diff --git a/y2014/control_loops/drivetrain/BUILD b/y2014/control_loops/drivetrain/BUILD
index 85aad66..21d3051 100644
--- a/y2014/control_loops/drivetrain/BUILD
+++ b/y2014/control_loops/drivetrain/BUILD
@@ -42,6 +42,24 @@
   ],
 )
 
+genrule(
+  name = 'genrule_polydrivetrain',
+  visibility = ['//visibility:private'],
+  cmd = '$(location //y2014/control_loops/python:polydrivetrain) $(OUTS)',
+  tools = [
+    '//y2014/control_loops/python:polydrivetrain',
+  ],
+  tags = [
+    'local',
+  ],
+  outs = [
+    'polydrivetrain_dog_motor_plant.h',
+    'polydrivetrain_dog_motor_plant.cc',
+    'polydrivetrain_cim_plant.h',
+    'polydrivetrain_cim_plant.cc',
+  ],
+)
+
 cc_library(
   name = 'polydrivetrain_plants',
   srcs = [
@@ -63,11 +81,9 @@
   name = 'drivetrain_lib',
   srcs = [
     'drivetrain.cc',
-    'polydrivetrain_cim_plant.cc',
   ],
   hdrs = [
     'drivetrain.h',
-    'polydrivetrain_cim_plant.h',
   ],
   deps = [
     ':drivetrain_queue',
diff --git a/y2014/control_loops/drivetrain/drivetrain.cc b/y2014/control_loops/drivetrain/drivetrain.cc
index a326125..b6dffa0 100644
--- a/y2014/control_loops/drivetrain/drivetrain.cc
+++ b/y2014/control_loops/drivetrain/drivetrain.cc
@@ -15,8 +15,8 @@
 #include "y2014/constants.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/control_loops/coerce_goal.h"
-#include "y2014/control_loops/drivetrain/polydrivetrain_cim_plant.h"
 #include "y2014/control_loops/drivetrain/drivetrain.q.h"
+#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 #include "frc971/queues/gyro.q.h"
 #include "frc971/shifter_hall_effect.h"
 
@@ -29,6 +29,8 @@
 namespace frc971 {
 namespace control_loops {
 
+using ::y2014::control_loops::drivetrain::kDt;
+
 class DrivetrainMotorsSS {
  public:
   class LimitedDrivetrainLoop : public StateFeedbackLoop<4, 2, 2> {
@@ -286,7 +288,7 @@
         throttle_(0.0),
         quickturn_(false),
         stale_count_(0),
-        position_time_delta_(0.01),
+        position_time_delta_(kDt),
         left_gear_(LOW),
         right_gear_(LOW),
         counter_(0) {
@@ -410,7 +412,7 @@
     } else {
       last_position_ = position_;
       position_ = *position;
-      position_time_delta_ = (stale_count_ + 1) * 0.01;
+      position_time_delta_ = (stale_count_ + 1) * kDt;
       stale_count_ = 0;
     }
 
