diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 815f05e..2b16c0b 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -11,8 +11,6 @@
 #include "aos/controls/polytope.h"
 #include "aos/common/commonmath.h"
 #include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/control_loops/drivetrain/drivetrain_motor_plant.h"
-#include "frc971/control_loops/drivetrain/polydrivetrain_motor_plant.h"
 #include "frc971/control_loops/drivetrain/polydrivetrain_cim_plant.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/queues/GyroAngle.q.h"
@@ -76,8 +74,9 @@
 
 class DrivetrainMotorsSS {
  public:
-  DrivetrainMotorsSS ()
-      : loop_(new StateFeedbackLoop<4, 2, 2>(MakeDrivetrainLoop())) {
+  DrivetrainMotorsSS()
+      : loop_(new StateFeedbackLoop<4, 2, 2>(
+            constants::GetValues().make_drivetrain_loop())) {
     _offset = 0;
     _integral_offset = 0;
     _left_goal = 0.0;
@@ -181,7 +180,8 @@
                  /*[*/ 12 /*]*/,
                  /*[*/ 12 /*]*/,
                  /*[*/ 12 /*]]*/).finished()),
-        loop_(new StateFeedbackLoop<2, 2, 2>(MakeVDrivetrainLoop())),
+        loop_(new StateFeedbackLoop<2, 2, 2>(
+            constants::GetValues().make_v_drivetrain_loop())),
         left_cim_(new StateFeedbackLoop<1, 1, 1>(MakeCIMLoop())),
         right_cim_(new StateFeedbackLoop<1, 1, 1>(MakeCIMLoop())),
         ttrust_(1.1),
diff --git a/frc971/control_loops/drivetrain/drivetrain.gyp b/frc971/control_loops/drivetrain/drivetrain.gyp
index 2b98578..53bb16c 100644
--- a/frc971/control_loops/drivetrain/drivetrain.gyp
+++ b/frc971/control_loops/drivetrain/drivetrain.gyp
@@ -18,12 +18,26 @@
       'includes': ['../../../aos/build/queues.gypi'],
     },
     {
+      'target_name': 'polydrivetrain_plants',
+      'type': 'static_library',
+      'sources': [
+        'polydrivetrain_dog_motor_plant.cc',
+        'polydrivetrain_clutch_motor_plant.cc',
+        'drivetrain_dog_motor_plant.cc',
+        'drivetrain_clutch_motor_plant.cc',
+      ],
+      'dependencies': [
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+      ],
+      'export_dependent_settings': [
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+      ],
+    },
+    {
       'target_name': 'drivetrain_lib',
       'type': 'static_library',
       'sources': [
         'drivetrain.cc',
-        'drivetrain_motor_plant.cc',
-        'polydrivetrain_motor_plant.cc',
         'polydrivetrain_cim_plant.cc',
       ],
       'dependencies': [
diff --git a/frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.cc b/frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.cc
new file mode 100644
index 0000000..b3aa088
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.cc
@@ -0,0 +1,47 @@
+#include "frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeClutchDrivetrainPlantCoefficients() {
+  Eigen::Matrix<double, 4, 4> A;
+  A << 1.0, 0.00876671940282, 0.0, 0.000204905465153, 0.0, 0.764245148008, 0.0, 0.0373841350548, 0.0, 0.000204905465153, 1.0, 0.00876671940282, 0.0, 0.0373841350548, 0.0, 0.764245148008;
+  Eigen::Matrix<double, 4, 2> B;
+  B << 0.000157874070659, -2.62302512161e-05, 0.0301793267864, -0.00478559834045, -2.62302512161e-05, 0.000157874070659, -0.00478559834045, 0.0301793267864;
+  Eigen::Matrix<double, 2, 4> C;
+  C << 1, 0, 0, 0, 0, 0, 1, 0;
+  Eigen::Matrix<double, 2, 2> D;
+  D << 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<4, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<4, 2, 2> MakeClutchDrivetrainController() {
+  Eigen::Matrix<double, 4, 2> L;
