diff --git a/bot3/control_loops/python/control_loop.py b/bot3/control_loops/python/control_loop.py
new file mode 100644
index 0000000..754ba62
--- /dev/null
+++ b/bot3/control_loops/python/control_loop.py
@@ -0,0 +1,295 @@
+import controls
+import numpy
+
+class ControlLoopWriter(object):
+  def __init__(self, gain_schedule_name, loops, namespaces=None):
+    """Constructs a control loop writer.
+
+    Args:
+      gain_schedule_name: string, Name of the overall controller.
+      loops: array[ControlLoop], a list of control loops to gain schedule
+        in order.
+      namespaces: array[string], a list of names of namespaces to nest in
+        order.  If None, the default will be used.
+    """
+    self._gain_schedule_name = gain_schedule_name
+    self._loops = loops
+    if namespaces:
+      self._namespaces = namespaces
+    else:
+      self._namespaces = ['frc971', 'control_loops']
+
+    self._namespace_start = '\n'.join(
+        ['namespace %s {' % name for name in self._namespaces])
+
+    self._namespace_end = '\n'.join(
+        ['}  // namespace %s' % name for name in reversed(self._namespaces)])
+
+  def _HeaderGuard(self, header_file):
+    return ('FRC971_CONTROL_LOOPS_' +
+            header_file.upper().replace('.', '_').replace('/', '_') +
+            '_')
+
+  def Write(self, header_file, cc_file):
+    """Writes the loops to the specified files."""
+    self.WriteHeader(header_file)
+    self.WriteCC(header_file, cc_file)
+
+  def _GenericType(self, typename):
+    """Returns a loop template using typename for the type."""
+    num_states = self._loops[0].A.shape[0]
+    num_inputs = self._loops[0].B.shape[1]
+    num_outputs = self._loops[0].C.shape[0]
+    return '%s<%d, %d, %d>' % (
+        typename, num_states, num_inputs, num_outputs)
+
+  def _ControllerType(self):
+    """Returns a template name for StateFeedbackController."""
+    return self._GenericType('StateFeedbackController')
+
+  def _LoopType(self):
+    """Returns a template name for StateFeedbackLoop."""
+    return self._GenericType('StateFeedbackLoop')
+
+  def _PlantType(self):
+    """Returns a template name for StateFeedbackPlant."""
+    return self._GenericType('StateFeedbackPlant')
+
+  def _CoeffType(self):
+    """Returns a template name for StateFeedbackPlantCoefficients."""
+    return self._GenericType('StateFeedbackPlantCoefficients')
+
+  def WriteHeader(self, header_file):
+    """Writes the header file to the file named header_file."""
+    with open(header_file, 'w') as fd:
+      header_guard = self._HeaderGuard(header_file)
+      fd.write('#ifndef %s\n'
+               '#define %s\n\n' % (header_guard, header_guard))
+      fd.write('#include \"frc971/control_loops/state_feedback_loop.h\"\n')
+      fd.write('\n')
+
+      fd.write(self._namespace_start)
+      fd.write('\n\n')
+      for loop in self._loops:
+        fd.write(loop.DumpPlantHeader())
+        fd.write('\n')
+        fd.write(loop.DumpControllerHeader())
+        fd.write('\n')
+
+      fd.write('%s Make%sPlant();\n\n' %
+               (self._PlantType(), self._gain_schedule_name))
+
+      fd.write('%s Make%sLoop();\n\n' %
+               (self._LoopType(), self._gain_schedule_name))
+
+      fd.write(self._namespace_end)
+      fd.write('\n\n')
+      fd.write("#endif  // %s\n" % header_guard)
+
+  def WriteCC(self, header_file_name, cc_file):
+    """Writes the cc file to the file named cc_file."""
