diff --git a/bot3/control_loops/python/control_loop.py b/bot3/control_loops/python/control_loop.py
deleted file mode 100644
index 5ff724b..0000000
--- a/bot3/control_loops/python/control_loop.py
+++ /dev/null
@@ -1,295 +0,0 @@
-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 = ['bot3', '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 ('BOT3_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
deleted file mode 100644
index a40bfe2..0000000
--- a/bot3/control_loops/python/controls.py
+++ /dev/null
@@ -1,101 +0,0 @@
-#!/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
deleted file mode 100755
index 0e791cb..0000000
--- a/bot3/control_loops/python/drivetrain.py
+++ /dev/null
@@ -1,162 +0,0 @@
-#!/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
deleted file mode 100644
index a217728..0000000
--- a/bot3/control_loops/python/libcdd.py
+++ /dev/null
@@ -1,129 +0,0 @@
-#!/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
deleted file mode 100755
index 1d68f51..0000000
--- a/bot3/control_loops/python/shooter.py
+++ /dev/null
@@ -1,136 +0,0 @@
-#!/usr/bin/python
-
-import numpy
-import sys
-from matplotlib import pylab
-import control_loop
-import slycot
-
-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(
-        [[-self.Kt / self.Kv / (self.J * self.G * self.G * self.R)]])
-    self.B_continuous = numpy.matrix(
-        [[self.Kt / (self.J * self.G * self.R)]])
-    self.C = numpy.matrix([[1]])
-    self.D = numpy.matrix([[0]])
-
-    self.A, self.B = self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
-                              self.dt)
-
-    self.InitializeState()
-
-    self.PlaceControllerPoles([.881])
-    print self.K
-    self.R_LQR = numpy.matrix([[0]])
-    self.P = slycot.sb02od(1, 1, self.A, self.B, self.C * self.C.T, self.R, 'D')[0]
-    self.K = (numpy.linalg.inv(self.R_LQR + self.B.T * self.P * self.B)
-             * self.B.T * self.P * self.A)
-    print self.K
-
-
-    self.PlaceObserverPoles([0.45])
-
-    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 = 400
-  R = numpy.matrix([[velocity_goal]])
-  goal = False
-  for i in pylab.linspace(0,1.99,200):
-    # Iterate the position up.
-    R = numpy.matrix([[velocity_goal]])
-    U = numpy.clip(shooter.K * (R - shooter.X_hat) +
-                   (numpy.identity(shooter.A.shape[0]) - shooter.A) * R / shooter.B,
-                   shooter.U_min, shooter.U_max)
-    shooter.UpdateObserver(U)
-    shooter.Update(U)
-    close_loop_x.append(shooter.X[0, 0])
-    close_loop_U.append(U[0, 0])
-    if (abs(R[0, 0] - shooter.X[0, 0]) < R[0, 0]* 0.01 and (not goal)):
-      goal = True
-      print i
-
-  #pylab.plotfile("shooter.csv", (0,1))
-  pylab.plot(pylab.linspace(0,1.99,200), close_loop_U)
-  #pylab.plotfile("shooter.csv", (0,2))
-  pylab.plot(pylab.linspace(0,1.99,200), close_loop_x)
-  pylab.show()
-
-  # Simulate spin down.
-  spin_down_x = [];
-  for _ in xrange(150):
-    U = 0
-    shooter.UpdateObserver(U)
-    shooter.Update(U)
-    spin_down_x.append(shooter.X[0, 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))
diff --git a/bot3/control_loops/shooter/shooter_motor_plant.cc b/bot3/control_loops/shooter/shooter_motor_plant.cc
index ab5dbc7..e8113a4 100644
--- a/bot3/control_loops/shooter/shooter_motor_plant.cc
+++ b/bot3/control_loops/shooter/shooter_motor_plant.cc
@@ -1,10 +1,10 @@
-#include "bot3/control_loops/shooter/shooter_motor_plant.h"
+#include "frc971/control_loops/shooter/shooter_motor_plant.h"
 
 #include <vector>
 
 #include "frc971/control_loops/state_feedback_loop.h"
 
-namespace bot3 {
+namespace frc971 {
 namespace control_loops {
 
 StateFeedbackPlantCoefficients<1, 1, 1> MakeShooterPlantCoefficients() {
@@ -13,7 +13,7 @@
   Eigen::Matrix<double, 1, 1> B;
   B << 0.533205953514;
   Eigen::Matrix<double, 1, 1> C;
-  C << 0;
+  C << 1;
   Eigen::Matrix<double, 1, 1> D;
   D << 0;
   Eigen::Matrix<double, 1, 1> U_max;
@@ -25,9 +25,9 @@
 
 StateFeedbackController<1, 1, 1> MakeShooterController() {
   Eigen::Matrix<double, 1, 1> L;
-  L << 29.7111780621;
+  L << 0.539057756738;
   Eigen::Matrix<double, 1, 1> K;
-  K << 0.758151303088;
+  K << 0.354567977894;
   return StateFeedbackController<1, 1, 1>(L, K, MakeShooterPlantCoefficients());
 }
 
@@ -44,4 +44,4 @@
 }
 
 }  // namespace control_loops
-}  // namespace bot3
+}  // namespace frc971
diff --git a/bot3/control_loops/shooter/shooter_motor_plant.h b/bot3/control_loops/shooter/shooter_motor_plant.h
index 1ab9702..18ca817 100644
--- a/bot3/control_loops/shooter/shooter_motor_plant.h
+++ b/bot3/control_loops/shooter/shooter_motor_plant.h
@@ -1,9 +1,9 @@
-#ifndef BOT3_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
-#define BOT3_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
+#ifndef FRC971_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
+#define FRC971_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
 
 #include "frc971/control_loops/state_feedback_loop.h"
 
-namespace bot3 {
+namespace frc971 {
 namespace control_loops {
 
 StateFeedbackPlantCoefficients<1, 1, 1> MakeShooterPlantCoefficients();
@@ -15,6 +15,6 @@
 StateFeedbackLoop<1, 1, 1> MakeShooterLoop();
 
 }  // namespace control_loops
-}  // namespace bot3
+}  // namespace frc971
 
-#endif  // BOT3_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
+#endif  // FRC971_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
diff --git a/bot3/control_loops/update_shooter.sh b/bot3/control_loops/update_shooter.sh
index db98547..26e7ae3 100755
--- a/bot3/control_loops/update_shooter.sh
+++ b/bot3/control_loops/update_shooter.sh
@@ -2,4 +2,4 @@
 #
 # Updates the shooter controller.
 
-./python/shooter.py shooter/shooter_motor_plant.h shooter/shooter_motor_plant.cc
+../../frc971/control_loops/python/shooter.py shooter/shooter_motor_plant.h shooter/shooter_motor_plant.cc