=False, name = 'VelocityDrivetrainHighHigh')
+
+    # X is [lvel, rvel]
+    self.X = numpy.matrix(
+        [[0.0],
+         [0.0]])
+
+    self.U_poly = polytope.HPolytope(
+        numpy.matrix([[1, 0],
+                      [-1, 0],
+                      [0, 1],
+                      [0, -1]]),
+        numpy.matrix([[12],
+                      [12],
+                      [12],
+                      [12]]))
+
+    self.U_max = numpy.matrix(
+        [[12.0],
+         [12.0]])
+    self.U_min = numpy.matrix(
+        [[-12.0000000000],
+         [-12.0000000000]])
+
+    self.dt = 0.01
+
+    self.R = numpy.matrix(
+        [[0.0],
+         [0.0]])
+
+    # ttrust is the comprimise between having full throttle negative inertia,
+    # and having no throttle negative inertia.  A value of 0 is full throttle
+    # inertia.  A value of 1 is no throttle negative inertia.
+    self.ttrust = 1.0
+
+    self.left_gear = VelocityDrivetrain.LOW
+    self.right_gear = VelocityDrivetrain.LOW
+    self.left_shifter_position = 0.0
+    self.right_shifter_position = 0.0
+    self.left_cim = drivetrain.CIM()
+    self.right_cim = drivetrain.CIM()
+
+  def IsInGear(self, gear):
+    return gear is VelocityDrivetrain.HIGH or gear is VelocityDrivetrain.LOW
+
+  def MotorRPM(self, shifter_position, velocity):
+    if shifter_position > 0.5:
+      return (velocity / self.CurrentDrivetrain().G_high /
+              self.CurrentDrivetrain().r)
+    else:
+      return (velocity / self.CurrentDrivetrain().G_low /
+              self.CurrentDrivetrain().r)
+
+  def CurrentDrivetrain(self):
+    if self.left_shifter_position > 0.5:
+      if self.right_shifter_position > 0.5:
+        return self.drivetrain_high_high
+      else:
+        return self.drivetrain_high_low
+    else:
+      if self.right_shifter_position > 0.5:
+        return self.drivetrain_low_high
+      else:
+        return self.drivetrain_low_low
+
+  def SimShifter(self, gear, shifter_position):
+    if gear is VelocityDrivetrain.HIGH or gear is VelocityDrivetrain.SHIFTING_UP:
+      shifter_position = min(shifter_position + 0.5, 1.0)
+    else:
+      shifter_position = max(shifter_position - 0.5, 0.0)
+
+    if shifter_position == 1.0:
+      gear = VelocityDrivetrain.HIGH
+    elif shifter_position == 0.0:
+      gear = VelocityDrivetrain.LOW
+
+    return gear, shifter_position
+
+  def ComputeGear(self, wheel_velocity, should_print=False, current_gear=False, gear_name=None):
+    high_omega = (wheel_velocity / self.CurrentDrivetrain().G_high /
+                  self.CurrentDrivetrain().r)
+    low_omega = (wheel_velocity / self.CurrentDrivetrain().G_low /
+                 self.CurrentDrivetrain().r)
+    #print gear_name, "Motor Energy Difference.", 0.5 * 0.000140032647 * (low_omega * low_omega - high_omega * high_omega), "joules"
+    high_torque = ((12.0 - high_omega / self.CurrentDrivetrain().Kv) *
+                   self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().R)
+    low_torque = ((12.0 - low_omega / self.CurrentDrivetrain().Kv) *
+                  self.CurrentDrivetrain().Kt / self.CurrentDrivetrain().R)
+    high_power = high_torque * high_omega
+    low_power = low_torque * low_omega
+    #if should_print:
+    #  print gear_name, "High omega", high_omega, "Low omega", low_omega
+    #  print gear_name, "High torque", high_torque, "Low torque", low_torque
+    #  print gear_name, "High power", high_power, "Low power", low_power
+
+    # Shift algorithm improvements.
+    # TODO(aschuh):
+    # It takes time to shift.  Shifting down for 1 cycle doesn't make sense
+    # because you will end up slower than without shifting.  Figure out how
+    # to include that info.