+    with open(cc_file, 'w') as fd:
+      fd.write('#include \"frc971/control_loops/%s\"\n' % header_file_name)
+      fd.write('\n')
+      fd.write('#include <vector>\n')
+      fd.write('\n')
+      fd.write('#include \"frc971/control_loops/state_feedback_loop.h\"\n')
+      fd.write('\n')
+      fd.write(self._namespace_start)
+      fd.write('\n\n')
+      for loop in self._loops:
+        fd.write(loop.DumpPlant())
+        fd.write('\n')
+
+      for loop in self._loops:
+        fd.write(loop.DumpController())
+        fd.write('\n')
+
+      fd.write('%s Make%sPlant() {\n' %
+               (self._PlantType(), self._gain_schedule_name))
+      fd.write('  ::std::vector<%s *> plants(%d);\n' % (
+          self._CoeffType(), len(self._loops)))
+      for index, loop in enumerate(self._loops):
+        fd.write('  plants[%d] = new %s(%s);\n' %
+                 (index, self._CoeffType(),
+                  loop.PlantFunction()))
+      fd.write('  return %s(plants);\n' % self._PlantType())
+      fd.write('}\n\n')
+
+      fd.write('%s Make%sLoop() {\n' %
+               (self._LoopType(), self._gain_schedule_name))
+      fd.write('  ::std::vector<%s *> controllers(%d);\n' % (
+          self._ControllerType(), len(self._loops)))
+      for index, loop in enumerate(self._loops):
+        fd.write('  controllers[%d] = new %s(%s);\n' %
+                 (index, self._ControllerType(),
+                  loop.ControllerFunction()))
+      fd.write('  return %s(controllers);\n' % self._LoopType())
+      fd.write('}\n\n')
+
+      fd.write(self._namespace_end)
+      fd.write('\n')
+
+
+class ControlLoop(object):
+  def __init__(self, name):
+    """Constructs a control loop object.
+
+    Args:
+      name: string, The name of the loop to use when writing the C++ files.
+    """
+    self._name = name
+
+  def ContinuousToDiscrete(self, A_continuous, B_continuous, dt):
+    """Calculates the discrete time values for A and B.
+
+      Args:
+        A_continuous: numpy.matrix, The continuous time A matrix
+        B_continuous: numpy.matrix, The continuous time B matrix
+        dt: float, The time step of the control loop
+
+      Returns:
+        (A, B), numpy.matrix, the control matricies.
+    """
+    return controls.c2d(A_continuous, B_continuous, dt)
+
+  def InitializeState(self):
+    """Sets X, Y, and X_hat to zero defaults."""
+    self.X = numpy.zeros((self.A.shape[0], 1))
+    self.Y = self.C * self.X
+    self.X_hat = numpy.zeros((self.A.shape[0], 1))
+
+  def PlaceControllerPoles(self, poles):
+    """Places the controller poles.
+
+    Args:
+      poles: array, An array of poles.  Must be complex conjegates if they have
+        any imaginary portions.
+    """
+    self.K = controls.dplace(self.A, self.B, poles)
+
+  def PlaceObserverPoles(self, poles):
+    """Places the observer poles.
+
+    Args:
+      poles: array, An array of poles.  Must be complex conjegates if they have
+        any imaginary portions.
+    """
+    self.L = controls.dplace(self.A.T, self.C.T, poles).T
+
+  def Update(self, U):
+    """Simulates one time step with the provided U."""
+    U = numpy.clip(U, self.U_min, self.U_max)
+    self.X = self.A * self.X + self.B * U
+    self.Y = self.C * self.X + self.D * U
+
+  def UpdateObserver(self, U):
+    """Updates the observer given the provided U."""
+    self.X_hat = (self.A * self.X_hat + self.B * U +
+                  self.L * (self.Y - self.C * self.X_hat - self.D * U))
+
+  def _DumpMatrix(self, matrix_name, matrix):
+    """Dumps the provided matrix into a variable called matrix_name.
+
+    Args:
+      matrix_name: string, The variable name to save the matrix to.
+      matrix: The matrix to dump.
+
+    Returns:
+      string, The C++ commands required to populate a variable named matrix_name
+        with the contents of matrix.
+    """
+    ans = ['  Eigen::Matrix<double, %d, %d> %s;\n' % (
+        matrix.shape[0], matrix.shape[1], matrix_name)]
+    first = True
+    for x in xrange(matrix.shape[0]):
+      for y in xrange(matrix.shape[1]):
+	element = matrix[x, y]
+        if first:
+          ans.append('  %s << ' % matrix_name)
+          first = False
+        else:
+          ans.append(', ')
+        ans.append(str(element))
+
+    ans.append(';\n')
+    return ''.join(ans)
+
+  def DumpPlantHeader(self):
+    """Writes out a c++ header declaration which will create a Plant object.