+  L << 1.60424514801, 0.0373841350548, 53.4463554671, 4.58647914599, 0.0373841350548, 1.60424514801, 4.58647914599, 53.4463554671;
+  Eigen::Matrix<double, 2, 4> K;
+  K << 292.330461448, 10.4890095334, -85.5980253252, -0.517234397951, -58.0206391358, -1.5636023242, 153.384904309, 5.5616531565;
+  return StateFeedbackController<4, 2, 2>(L, K, MakeClutchDrivetrainPlantCoefficients());
+}
+
+StateFeedbackPlant<4, 2, 2> MakeClutchDrivetrainPlant() {
+  ::std::vector<StateFeedbackPlantCoefficients<4, 2, 2> *> plants(1);
+  plants[0] = new StateFeedbackPlantCoefficients<4, 2, 2>(MakeClutchDrivetrainPlantCoefficients());
+  return StateFeedbackPlant<4, 2, 2>(plants);
+}
+
+StateFeedbackLoop<4, 2, 2> MakeClutchDrivetrainLoop() {
+  ::std::vector<StateFeedbackController<4, 2, 2> *> controllers(1);
+  controllers[0] = new StateFeedbackController<4, 2, 2>(MakeClutchDrivetrainController());
+  return StateFeedbackLoop<4, 2, 2>(controllers);
+}
+
+}  // namespace control_loops
+}  // namespace frc971
diff --git a/frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.h b/frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.h
new file mode 100644
index 0000000..e9444e6
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_clutch_motor_plant.h
@@ -0,0 +1,20 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_CLUTCH_MOTOR_PLANT_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_CLUTCH_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeClutchDrivetrainPlantCoefficients();
+
+StateFeedbackController<4, 2, 2> MakeClutchDrivetrainController();
+
+StateFeedbackPlant<4, 2, 2> MakeClutchDrivetrainPlant();
+
+StateFeedbackLoop<4, 2, 2> MakeClutchDrivetrainLoop();
+
+}  // namespace control_loops
+}  // namespace frc971
+
+#endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_CLUTCH_MOTOR_PLANT_H_
diff --git a/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.cc b/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.cc
new file mode 100644
index 0000000..7e514b5
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.cc
@@ -0,0 +1,47 @@
+#include "frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDogDrivetrainPlantCoefficients() {
+  Eigen::Matrix<double, 4, 4> A;
+  A << 1.0, 0.00927226867138, 0.0, 9.67653917682e-05, 0.0, 0.858140318975, 0.0, 0.0183781356125, 0.0, 9.67653917682e-05, 1.0, 0.00927226867138, 0.0, 0.0183781356125, 0.0, 0.858140318975;
+  Eigen::Matrix<double, 4, 2> B;
+  B << 0.000120661741455, -1.60442188265e-05, 0.0235210928559, -0.00304719305118, -1.60442188265e-05, 0.000120661741455, -0.00304719305118, 0.0235210928559;
+  Eigen::Matrix<double, 2, 4> C;
+  C << 1, 0, 0, 0, 0, 0, 1, 0;
+  Eigen::Matrix<double, 2, 2> D;
+  D << 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<4, 2, 2>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<4, 2, 2> MakeDogDrivetrainController() {
+  Eigen::Matrix<double, 4, 2> L;
+  L << 1.69814031898, 0.0183781356125, 65.3030659057, 2.40312922858, 0.0183781356125, 1.69814031898, 2.40312922858, 65.3030659057;
+  Eigen::Matrix<double, 2, 4> K;
+  K << 257.282562369, 15.135374919, 33.3313439577, 2.7466676405, 33.3313439577, 2.7466676405, 257.282562369, 15.135374919;
+  return StateFeedbackController<4, 2, 2>(L, K, MakeDogDrivetrainPlantCoefficients());
+}
+
+StateFeedbackPlant<4, 2, 2> MakeDogDrivetrainPlant() {
+  ::std::vector<StateFeedbackPlantCoefficients<4, 2, 2> *> plants(1);
+  plants[0] = new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDogDrivetrainPlantCoefficients());
+  return StateFeedbackPlant<4, 2, 2>(plants);
+}
+
+StateFeedbackLoop<4, 2, 2> MakeDogDrivetrainLoop() {