+    # If the driver is still in high gear, but isn't asking for the extra power
+    # from low gear, don't shift until he asks for it.
+    goal_gear_is_high = high_power > low_power
+    #goal_gear_is_high = True
+
+    if not self.IsInGear(current_gear):
+      print gear_name, 'Not in gear.'
+      return current_gear
+    else:
+      is_high = current_gear is VelocityDrivetrain.HIGH
+      if is_high != goal_gear_is_high:
+        if goal_gear_is_high:
+          print gear_name, 'Shifting up.'
+          return VelocityDrivetrain.SHIFTING_UP
+        else:
+          print gear_name, 'Shifting down.'
+          return VelocityDrivetrain.SHIFTING_DOWN
+      else:
+        return current_gear
+
+  def FilterVelocity(self, throttle):
+    # Invert the plant to figure out how the velocity filter would have to work
+    # out in order to filter out the forwards negative inertia.
+    # This math assumes that the left and right power and velocity are equal.
+
+    # The throttle filter should filter such that the motor in the highest gear
+    # should be controlling the time constant.
+    # Do this by finding the index of FF that has the lowest value, and computing
+    # the sums using that index.
+    FF_sum = self.CurrentDrivetrain().FF.sum(axis=1)
+    min_FF_sum_index = numpy.argmin(FF_sum)
+    min_FF_sum = FF_sum[min_FF_sum_index, 0]
+    min_K_sum = self.CurrentDrivetrain().K[min_FF_sum_index, :].sum()
+    # Compute the FF sum for high gear.
+    high_min_FF_sum = self.drivetrain_high_high.FF[0, :].sum()
+
+    # U = self.K[0, :].sum() * (R - x_avg) + self.FF[0, :].sum() * R
+    # throttle * 12.0 = (self.K[0, :].sum() + self.FF[0, :].sum()) * R
+    #                   - self.K[0, :].sum() * x_avg
+
+    # R = (throttle * 12.0 + self.K[0, :].sum() * x_avg) /
+    #     (self.K[0, :].sum() + self.FF[0, :].sum())
+
+    # U = (K + FF) * R - K * X
+    # (K + FF) ^-1 * (U + K * X) = R
+
+    # Scale throttle by min_FF_sum / high_min_FF_sum.  This will make low gear
+    # have the same velocity goal as high gear, and so that the robot will hold
+    # the same speed for the same throttle for all gears.
+    adjusted_ff_voltage = numpy.clip(throttle * 12.0 * min_FF_sum / high_min_FF_sum, -12.0, 12.0)
+    return ((adjusted_ff_voltage + self.ttrust * min_K_sum * (self.X[0, 0] + self.X[1, 0]) / 2.0)
+            / (self.ttrust * min_K_sum + min_FF_sum))
+
+  def Update(self, throttle, steering):
+    # Shift into the gear which sends the most power to the floor.
+    # This is the same as sending the most torque down to the floor at the
+    # wheel.
+
+    self.left_gear = self.ComputeGear(self.X[0, 0], should_print=True,
+                                      current_gear=self.left_gear,
+                                      gear_name="left")
+    self.right_gear = self.ComputeGear(self.X[1, 0], should_print=True,
+                                       current_gear=self.right_gear,
+                                       gear_name="right")
+    if self.IsInGear(self.left_gear):
+      self.left_cim.X[0, 0] = self.MotorRPM(self.left_shifter_position, self.X[0, 0])
+
+    if self.IsInGear(self.right_gear):
+      self.right_cim.X[0, 0] = self.MotorRPM(self.right_shifter_position, self.X[0, 0])
+
+    if self.IsInGear(self.left_gear) and self.IsInGear(self.right_gear):
+      # Filter the throttle to provide a nicer response.
+      fvel = self.FilterVelocity(throttle)
+
+      # Constant radius means that angualar_velocity / linear_velocity = constant.
+      # Compute the left and right velocities.