+
+    Returns:
+      string, The header declaration for the function.
+    """
+    num_states = self.A.shape[0]
+    num_inputs = self.B.shape[1]
+    num_outputs = self.C.shape[0]
+    return 'StateFeedbackPlantCoefficients<%d, %d, %d> Make%sPlantCoefficients();\n' % (
+        num_states, num_inputs, num_outputs, self._name)
+
+  def DumpPlant(self):
+    """Writes out a c++ function which will create a PlantCoefficients object.
+
+    Returns:
+      string, The function which will create the object.
+    """
+    num_states = self.A.shape[0]
+    num_inputs = self.B.shape[1]
+    num_outputs = self.C.shape[0]
+    ans = ['StateFeedbackPlantCoefficients<%d, %d, %d>'
+           ' Make%sPlantCoefficients() {\n' % (
+        num_states, num_inputs, num_outputs, self._name)]
+
+    ans.append(self._DumpMatrix('A', self.A))
+    ans.append(self._DumpMatrix('B', self.B))
+    ans.append(self._DumpMatrix('C', self.C))
+    ans.append(self._DumpMatrix('D', self.D))
+    ans.append(self._DumpMatrix('U_max', self.U_max))
+    ans.append(self._DumpMatrix('U_min', self.U_min))
+
+    ans.append('  return StateFeedbackPlantCoefficients<%d, %d, %d>'
+               '(A, B, C, D, U_max, U_min);\n' % (num_states, num_inputs,
+                                                  num_outputs))
+    ans.append('}\n')
+    return ''.join(ans)
+
+  def PlantFunction(self):
+    """Returns the name of the plant coefficient function."""
+    return 'Make%sPlantCoefficients()' % self._name
+
+  def ControllerFunction(self):
+    """Returns the name of the controller function."""
+    return 'Make%sController()' % self._name
+
+  def DumpControllerHeader(self):
+    """Writes out a c++ header declaration which will create a Controller object.
+
+    Returns:
+      string, The header declaration for the function.
+    """
+    num_states = self.A.shape[0]
+    num_inputs = self.B.shape[1]
+    num_outputs = self.C.shape[0]
+    return 'StateFeedbackController<%d, %d, %d> %s;\n' % (
+        num_states, num_inputs, num_outputs, self.ControllerFunction())
+
+  def DumpController(self):
+    """Returns a c++ function which will create a Controller object.
+
+    Returns:
+      string, The function which will create the object.
+    """
+    num_states = self.A.shape[0]
+    num_inputs = self.B.shape[1]
+    num_outputs = self.C.shape[0]
+    ans = ['StateFeedbackController<%d, %d, %d> %s {\n' % (
+        num_states, num_inputs, num_outputs, self.ControllerFunction())]
+
+    ans.append(self._DumpMatrix('L', self.L))
+    ans.append(self._DumpMatrix('K', self.K))
+
+    ans.append('  return StateFeedbackController<%d, %d, %d>'
+               '(L, K, Make%sPlantCoefficients());\n' % (num_states, num_inputs,
+                                             num_outputs, self._name))
+    ans.append('}\n')
+    return ''.join(ans)
diff --git a/bot3/control_loops/python/controls.py b/bot3/control_loops/python/controls.py
new file mode 100644
index 0000000..a40bfe2
--- /dev/null
+++ b/bot3/control_loops/python/controls.py
@@ -0,0 +1,101 @@
+#!/usr/bin/python
+
+"""
+Control loop pole placement library.
+
+This library will grow to support many different pole placement methods.
+Currently it only supports direct pole placement.
+"""
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+import numpy
+import slycot
+
+class Error (Exception):
+  """Base class for all control loop exceptions."""
+
+
+class PolePlacementError(Error):
+  """Exception raised when pole placement fails."""
+
+
+# TODO(aschuh): dplace should take a control system object.
+# There should also exist a function to manipulate laplace expressions, and
+# something to plot bode plots and all that.