+  ::std::vector<StateFeedbackController<4, 2, 2> *> controllers(1);
+  controllers[0] = new StateFeedbackController<4, 2, 2>(MakeDogDrivetrainController());
+  return StateFeedbackLoop<4, 2, 2>(controllers);
+}
+
+}  // namespace control_loops
+}  // namespace frc971
diff --git a/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.h b/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.h
new file mode 100644
index 0000000..ba3d584
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.h
@@ -0,0 +1,20 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<4, 2, 2> MakeDogDrivetrainPlantCoefficients();
+
+StateFeedbackController<4, 2, 2> MakeDogDrivetrainController();
+
+StateFeedbackPlant<4, 2, 2> MakeDogDrivetrainPlant();
+
+StateFeedbackLoop<4, 2, 2> MakeDogDrivetrainLoop();
+
+}  // namespace control_loops
+}  // namespace frc971
+
+#endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 43b6443..0f8c87e 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -10,7 +10,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/control_loops/drivetrain/drivetrain_motor_plant.h"
+#include "frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 #include "frc971/queues/GyroAngle.q.h"
 
 
@@ -37,9 +37,10 @@
 class DrivetrainSimulation {
  public:
   // Constructs a motor simulation.
+  // TODO(aschuh) Do we want to test the clutch one too?
   DrivetrainSimulation()
       : drivetrain_plant_(
-            new StateFeedbackPlant<4, 2, 2>(MakeDrivetrainPlant())),
+            new StateFeedbackPlant<4, 2, 2>(MakeDogDrivetrainPlant())),
         my_drivetrain_loop_(".frc971.control_loops.drivetrain",
                        0x8a8dde77, ".frc971.control_loops.drivetrain.goal",
                        ".frc971.control_loops.drivetrain.position",
diff --git a/frc971/control_loops/drivetrain/drivetrain_motor_plant.cc b/frc971/control_loops/drivetrain/drivetrain_motor_plant.cc
deleted file mode 100644
index 071b257..0000000
--- a/frc971/control_loops/drivetrain/drivetrain_motor_plant.cc
+++ /dev/null
@@ -1,47 +0,0 @@
-#include "frc971/control_loops/drivetrain/drivetrain_motor_plant.h"
-
-#include <vector>
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainPlantCoefficients() {
-  Eigen::Matrix<double, 4, 4> A;
-  A << 1.0, 0.00948696019317, 0.0, 3.55966215909e-06, 0.0, 0.899177606502, 0.0, 0.000686937184856, 0.0, 3.55966215909e-06, 1.0, 0.00948696019317, 0.0, 0.000686937184856, 0.0, 0.899177606502;
-  Eigen::Matrix<double, 4, 2> B;
-  B << 9.50723568824e-05, -6.59647588097e-07, 0.0186835844877, -0.000127297602107, -6.59647588097e-07, 9.50723568824e-05, -0.000127297602107, 0.0186835844877;
-  Eigen::Matrix<double, 2, 4> C;
-  C << 1, 0, 0, 0, 0, 0, 1, 0;
-  Eigen::Matrix<double, 2, 2> D;
-  D << 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<4, 2, 2>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackController<4, 2, 2> MakeDrivetrainController() {
-  Eigen::Matrix<double, 4, 2> L;
-  L << 1.7391776065, 0.000686937184856, 70.7236123469, 0.0920942992696, 0.000686937184856, 1.7391776065, 0.0920942992696, 70.7236123469;
-  Eigen::Matrix<double, 2, 4> K;
-  K << 318.476158856, 20.8163224602, 2.1698861574, 0.178798182963, 2.1698861574, 0.178798182963, 318.476158856, 20.8163224602;
-  return StateFeedbackController<4, 2, 2>(L, K, MakeDrivetrainPlantCoefficients());
-}
-
-StateFeedbackPlant<4, 2, 2> MakeDrivetrainPlant() {
-  ::std::vector<StateFeedbackPlantCoefficients<4, 2, 2> *> plants(1);
-  plants[0] = new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainPlantCoefficients());