+      left_velocity = fvel - steering * numpy.abs(fvel)
+      right_velocity = fvel + steering * numpy.abs(fvel)
+
+      # Write this constraint in the form of K * R = w
+      # angular velocity / linear velocity = constant
+      # (left - right) / (left + right) = constant
+      # left - right = constant * left + constant * right
+
+      # (fvel - steering * numpy.abs(fvel) - fvel - steering * numpy.abs(fvel)) /
+      #  (fvel - steering * numpy.abs(fvel) + fvel + steering * numpy.abs(fvel)) =
+      #       constant
+      # (- 2 * steering * numpy.abs(fvel)) / (2 * fvel) = constant
+      # (-steering * sign(fvel)) = constant
+      # (-steering * sign(fvel)) * (left + right) = left - right
+      # (steering * sign(fvel) + 1) * left + (steering * sign(fvel) - 1) * right = 0
+
+      equality_k = numpy.matrix(
+          [[1 + steering * numpy.sign(fvel), -(1 - steering * numpy.sign(fvel))]])
+      equality_w = 0.0
+
+      self.R[0, 0] = left_velocity
+      self.R[1, 0] = right_velocity
+
+      # Construct a constraint on R by manipulating the constraint on U
+      # Start out with H * U <= k
+      # U = FF * R + K * (R - X)
+      # H * (FF * R + K * R - K * X) <= k
+      # H * (FF + K) * R <= k + H * K * X
+      R_poly = polytope.HPolytope(
+          self.U_poly.H * (self.CurrentDrivetrain().K + self.CurrentDrivetrain().FF),
+          self.U_poly.k + self.U_poly.H * self.CurrentDrivetrain().K * self.X)
+
+      # Limit R back inside the box.
+      self.boxed_R = CoerceGoal(R_poly, equality_k, equality_w, self.R)
+
+      FF_volts = self.CurrentDrivetrain().FF * self.boxed_R
+      self.U_ideal = self.CurrentDrivetrain().K * (self.boxed_R - self.X) + FF_volts
+    else:
+      print 'Not all in gear'
+      if not self.IsInGear(self.left_gear) and not self.IsInGear(self.right_gear):
+        # TODO(austin): Use battery volts here.
+        R_left = self.MotorRPM(self.left_shifter_position, self.X[0, 0])
+        self.U_ideal[0, 0] = numpy.clip(
+            self.left_cim.K * (R_left - self.left_cim.X) + R_left / self.left_cim.Kv,
+            self.left_cim.U_min, self.left_cim.U_max)
+        self.left_cim.Update(self.U_ideal[0, 0])
+
+        R_right = self.MotorRPM(self.right_shifter_position, self.X[1, 0])
+        self.U_ideal[1, 0] = numpy.clip(
+            self.right_cim.K * (R_right - self.right_cim.X) + R_right / self.right_cim.Kv,
+            self.right_cim.U_min, self.right_cim.U_max)
+        self.right_cim.Update(self.U_ideal[1, 0])
+      else:
+        assert False
+
+    self.U = numpy.clip(self.U_ideal, self.U_min, self.U_max)
+
+    # TODO(austin): Model the robot as not accelerating when you shift...
+    # This hack only works when you shift at the same time.