+def dplace(A, B, poles, alpha=1e-6):
+  """Set the poles of (A - BF) to poles.
+
+  Args:
+    A: numpy.matrix(n x n), The A matrix.
+    B: numpy.matrix(n x m), The B matrix.
+    poles: array(imaginary numbers), The poles to use.  Complex conjugates poles
+      must be in pairs.
+
+  Raises:
+    ValueError: Arguments were the wrong shape or there were too many poles.
+    PolePlacementError: Pole placement failed.
+
+  Returns:
+    numpy.matrix(m x n), K
+  """
+  # See http://www.icm.tu-bs.de/NICONET/doc/SB01BD.html for a description of the
+  # fortran code that this is cleaning up the interface to.
+  n = A.shape[0]
+  if A.shape[1] != n:
+    raise ValueError("A must be square")
+  if B.shape[0] != n:
+    raise ValueError("B must have the same number of states as A.")
+  m = B.shape[1]
+
+  num_poles = len(poles)
+  if num_poles > n:
+    raise ValueError("Trying to place more poles than states.")
+
+  out = slycot.sb01bd(n=n,
+                      m=m,
+                      np=num_poles,
+                      alpha=alpha,
+                      A=A,
+                      B=B,
+                      w=numpy.array(poles),
+                      dico='D')
+
+  A_z = numpy.matrix(out[0])
+  num_too_small_eigenvalues = out[2]
+  num_assigned_eigenvalues = out[3]
+  num_uncontrollable_eigenvalues = out[4]
+  K = numpy.matrix(-out[5])
+  Z = numpy.matrix(out[6])
+
+  if num_too_small_eigenvalues != 0:
+    raise PolePlacementError("Number of eigenvalues that are too small "
+                             "and are therefore unmodified is %d." %
+                             num_too_small_eigenvalues)
+  if num_assigned_eigenvalues != num_poles:
+    raise PolePlacementError("Did not place all the eigenvalues that were "
+                             "requested. Only placed %d eigenvalues." %
+                             num_assigned_eigenvalues)
+  if num_uncontrollable_eigenvalues != 0:
+    raise PolePlacementError("Found %d uncontrollable eigenvlaues." %
+                             num_uncontrollable_eigenvalues)
+
+  return K
+
+
+def c2d(A, B, dt):
+  """Converts from continuous time state space representation to discrete time.
+     Evaluates e^(A dt) for the discrete time version of A, and
+     integral(e^(A t) * B, 0, dt).
+     Returns (A, B).  C and D are unchanged."""
+  e, P = numpy.linalg.eig(A)
+  diag = numpy.matrix(numpy.eye(A.shape[0]))
+  diage = numpy.matrix(numpy.eye(A.shape[0]))
+  for eig, count in zip(e, range(0, A.shape[0])):
+    diag[count, count] = numpy.exp(eig * dt)
+    if abs(eig) < 1.0e-16:
+      diage[count, count] = dt
+    else:
+      diage[count, count] = (numpy.exp(eig * dt) - 1.0) / eig
+
+  return (P * diag * numpy.linalg.inv(P), P * diage * numpy.linalg.inv(P) * B)
diff --git a/bot3/control_loops/python/drivetrain.py b/bot3/control_loops/python/drivetrain.py
new file mode 100755
index 0000000..0e791cb
--- /dev/null
+++ b/bot3/control_loops/python/drivetrain.py
@@ -0,0 +1,162 @@
+#!/usr/bin/python
+
+import control_loop
+import numpy
+import sys
+from matplotlib import pylab
+
+class Drivetrain(control_loop.ControlLoop):
+  def __init__(self):
+    super(Drivetrain, self).__init__("Drivetrain")
+    # 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 = 6.4
+    # Mass of the robot, in kg.
+    self.m = 68
+    # Radius of the robot, in meters (from last year).