diff --git a/y2014/control_loops/drivetrain/polydrivetrain_cim_plant.cc b/y2014/control_loops/drivetrain/polydrivetrain_cim_plant.cc
deleted file mode 100644
index 0ee9a7a..0000000
--- a/y2014/control_loops/drivetrain/polydrivetrain_cim_plant.cc
+++ /dev/null
@@ -1,49 +0,0 @@
-#include "y2014/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;
-  Eigen::Matrix<double, 1, 1> A_inv;
-  A_inv << 1.62723978514;
-  return StateFeedbackController<1, 1, 1>(L, K, A_inv, MakeCIMPlantCoefficients());
-}
-
-StateFeedbackPlant<1, 1, 1> MakeCIMPlant() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<1, 1, 1>>> plants(1);
-  plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<1, 1, 1>>(new StateFeedbackPlantCoefficients<1, 1, 1>(MakeCIMPlantCoefficients()));
-  return StateFeedbackPlant<1, 1, 1>(&plants);
-}
-
-StateFeedbackLoop<1, 1, 1> MakeCIMLoop() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackController<1, 1, 1>>> controllers(1);
-  controllers[0] = ::std::unique_ptr<StateFeedbackController<1, 1, 1>>(new StateFeedbackController<1, 1, 1>(MakeCIMController()));
-  return StateFeedbackLoop<1, 1, 1>(&controllers);
-}
-
-}  // namespace control_loops
-}  // namespace frc971
diff --git a/y2014/control_loops/drivetrain/polydrivetrain_cim_plant.h b/y2014/control_loops/drivetrain/polydrivetrain_cim_plant.h
deleted file mode 100644
index 62af188..0000000
--- a/y2014/control_loops/drivetrain/polydrivetrain_cim_plant.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
-#define Y2014_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  // Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CIM_PLANT_H_
diff --git a/y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc b/y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
deleted file mode 100644
index a7d80ce..0000000
--- a/y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
+++ /dev/null
@@ -1,133 +0,0 @@
-#include "y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
-
-#include <vector>
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainLowLowPlantCoefficients() {
-  Eigen::Matrix<double, 2, 2> A;
-  A << 0.735841675858, 0.0410810558113, 0.0410810558113, 0.735841675858;
-  Eigen::Matrix<double, 2, 2> B;
-  B << 0.0517213538779, -0.00804353916233, -0.00804353916233, 0.0517213538779;
-  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 << 0.735048848179, 0.0131811893199, 0.045929121897, 0.915703853642;
-  Eigen::Matrix<double, 2, 2> B;
-  B << 0.0518765869984, -0.00481755802263, -0.00899277497558, 0.0308091755839;
-  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 << 0.915703853642, 0.045929121897, 0.0131811893199, 0.735048848179;
-  Eigen::Matrix<double, 2, 2> B;
-  B << 0.0308091755839, -0.00899277497558, -0.00481755802263, 0.0518765869984;
-  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 << 0.915439806567, 0.0146814193986, 0.0146814193986, 0.915439806567;
-  Eigen::Matrix<double, 2, 2> B;
-  B << 0.0309056814511, -0.00536587314624, -0.00536587314624, 0.0309056814511;
-  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 << 0.715841675858, 0.0410810558113, 0.0410810558113, 0.715841675858;
-  Eigen::Matrix<double, 2, 2> K;
-  K << 2.81809403994, 1.23253744933, 1.23253744933, 2.81809403994;
-  Eigen::Matrix<double, 2, 2> A_inv;
-  A_inv << 1.36323698074, -0.0761076958907, -0.0761076958907, 1.36323698074;
-  return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainLowLowPlantCoefficients());
-}
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowHighController() {
-  Eigen::Matrix<double, 2, 2> L;
-  L << 0.715885457343, 0.0459077351335, 0.0459077351335, 0.894867244478;
-  Eigen::Matrix<double, 2, 2> K;
-  K << 2.81810038978, 1.23928174475, 2.31332592354, 10.6088017388;
-  Eigen::Matrix<double, 2, 2> A_inv;
-  A_inv << 1.36167854796, -0.0196008159867, -0.0682979543713, 1.09303924439;
-  return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainLowHighPlantCoefficients());
-}
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighLowController() {
-  Eigen::Matrix<double, 2, 2> L;
-  L << 0.902328849033, 0.014581304798, 0.014581304798, 0.708423852788;
-  Eigen::Matrix<double, 2, 2> K;
-  K << 10.6088017388, 2.31332592354, 1.23928174475, 2.81810038978;
-  Eigen::Matrix<double, 2, 2> A_inv;
-  A_inv << 1.09303924439, -0.0682979543713, -0.0196008159867, 1.36167854796;
-  return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainHighLowPlantCoefficients());
-}
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighHighController() {
-  Eigen::Matrix<double, 2, 2> L;
-  L << 0.895439806567, 0.0146814193986, 0.0146814193986, 0.895439806567;
-  Eigen::Matrix<double, 2, 2> K;
-  K << 10.6088022944, 2.31694961514, 2.31694961514, 10.6088022944;
-  Eigen::Matrix<double, 2, 2> A_inv;
-  A_inv << 1.0926521463, -0.0175234726538, -0.0175234726538, 1.0926521463;
-  return StateFeedbackController<2, 2, 2>(L, K, A_inv, MakeVelocityDrivetrainHighHighPlantCoefficients());
-}
-
-StateFeedbackPlant<2, 2, 2> MakeVelocityDrivetrainPlant() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>> plants(4);
-  plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>(new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainLowLowPlantCoefficients()));
-  plants[1] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>(new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainLowHighPlantCoefficients()));
-  plants[2] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>(new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainHighLowPlantCoefficients()));
-  plants[3] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 2, 2>>(new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainHighHighPlantCoefficients()));
-  return StateFeedbackPlant<2, 2, 2>(&plants);
-}
-
-StateFeedbackLoop<2, 2, 2> MakeVelocityDrivetrainLoop() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackController<2, 2, 2>>> controllers(4);
-  controllers[0] = ::std::unique_ptr<StateFeedbackController<2, 2, 2>>(new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainLowLowController()));
-  controllers[1] = ::std::unique_ptr<StateFeedbackController<2, 2, 2>>(new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainLowHighController()));
-  controllers[2] = ::std::unique_ptr<StateFeedbackController<2, 2, 2>>(new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainHighLowController()));
-  controllers[3] = ::std::unique_ptr<StateFeedbackController<2, 2, 2>>(new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainHighHighController()));
-  return StateFeedbackLoop<2, 2, 2>(&controllers);
-}
-
-}  // namespace control_loops
-}  // namespace frc971
diff --git a/y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h b/y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h
deleted file mode 100644
index dfac7be..0000000
--- a/y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
-#define Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-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 frc971
-
-#endif  // Y2014_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_