diff --git a/y2022/control_loops/python/BUILD b/y2022/control_loops/python/BUILD
new file mode 100644
index 0000000..e0b0daa
--- /dev/null
+++ b/y2022/control_loops/python/BUILD
@@ -0,0 +1,57 @@
+package(default_visibility = ["//y2022:__subpackages__"])
+
+py_binary(
+    name = "drivetrain",
+    srcs = [
+        "drivetrain.py",
+    ],
+    legacy_create_init = False,
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    deps = [
+        ":python_init",
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:drivetrain",
+    ],
+)
+
+py_binary(
+    name = "polydrivetrain",
+    srcs = [
+        "drivetrain.py",
+        "polydrivetrain.py",
+    ],
+    legacy_create_init = False,
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    deps = [
+        ":python_init",
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:polydrivetrain",
+    ],
+)
+
+py_library(
+    name = "polydrivetrain_lib",
+    srcs = [
+        "drivetrain.py",
+        "polydrivetrain.py",
+    ],
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:controls",
+        "//frc971/control_loops/python:drivetrain",
+        "//frc971/control_loops/python:polydrivetrain",
+    ],
+)
+
+py_library(
+    name = "python_init",
+    srcs = ["__init__.py"],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = ["//y2020/control_loops:python_init"],
+)
diff --git a/y2022/control_loops/python/__init__.py b/y2022/control_loops/python/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2022/control_loops/python/__init__.py
diff --git a/y2022/control_loops/python/drivetrain.py b/y2022/control_loops/python/drivetrain.py
new file mode 100644
index 0000000..7b8dc49
--- /dev/null
+++ b/y2022/control_loops/python/drivetrain.py
@@ -0,0 +1,47 @@
+#!/usr/bin/python3
+
+from __future__ import print_function
+from frc971.control_loops.python import drivetrain
+from frc971.control_loops.python import control_loop
+import sys
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+kDrivetrain = drivetrain.DrivetrainParams(
+    J=6.0,
+    mass=58.0,
+    # TODO(austin): Measure radius a bit better.
+    robot_radius= 0.39,
+    wheel_radius= 3/39.37,
+    motor_type=control_loop.Falcon(),
+    num_motors = 3,
+    G=8.0 / 80.0,
+    q_pos=0.24,
+    q_vel=2.5,
+    efficiency=0.80,
+    has_imu=True,
+    force=True,
+    kf_q_voltage=1.0,
+    controller_poles=[0.82, 0.82])
+
+
+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], 'y2022', kDrivetrain)
+
+
+if __name__ == '__main__':
+    sys.exit(main(sys.argv))
diff --git a/y2022/control_loops/python/polydrivetrain.py b/y2022/control_loops/python/polydrivetrain.py
new file mode 100644
index 0000000..d749580
--- /dev/null
+++ b/y2022/control_loops/python/polydrivetrain.py
@@ -0,0 +1,31 @@
+#!/usr/bin/python3
+
+import sys
+from y2022.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) != 7:
+    glog.fatal('Expected .h file name and .cc file name')
+  else:
+    polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2022',
+                                       drivetrain.kDrivetrain)
+
+if __name__ == '__main__':
+  argv = FLAGS(sys.argv)
+  glog.init()
+  sys.exit(main(argv))