+    self.rb = 0.617998644 / 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 / 6 + 0.03
+    # 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 = 16.0 / 60.0 * 19.0 / 50.0
+    self.G_high = 28.0 / 48.0 * 19.0 / 50.0
+    self.G = self.G_low
+    # 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.tc = -self.Kt / self.Kv / (self.G * self.G * self.R * self.r * self.r)
+    self.mp = self.Kt / (self.G * self.R * self.r)
+
+    # State feedback matrices
+    # X will be of the format
+    # [[position1], [velocity1], [position2], velocity2]]
+    self.A_continuous = numpy.matrix(
+        [[0, 1, 0, 0],
+         [0, self.msp * self.tc, 0, self.msn * self.tc],
+         [0, 0, 0, 1],
+         [0, self.msn * self.tc, 0, self.msp * self.tc]])
+    self.B_continuous = numpy.matrix(
+        [[0, 0],
+         [self.msp * self.mp, self.msn * self.mp],
+         [0, 0],
+         [self.msn * self.mp, self.msp * self.mp]])
+    self.C = numpy.matrix([[1, 0, 0, 0],
+                           [0, 0, 1, 0]])
+    self.D = numpy.matrix([[0, 0],
+                           [0, 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.hp, self.lp, self.lp])
+
+    print self.K
+
+    self.hlp = 0.07
+    self.llp = 0.09
+    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.
+  if len(argv) != 3:
+    print "Expected .h file name and .cc file name"
+  else:
+    loop_writer = control_loop.ControlLoopWriter("Drivetrain", [drivetrain])
+    if argv[1][-3:] == '.cc':
+      loop_writer.Write(argv[2], argv[1])
+    else:
+      loop_writer.Write(argv[1], argv[2])
+
+if __name__ == '__main__':
+  sys.exit(main(sys.argv))
diff --git a/bot3/control_loops/python/libcdd.py b/bot3/control_loops/python/libcdd.py
new file mode 100644
index 0000000..a217728
--- /dev/null
+++ b/bot3/control_loops/python/libcdd.py
@@ -0,0 +1,129 @@
+#!/usr/bin/python
+
+"""Wrapper around libcdd, a polytope manipulation library."""
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+import ctypes
+
+# Wrapper around PyFile_AsFile so that we can print out the error messages.
+# Set the arg type and return types of the function call.
+class FILE(ctypes.Structure):
+  pass
+
+ctypes.pythonapi.PyFile_AsFile.argtypes = [ctypes.py_object]
+ctypes.pythonapi.PyFile_AsFile.restype = ctypes.POINTER(FILE)
+
+# Load and init libcdd.  libcdd is a C library that implements algorithm to
+# manipulate half space and vertex representations of polytopes.
+# Unfortunately, the library was compiled with C++ even though it has a lot of C
+# code in it, so all the symbol names are mangled.  Ug.
+libcdd = ctypes.cdll.LoadLibrary('libcdd.so')
+libcdd._Z23dd_set_global_constantsv()
+
+# The variable type mytype that libcdd defines (double[1])
+# See http://docs.python.org/2/library/ctypes.html#arrays for the documentation
+# explaining why ctypes.c_double * 1 => double[1]
+# libcdd defines mytype to various things so it can essentially template its
+# functions.  What a weird library.
+mytype = ctypes.c_double * 1
+
+
+# Forward declaration for the polyhedra data structure.
+class dd_polyhedradata(ctypes.Structure):
+  pass
+
+
+# Definition of dd_matrixdata
+class dd_matrixdata(ctypes.Structure):
+  _fields_ = [
+      ("rowsize", ctypes.c_long),
+      ("linset", ctypes.POINTER(ctypes.c_ulong)),
+      ("colsize", ctypes.c_long),
+      ("representation", ctypes.c_int),
+      ("numbtype", ctypes.c_int),
+      ("matrix", ctypes.POINTER(ctypes.POINTER(mytype))),
+      ("objective", ctypes.c_int),
+      ("rowvec", ctypes.POINTER(mytype)),
+  ]
+
+# Define the input and output types for a bunch of libcdd functions.