+    if self.IsInGear(self.left_gear) and self.IsInGear(self.right_gear):
+      self.X = self.CurrentDrivetrain().A * self.X + self.CurrentDrivetrain().B * self.U
+
+    self.left_gear, self.left_shifter_position = self.SimShifter(
+        self.left_gear, self.left_shifter_position)
+    self.right_gear, self.right_shifter_position = self.SimShifter(
+        self.right_gear, self.right_shifter_position)
+
+    print "U is", self.U[0, 0], self.U[1, 0]
+    print "Left shifter", self.left_gear, self.left_shifter_position, "Right shifter", self.right_gear, self.right_shifter_position
+
+
+def main(argv):
+  vdrivetrain = VelocityDrivetrain()
+
+  if len(argv) != 5:
+    print "Expected .h file name and .cc file name"
+  else:
+    dog_loop_writer = control_loop.ControlLoopWriter(
+        "VelocityDrivetrain", [vdrivetrain.drivetrain_low_low,
+                       vdrivetrain.drivetrain_low_high,
+                       vdrivetrain.drivetrain_high_low,
+                       vdrivetrain.drivetrain_high_high],
+        namespaces = ["bot3", "control_loops"])
+
+    if argv[1][-3:] == '.cc':
+      dog_loop_writer.Write(argv[2], argv[1])
+    else:
+      dog_loop_writer.Write(argv[1], argv[2])
+
+    cim_writer = control_loop.ControlLoopWriter(
+        "CIM", [drivetrain.CIM()])
+
+    if argv[3][-3:] == '.cc':
+      cim_writer.Write(argv[4], argv[3])
+    else:
+      cim_writer.Write(argv[3], argv[4])
+    return
+
+  vl_plot = []
+  vr_plot = []
+  ul_plot = []
+  ur_plot = []
+  radius_plot = []
+  t_plot = []
+  left_gear_plot = []
+  right_gear_plot = []
+  vdrivetrain.left_shifter_position = 0.0
+  vdrivetrain.right_shifter_position = 0.0
+  vdrivetrain.left_gear = VelocityDrivetrain.LOW
+  vdrivetrain.right_gear = VelocityDrivetrain.LOW
+
+  print "K is", vdrivetrain.CurrentDrivetrain().K
+
+  if vdrivetrain.left_gear is VelocityDrivetrain.HIGH:
+    print "Left is high"
+  else:
+    print "Left is low"
+  if vdrivetrain.right_gear is VelocityDrivetrain.HIGH:
+    print "Right is high"
+  else:
+    print "Right is low"
+
+  for t in numpy.arange(0, 4.0, vdrivetrain.dt):
+    if t < 1.0:
+      vdrivetrain.Update(throttle=1.00, steering=0.0)
+    elif t < 1.2:
+      vdrivetrain.Update(throttle=1.00, steering=0.0)
+    else:
+      vdrivetrain.Update(throttle=1.00, steering=0.0)
+    t_plot.append(t)
+    vl_plot.append(vdrivetrain.X[0, 0])
+    vr_plot.append(vdrivetrain.X[1, 0])
+    ul_plot.append(vdrivetrain.U[0, 0])
+    ur_plot.append(vdrivetrain.U[1, 0])
+    left_gear_plot.append((vdrivetrain.left_gear is VelocityDrivetrain.HIGH) * 2.0 - 10.0)
+    right_gear_plot.append((vdrivetrain.right_gear is VelocityDrivetrain.HIGH) * 2.0 - 10.0)
+
+    fwd_velocity = (vdrivetrain.X[1, 0] + vdrivetrain.X[0, 0]) / 2
+    turn_velocity = (vdrivetrain.X[1, 0] - vdrivetrain.X[0, 0])
+    if abs(fwd_velocity) < 0.0000001:
+      radius_plot.append(turn_velocity)
+    else:
+      radius_plot.append(turn_velocity / fwd_velocity)
+
+  cim_velocity_plot = []
+  cim_voltage_plot = []
+  cim_time = []
+  cim = drivetrain.CIM()
+  R = numpy.matrix([[300]])
+  for t in numpy.arange(0, 0.5, cim.dt):
+    U = numpy.clip(cim.K * (R - cim.X) + R / cim.Kv, cim.U_min, cim.U_max)
+    cim.Update(U)
+    cim_velocity_plot.append(cim.X[0, 0])
+    cim_voltage_plot.append(U[0, 0] * 10)
+    cim_time.append(t)
+  #pylab.plot(cim_time, cim_velocity_plot, label='cim spinup')
+  #pylab.plot(cim_time, cim_voltage_plot, label='cim voltage')
+  #pylab.legend()
+  #pylab.show()
+
+  # TODO(austin):
+  # Shifting compensation.
+
+  # Tighten the turn.
+  # Closed loop drive.
