diff --git a/y2018/control_loops/python/BUILD b/y2018/control_loops/python/BUILD
new file mode 100644
index 0000000..04a244e
--- /dev/null
+++ b/y2018/control_loops/python/BUILD
@@ -0,0 +1,58 @@
+package(default_visibility = ['//y2018:__subpackages__'])
+
+py_binary(
+  name = 'drivetrain',
+  srcs = [
+    'drivetrain.py',
+  ],
+  deps = [
+    '//external:python-gflags',
+    '//external:python-glog',
+    '//frc971/control_loops/python:drivetrain',
+  ],
+  restricted_to = ['//tools:k8'],
+)
+
+py_binary(
+  name = 'polydrivetrain',
+  srcs = [
+    'polydrivetrain.py',
+    'drivetrain.py',
+  ],
+  deps = [
+    '//external:python-gflags',
+    '//external:python-glog',
+    '//frc971/control_loops/python:polydrivetrain',
+  ],
+  restricted_to = ['//tools:k8'],
+)
+
+py_library(
+  name = 'polydrivetrain_lib',
+  srcs = [
+    'polydrivetrain.py',
+    'drivetrain.py',
+  ],
+  deps = [
+    '//external:python-gflags',
+    '//external:python-glog',
+    '//frc971/control_loops/python:controls',
+    '//frc971/control_loops/python:drivetrain',
+  ],
+  restricted_to = ['//tools:k8'],
+)
+
+py_test(
+  name = 'polydrivetrain_test',
+  srcs = [
+    'polydrivetrain_test.py',
+  ],
+  deps = [
+    '//external:python-gflags',
+    '//external:python-glog',
+    '//frc971/control_loops/python:polydrivetrain',
+    '//frc971/control_loops/python:controls',
+    ':polydrivetrain_lib',
+  ],
+  restricted_to = ['//tools:k8'],
+)
diff --git a/y2018/control_loops/python/drivetrain.py b/y2018/control_loops/python/drivetrain.py
new file mode 100644
index 0000000..b630601
--- /dev/null
+++ b/y2018/control_loops/python/drivetrain.py
@@ -0,0 +1,41 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import drivetrain
+import sys
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+#update mass (120lbs right now)
+#robot radius needs confirming(set as distance of center wheels from each other)
+#J needs updating
+
+kDrivetrain = drivetrain.DrivetrainParams(J = 2.0,
+                                          mass = 54.4311,
+                                          robot_radius = 0.675 / 2.0,
+                                          wheel_radius = 0.127 / 2.0,
+                                          G_low = 46.0 / 60.0 * 20.0 / 48.0 * 14.0 / 62.0 ,
+                                          G_high = 62.0 / 44.0 * 20.0 / 48.0 * 14.0 / 62.0,
+                                          q_pos_low = 0.12,
+                                          q_pos_high = 0.14,
+                                          q_vel_low = 1.0,
+                                          q_vel_high = 0.95)
+
+def main(argv):
+  argv = FLAGS(argv)
+  glog.init()
+
+  if FLAGS.plot:
+    drivetrain.PlotDrivetrainMotions(kDrivetrain)
+  elif len(argv) != 5:
+    print "Expected .h file name and .cc file name"
+  else:
+    # Write the generated constants out to a file.
+    drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2018', kDrivetrain)
+
+if __name__ == '__main__':
+  sys.exit(main(sys.argv))
diff --git a/y2018/control_loops/python/polydrivetrain.py b/y2018/control_loops/python/polydrivetrain.py
new file mode 100644
index 0000000..e08d3b6
--- /dev/null
+++ b/y2018/control_loops/python/polydrivetrain.py
@@ -0,0 +1,31 @@
+#!/usr/bin/python
+
+import sys
+from y2018.control_loops.python import drivetrain
+from frc971.control_loops.python import polydrivetrain
+
+import gflags
+import glog
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+FLAGS = gflags.FLAGS
+
+try:
+  gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+  pass
+
+def main(argv):
+  if FLAGS.plot:
+    polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
+  elif len(argv) != 5:
+    glog.fatal('Expected .h file name and .cc file name')
+  else:
+    polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2018',
+                                       drivetrain.kDrivetrain)
+
+if __name__ == '__main__':
+  argv = FLAGS(sys.argv)
+  glog.init()
+  sys.exit(main(argv))
diff --git a/y2018/control_loops/python/polydrivetrain_test.py b/y2018/control_loops/python/polydrivetrain_test.py
new file mode 100644
index 0000000..02018d3
--- /dev/null
+++ b/y2018/control_loops/python/polydrivetrain_test.py
@@ -0,0 +1,82 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import polydrivetrain
+import numpy
+import unittest
+from numpy.testing import *
+from frc971.control_loops.python import polytope
+
+__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()