+libcdd._Z15dd_CreateMatrixll.restype = ctypes.POINTER(dd_matrixdata)
+libcdd._Z9ddd_get_dPd.argtypes = [mytype]
+libcdd._Z9ddd_get_dPd.restype = ctypes.c_double
+
+libcdd._Z17dd_CopyGeneratorsP16dd_polyhedradata.argtypes = [
+    ctypes.POINTER(dd_polyhedradata)
+]
+libcdd._Z17dd_CopyGeneratorsP16dd_polyhedradata.restype = ctypes.POINTER(dd_matrixdata)
+
+libcdd._Z16dd_DDMatrix2PolyP13dd_matrixdataP12dd_ErrorType.argtypes = [
+    ctypes.POINTER(dd_matrixdata),
+    ctypes.POINTER(ctypes.c_int)
+]
+libcdd._Z16dd_DDMatrix2PolyP13dd_matrixdataP12dd_ErrorType.restype = (
+  ctypes.POINTER(dd_polyhedradata))
+
+libcdd._Z13dd_FreeMatrixP13dd_matrixdata.argtypes = [
+    ctypes.POINTER(dd_matrixdata)
+]
+
+libcdd._Z16dd_FreePolyhedraP16dd_polyhedradata.argtypes = [
+  ctypes.POINTER(dd_polyhedradata)
+]
+
+libcdd._Z9ddd_set_dPdd.argtypes = [
+  mytype,
+  ctypes.c_double
+]
+
+
+# Various enums.
+DD_INEQUALITY = 1
+DD_REAL = 1
+DD_NO_ERRORS = 17
+
+
+def dd_CreateMatrix(rows, cols):
+  return libcdd._Z15dd_CreateMatrixll(
+      ctypes.c_long(rows),
+      ctypes.c_long(cols))
+
+
+def dd_set_d(mytype_address, double_value):
+  libcdd._Z9ddd_set_dPdd(mytype_address,
+      ctypes.c_double(double_value))
+
+
+def dd_CopyGenerators(polyhedraptr):
+  return libcdd._Z17dd_CopyGeneratorsP16dd_polyhedradata(polyhedraptr)
+
+
+def dd_get_d(mytype_address):
+  return libcdd._Z9ddd_get_dPd(mytype_address)
+
+
+def dd_FreeMatrix(matrixptr):
+  libcdd._Z13dd_FreeMatrixP13dd_matrixdata(matrixptr)
+
+
+def dd_FreePolyhedra(polyhedraptr):
+  libcdd._Z16dd_FreePolyhedraP16dd_polyhedradata(polyhedraptr)
+
+
+def dd_DDMatrix2Poly(matrixptr):
+  error = ctypes.c_int()
+  polyhedraptr = libcdd._Z16dd_DDMatrix2PolyP13dd_matrixdataP12dd_ErrorType(
+      matrixptr,
+      ctypes.byref(error))
+
+  # Return None on error.
+  # The error values are enums, so they aren't exposed.
+  if error.value != NO_ERRORS:
+    # Dump out the errors to stderr
+    libcdd._Z21dd_WriteErrorMessagesP8_IO_FILE12dd_ErrorType(
+        ctypes.pythonapi.PyFile_AsFile(ctypes.py_object(sys.stdout)),
+        error)
+    dd_FreePolyhedra(polyhedraptr)
+    return None
+  return polyhedraptr
diff --git a/bot3/control_loops/python/shooter.py b/bot3/control_loops/python/shooter.py
new file mode 100755
index 0000000..7cbe617
--- /dev/null
+++ b/bot3/control_loops/python/shooter.py
@@ -0,0 +1,140 @@
+#!/usr/bin/python
+
+import numpy
+import sys
+from matplotlib import pylab
+import control_loop
+
+class Shooter(control_loop.ControlLoop):
+  def __init__(self):
+    super(Shooter, self).__init__("Shooter")
+    # Stall Torque in N m
+    self.stall_torque = 2.42211227883219
+    # 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 shooter wheel in kg m^2
+    self.J = 0.0032
+    # 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
+    # Gear ratio
+    self.G = 40.0 / 34.0
+    # Control loop time step
+    self.dt = 0.01
+
+    # State feedback matrices
+    self.A_continuous = numpy.matrix(
+        [[0, 1],
+         [0, -self.Kt / self.Kv / (self.J * self.G * self.G * self.R)]])
+    self.B_continuous = numpy.matrix(
+        [[0],
+         [self.Kt / (self.J * self.G * self.R)]])
+    self.C = numpy.matrix([[1, 0]])
+    self.D = numpy.matrix([[0]])
+
+    self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
+                              self.dt, self.C)
+
+    self.PlaceControllerPoles([.6, .981])
+
+    self.rpl = .45
+    self.ipl = 0.07
+    self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
+                             self.rpl - 1j * self.ipl])
+
+    self.U_max = numpy.matrix([[12.0]])
+    self.U_min = numpy.matrix([[-12.0]])
+
+
+def main(argv):
+  # Simulate the response of the system to a step input.