+
+  pylab.plot(t_plot, vl_plot, label='left velocity')
+  pylab.plot(t_plot, vr_plot, label='right velocity')
+  pylab.plot(t_plot, ul_plot, label='left voltage')
+  pylab.plot(t_plot, ur_plot, label='right voltage')
+  pylab.plot(t_plot, radius_plot, label='radius')
+  pylab.plot(t_plot, left_gear_plot, label='left gear high')
+  pylab.plot(t_plot, right_gear_plot, label='right gear high')
+  pylab.legend()
+  pylab.show()
+  return 0
+
+if __name__ == '__main__':
+  sys.exit(main(sys.argv))
diff --git a/y2014_bot3/control_loops/python/polydrivetrain_test.py b/y2014_bot3/control_loops/python/polydrivetrain_test.py
new file mode 100755
index 0000000..434cdca
--- /dev/null
+++ b/y2014_bot3/control_loops/python/polydrivetrain_test.py
@@ -0,0 +1,82 @@
+#!/usr/bin/python
+
+import polydrivetrain
+import numpy
+from numpy.testing import *
+import polytope
+import unittest
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+
+class TestVelocityDrivetrain(unittest.TestCase):
+  def MakeBox(self, x1_min, x1_max, x2_min, x2_max):
+    H = numpy.matrix([[1, 0],
+                      [-1, 0],
+                      [0, 1],
+                      [0, -1]])
+    K = numpy.matrix([[x1_max],
+                      [-x1_min],
+                      [x2_max],
+                      [-x2_min]])
+    return polytope.HPolytope(H, K)
+
+  def test_coerce_inside(self):
+    """Tests coercion when the point is inside the box."""
+    box = self.MakeBox(1, 2, 1, 2)
+
+    # x1 = x2
+    K = numpy.matrix([[1, -1]])
+    w = 0
+
+    assert_array_equal(polydrivetrain.CoerceGoal(box, K, w,
+                                                 numpy.matrix([[1.5], [1.5]])),
+                       numpy.matrix([[1.5], [1.5]]))
+
+  def test_coerce_outside_intersect(self):
+    """Tests coercion when the line intersects the box."""
+    box = self.MakeBox(1, 2, 1, 2)
+
+    # x1 = x2
+    K = numpy.matrix([[1, -1]])
+    w = 0
+
+    assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+                       numpy.matrix([[2.0], [2.0]]))
+
+  def test_coerce_outside_no_intersect(self):
+    """Tests coercion when the line does not intersect the box."""
+    box = self.MakeBox(3, 4, 1, 2)
+
+    # x1 = x2
+    K = numpy.matrix([[1, -1]])
+    w = 0
+
+    assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+                       numpy.matrix([[3.0], [2.0]]))
+
+  def test_coerce_middle_of_edge(self):
+    """Tests coercion when the line intersects the middle of an edge."""
+    box = self.MakeBox(0, 4, 1, 2)
+
+    # x1 = x2
+    K = numpy.matrix([[-1, 1]])
+    w = 0
+
+    assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+                       numpy.matrix([[2.0], [2.0]]))
+
+  def test_coerce_perpendicular_line(self):
+    """Tests coercion when the line does not intersect and is in quadrant 2."""
+    box = self.MakeBox(1, 2, 1, 2)
+
+    # x1 = -x2
+    K = numpy.matrix([[1, 1]])
+    w = 0
+
+    assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+                       numpy.matrix([[1.0], [1.0]]))
+
+
+if __name__ == '__main__':
+  unittest.main()
diff --git a/y2014_bot3/control_loops/rollers/rollers.cc b/y2014_bot3/control_loops/rollers/rollers.cc
new file mode 100644
index 0000000..8777549
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers.cc
@@ -0,0 +1,74 @@
+#include "bot3/control_loops/rollers/rollers.h"
+#include "bot3/control_loops/rollers/rollers.q.h"
+
+namespace bot3 {
+namespace control_loops {
+
+void RollersLoop::RunIteration(const Rollers::Goal *goal,
+                               const Rollers::Position * /*position*/,
+                               Rollers::Output *output,
+                               Rollers::Status * /*status*/) {
+  constexpr double kBot3IntakeForwardVoltage = 12.0;
+  constexpr double kBot3IntakeBackwardVoltage = -12.0;
+  constexpr double kBot3LowGoalForwardVoltage = 6.0;
+  constexpr double kBot3LowGoalBackwardVoltage = -6.0;
+
+  const int intake = goal->intake;
+  const int low_spit = goal->low_spit;
+  const bool human_player = goal->human_player;
+
+  if (!output) {
+    return;
+  }
+
+  output->Zero();
+
+  switch (low_spit) {
+    case 1:
+      // Spit towards front
+      output->low_goal_voltage = kBot3LowGoalBackwardVoltage;
+      output->front_intake_voltage = kBot3IntakeBackwardVoltage;
+      output->back_intake_voltage = -kBot3IntakeForwardVoltage;
+      break;
+    case -1:
+      // Spit towards back
+      output->low_goal_voltage = kBot3LowGoalForwardVoltage;
+      output->back_intake_voltage = -kBot3IntakeBackwardVoltage;
+      output->front_intake_voltage = kBot3IntakeForwardVoltage;
+      break;
+    default:
+      // Stationary
+      break;
+  }
+
+  switch (intake) {
+    case 1:
+      // Front intake.
