diff --git a/y2015/control_loops/drivetrain/BUILD b/y2015/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..c08e4b0
--- /dev/null
+++ b/y2015/control_loops/drivetrain/BUILD
@@ -0,0 +1,92 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+cc_binary(
+  name = 'replay_drivetrain',
+  srcs = [
+    'replay_drivetrain.cc',
+  ],
+  deps = [
+    ':drivetrain_queue',
+    '//aos/common/controls:replay_control_loop',
+    '//aos/linux_code:init',
+  ],
+)
+
+queue_library(
+  name = 'drivetrain_queue',
+  srcs = [
+    'drivetrain.q',
+  ],
+  deps = [
+    '//aos/common/controls:control_loop_queues',
+  ],
+)
+
+cc_library(
+  name = 'polydrivetrain_plants',
+  srcs = [
+    'polydrivetrain_dog_motor_plant.cc',
+    'drivetrain_dog_motor_plant.cc',
+  ],
+  hdrs = [
+    'polydrivetrain_dog_motor_plant.h',
+    'drivetrain_dog_motor_plant.h',
+  ],
+  deps = [
+    '//frc971/control_loops:state_feedback_loop',
+  ],
+)
+
+cc_library(
+  name = 'drivetrain_lib',
+  srcs = [
+    'drivetrain.cc',
+    'polydrivetrain_cim_plant.cc',
+  ],
+  hdrs = [
+    'drivetrain.h',
+    'polydrivetrain_cim_plant.h',
+  ],
+  deps = [
+    ':drivetrain_queue',
+    '//aos/common/controls:control_loop',
+    '//y2015:constants',
+    '//aos/common/controls:polytope',
+    '//frc971/control_loops:state_feedback_loop',
+    '//frc971/control_loops:coerce_goal',
+    '//frc971/queues:gyro',
+    '//aos/common/util:log_interval',
+    '//aos/common/logging:queue_logging',
+    '//aos/common/logging:matrix_logging',
+  ],
+)
+
+cc_test(
+  name = 'drivetrain_lib_test',
+  srcs = [
+    'drivetrain_lib_test.cc',
+  ],
+  deps = [
+    '//third_party/gtest',
+    ':drivetrain_queue',
+    ':drivetrain_lib',
+    '//aos/common/controls:control_loop_test',
+    '//frc971/control_loops:state_feedback_loop',
+    '//frc971/queues:gyro',
+    '//aos/common:queues',
+  ],
+)
+
+cc_binary(
+  name = 'drivetrain',
+  srcs = [
+    'drivetrain_main.cc',
+  ],
+  deps = [
+    '//aos/linux_code:init',
+    ':drivetrain_lib',
+    ':drivetrain_queue',
+  ],
+)