+  shooter_data = numpy.genfromtxt('shooter/shooter_data.csv', delimiter=',')
+  shooter = Shooter()
+  simulated_x = []
+  real_x = []
+  x_vel = []
+  initial_x = shooter_data[0, 2]
+  last_x = initial_x
+  for i in xrange(shooter_data.shape[0]):
+    shooter.Update(numpy.matrix([[shooter_data[i, 1]]]))
+    simulated_x.append(shooter.X[0, 0])
+    x_offset = shooter_data[i, 2] - initial_x
+    real_x.append(x_offset)
+    x_vel.append((shooter_data[i, 2] - last_x) * 100.0)
+    last_x = shooter_data[i, 2]
+
+  sim_delay = 1
+  pylab.plot(range(sim_delay, shooter_data.shape[0] + sim_delay),
+             simulated_x, label='Simulation')
+  pylab.plot(range(shooter_data.shape[0]), real_x, label='Reality')
+  pylab.plot(range(shooter_data.shape[0]), x_vel, label='Velocity')
+  pylab.legend()
+  pylab.show()
+
+  # Simulate the closed loop response of the system to a step input.
+  shooter = Shooter()
+  close_loop_x = []
+  close_loop_U = []
+  velocity_goal = 300
+  R = numpy.matrix([[0.0], [velocity_goal]])
+  for _ in pylab.linspace(0,1.99,200):
+    # Iterate the position up.
+    R = numpy.matrix([[R[0, 0] + 10.5], [velocity_goal]])
+    # Prevents the position goal from going beyond what is necessary.
+    velocity_weight_scalar = 0.35
+    max_reference = (
+        (shooter.U_max[0, 0] - velocity_weight_scalar *
+         (velocity_goal - shooter.X_hat[1, 0]) * shooter.K[0, 1]) /
+         shooter.K[0, 0] +
+         shooter.X_hat[0, 0])
+    min_reference = (
+        (shooter.U_min[0, 0] - velocity_weight_scalar *
+         (velocity_goal - shooter.X_hat[1, 0]) * shooter.K[0, 1]) /
+         shooter.K[0, 0] +
+         shooter.X_hat[0, 0])
+    R[0, 0] = numpy.clip(R[0, 0], min_reference, max_reference)
+    U = numpy.clip(shooter.K * (R - shooter.X_hat),
+                   shooter.U_min, shooter.U_max)
+    shooter.UpdateObserver(U)
+    shooter.Update(U)
+    close_loop_x.append(shooter.X[1, 0])
+    close_loop_U.append(U[0, 0])
+
+  #pylab.plotfile("shooter.csv", (0,1))
+  #pylab.plot(pylab.linspace(0,1.99,200), close_loop_U, 'ro')
+  #pylab.plotfile("shooter.csv", (0,2))
+  pylab.plot(pylab.linspace(0,1.99,200), close_loop_x, 'ro')
+  pylab.show()
+
+  # Simulate spin down.
+  spin_down_x = [];
+  R = numpy.matrix([[50.0], [0.0]])
+  for _ in xrange(150):
+    U = 0
+    shooter.UpdateObserver(U)
+    shooter.Update(U)
+    spin_down_x.append(shooter.X[1, 0])
+
+  #pylab.plot(range(150), spin_down_x)
+  #pylab.show()
+
+  if len(argv) != 3:
+    print "Expected .h file name and .cc file name"
+  else:
+    loop_writer = control_loop.ControlLoopWriter("Shooter", [shooter])
+    if argv[1][-3:] == '.cc':
+      loop_writer.Write(argv[2], argv[1])
+    else:
+      loop_writer.Write(argv[1], argv[2])
+
+
+if __name__ == '__main__':
+  sys.exit(main(sys.argv))