+      output->front_extended = true;
+      output->back_extended = false;
+      output->front_intake_voltage = kBot3IntakeForwardVoltage;
+      output->back_intake_voltage = 0.0;
+      break;
+    case -1:
+      // Back intake.
+      output->back_extended = true;
+      output->front_extended = false;
+      output->back_intake_voltage = -kBot3IntakeForwardVoltage;
+      output->front_intake_voltage = 0.0;
+      break;
+    default:
+      // Stationary
+      break;
+  }
+
+  if (human_player) {
+    // Intake for human player.
+    output->front_extended = false;
+    output->back_extended = false;
+    output->front_intake_voltage = kBot3IntakeForwardVoltage;
+    output->back_intake_voltage = -kBot3IntakeForwardVoltage;
+  }
+}
+
+}  //  namespace control_loops
+}  //  namespace bot3
diff --git a/y2014_bot3/control_loops/rollers/rollers.gyp b/y2014_bot3/control_loops/rollers/rollers.gyp
new file mode 100644
index 0000000..e865ed8
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers.gyp
@@ -0,0 +1,45 @@
+{
+  'targets': [
+    {
+      'target_name': 'rollers_loop',
+      'type': 'static_library',
+      'sources': ['rollers.q'],
+      'variables': {
+        'header_path': 'bot3/control_loops/rollers',
+      },
+      'dependencies': [
+        '<(AOS)/common/controls/controls.gyp:control_loop_queues',
+      ],
+      'export_dependent_settings': [
+        '<(AOS)/common/controls/controls.gyp:control_loop_queues',
+      ],
+      'includes': ['../../../aos/build/queues.gypi'],
+    },
+    {
+      'target_name': 'rollers_lib',
+      'type': 'static_library',
+      'sources': [
+        'rollers.cc',
+      ],
+      'dependencies': [
+        'rollers_loop',
+        '<(AOS)/common/controls/controls.gyp:control_loop',
+      ],
+      'export_dependent_settings': [
+        'rollers_loop',
+        '<(AOS)/common/controls/controls.gyp:control_loop',
+      ],
+    },
+    {
+      'target_name': 'rollers',
+      'type': 'executable',
+      'sources': [
+        'rollers_main.cc',
+      ],
+      'dependencies': [
+        'rollers_lib',
+        '<(AOS)/linux_code/linux_code.gyp:init'
+      ],
+    },
+  ],
+}
diff --git a/y2014_bot3/control_loops/rollers/rollers.h b/y2014_bot3/control_loops/rollers/rollers.h
new file mode 100644
index 0000000..f67b372
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers.h
@@ -0,0 +1,33 @@
+#ifndef BOT3_CONTROL_LOOPS_ROLLERS_H_
+#define BOT3_CONTROL_LOOPS_ROLLERS_H_
+
+#include "aos/common/controls/control_loop.h"
+#include "bot3/control_loops/rollers/rollers.q.h"
+
+namespace bot3 {
+namespace control_loops {
+
+class RollersLoop
+  : public aos::controls::ControlLoop<control_loops::Rollers,
+      false, false, true> {
+ public:
+  // Constructs a control loops which can take a rollers or defaults to the
+  // rollers at ::bot3::control_loops::rollers.
