diff --git a/y2014/control_loops/claw/BUILD b/y2014/control_loops/claw/BUILD
index 6382b86..a91462d 100644
--- a/y2014/control_loops/claw/BUILD
+++ b/y2014/control_loops/claw/BUILD
@@ -38,13 +38,15 @@
   deps = [
     ':claw_queue',
     '//aos/common/controls:control_loop',
-    '//y2014:constants',
-    '//frc971/control_loops:state_feedback_loop',
     '//aos/common/controls:polytope',
-    '//frc971/control_loops:coerce_goal',
     '//aos/common/logging:queue_logging',
     '//aos/common/logging:matrix_logging',
+    '//aos/common:math',
     '//debian:libm',
+    '//frc971/control_loops:state_feedback_loop',
+    '//frc971/control_loops:coerce_goal',
+    '//frc971/control_loops:hall_effect_tracker',
+    '//y2014:constants',
   ],
 )
 
diff --git a/y2014/control_loops/drivetrain/BUILD b/y2014/control_loops/drivetrain/BUILD
index 274c4f5..2d0d64f 100644
--- a/y2014/control_loops/drivetrain/BUILD
+++ b/y2014/control_loops/drivetrain/BUILD
@@ -54,6 +54,7 @@
     '//aos/common/controls:control_loop',
     '//y2014:constants',
     '//aos/common/controls:polytope',
+    '//aos/common:math',
     '//frc971/control_loops:state_feedback_loop',
     '//frc971/control_loops:coerce_goal',
     '//frc971/queues:gyro',