+  explicit RollersLoop(
+      control_loops::Rollers *my_rollers = &control_loops::rollers)
+      : aos::controls::ControlLoop<control_loops::Rollers, false, false, true>(
+          my_rollers) {}
+
+ protected:
+  // Executes one cycle of the control loop.
+  virtual void RunIteration(
+      const control_loops::Rollers::Goal *goal,
+      const control_loops::Rollers::Position *position,
+      control_loops::Rollers::Output *output,
+      control_loops::Rollers::Status *status);
+};
+
+}  // namespace control_loops
+}  // namespace bot3
+
+#endif  // BOT3_CONTROL_LOOPS_ROLLERS_H_
diff --git a/y2014_bot3/control_loops/rollers/rollers.q b/y2014_bot3/control_loops/rollers/rollers.q
new file mode 100644
index 0000000..5abb488
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers.q
@@ -0,0 +1,40 @@
+package bot3.control_loops;
+
+import "aos/common/controls/control_loops.q";
+
+queue_group Rollers {
+  implements aos.control_loops.ControlLoop;
+
+  message Goal {
+    // -1 = back intake, 1 = front intake, all else = stationary.
+    int16_t intake;
+    // -1 = backwards, 1 = forwards, all else = stationary.
+    int16_t low_spit;
+    // Whether we want the human player load function.
+    bool human_player;
+  };
+
+  message Position {};
+
+  message Output {
+    // Positive voltage = intaking, Negative = spitting.
+    double front_intake_voltage;
+    double back_intake_voltage;
+    // Voltage for the low goal rollers.
+    // Positive voltage = ball towards back, Negative = ball towards front.
+    double low_goal_voltage;
+
+    // Whether the front and back intake pistons are extended.
+    bool front_extended;
+    bool back_extended;
+  };
+
+  message Status {};
+
+  queue Goal goal;
+  queue Position position;
+  queue Output output;
+  queue Status status;
+};
+
+queue_group Rollers rollers;
diff --git a/y2014_bot3/control_loops/rollers/rollers_main.cc b/y2014_bot3/control_loops/rollers/rollers_main.cc
new file mode 100644
index 0000000..75d2cc6
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers_main.cc
@@ -0,0 +1,11 @@
+#include "bot3/control_loops/rollers/rollers.h"
+
+#include "aos/linux_code/init.h"
+
+int main() {
+  ::aos::Init();
+  bot3::control_loops::RollersLoop rollers;
+  rollers.Run();
+  ::aos::Cleanup();
+  return 0;
+}
diff --git a/y2014_bot3/control_loops/update_drivetrain.sh b/y2014_bot3/control_loops/update_drivetrain.sh
new file mode 100755
index 0000000..91ff838
--- /dev/null
+++ b/y2014_bot3/control_loops/update_drivetrain.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+#
+# Updates the drivetrain controllers for the third robot.
+
+cd $(dirname $0)
+
+PYTHONPATH=$PYTHONPATH:../../frc971/control_loops/python \
+./python/drivetrain.py drivetrain/drivetrain_dog_motor_plant.h \
+    drivetrain/drivetrain_dog_motor_plant.cc
diff --git a/y2014_bot3/control_loops/update_polydrivetrain.sh b/y2014_bot3/control_loops/update_polydrivetrain.sh
new file mode 100755
index 0000000..d8e2d7a
--- /dev/null
+++ b/y2014_bot3/control_loops/update_polydrivetrain.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+#
+# Updates the polydrivetrain controllers and CIM models for the third robot.
+
+cd $(dirname $0)
+
+PYTHONPATH=$PYTHONPATH:../../frc971/control_loops/python \
+./python/polydrivetrain.py drivetrain/polydrivetrain_dog_motor_plant.h \
+    drivetrain/polydrivetrain_dog_motor_plant.cc \
+    drivetrain/polydrivetrain_cim_plant.h \
+    drivetrain/polydrivetrain_cim_plant.cc