-  return StateFeedbackPlant<4, 2, 2>(plants);
-}
-
-StateFeedbackLoop<4, 2, 2> MakeDrivetrainLoop() {
-  ::std::vector<StateFeedbackController<4, 2, 2> *> controllers(1);
-  controllers[0] = new StateFeedbackController<4, 2, 2>(MakeDrivetrainController());
-  return StateFeedbackLoop<4, 2, 2>(controllers);
-}
-
-}  // namespace control_loops
-}  // namespace frc971
diff --git a/frc971/control_loops/drivetrain/drivetrain_motor_plant.h b/frc971/control_loops/drivetrain/drivetrain_motor_plant.h
deleted file mode 100644
index 2060b6f..0000000
--- a/frc971/control_loops/drivetrain/drivetrain_motor_plant.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_MOTOR_PLANT_H_
-#define FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_MOTOR_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainPlantCoefficients();
-
-StateFeedbackController<4, 2, 2> MakeDrivetrainController();
-
-StateFeedbackPlant<4, 2, 2> MakeDrivetrainPlant();
-
-StateFeedbackLoop<4, 2, 2> MakeDrivetrainLoop();
-
-}  // namespace control_loops
-}  // namespace frc971
-
-#endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_MOTOR_PLANT_H_
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.cc b/frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.cc
new file mode 100644
index 0000000..82962f0
--- /dev/null
+++ b/frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.cc
@@ -0,0 +1,125 @@
+#include "frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeClutchVelocityDrivetrainLowLowPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 0.764245148008, 0.0373841350548, 0.0373841350548, 0.764245148008;
+  Eigen::Matrix<double, 2, 2> B;
+  B << 0.0301793267864, -0.00478559834045, -0.00478559834045, 0.0301793267864;
+  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> MakeClutchVelocityDrivetrainLowHighPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 0.763446428918, 0.00494258902788, 0.042202491067, 0.968991856576;
+  Eigen::Matrix<double, 2, 2> B;
+  B << 0.0302815719967, -0.00184882243178, -0.00540240320973, 0.011598890947;
+  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> MakeClutchVelocityDrivetrainHighLowPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 0.968991856576, 0.042202491067, 0.00494258902788, 0.763446428918;
+  Eigen::Matrix<double, 2, 2> B;
+  B << 0.011598890947, -0.00540240320973, -0.00184882243178, 0.0302815719967;
+  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> MakeClutchVelocityDrivetrainHighHighPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 0.968881997557, 0.00555499847336, 0.00555499847336, 0.968881997557;
+  Eigen::Matrix<double, 2, 2> B;
+  B << 0.0116399847578, -0.0020779000091, -0.0020779000091, 0.0116399847578;
+  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> MakeClutchVelocityDrivetrainLowLowController() {
+  Eigen::Matrix<double, 2, 2> L;
+  L << 0.744245148008, 0.0373841350548, 0.0373841350548, 0.744245148008;
+  Eigen::Matrix<double, 2, 2> K;
+  K << 5.78417881324, 2.15594244513, 2.15594244513, 5.78417881324;
+  return StateFeedbackController<2, 2, 2>(L, K, MakeClutchVelocityDrivetrainLowLowPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainLowHighController() {
+  Eigen::Matrix<double, 2, 2> L;
+  L << 0.742469928763, 0.0421768815418, 0.0421768815418, 0.949968356732;
+  Eigen::Matrix<double, 2, 2> K;
+  K << 5.78418649682, 2.16715237139, 6.33258809821, 32.8220766317;
+  return StateFeedbackController<2, 2, 2>(L, K, MakeClutchVelocityDrivetrainLowHighPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainHighLowController() {
+  Eigen::Matrix<double, 2, 2> L;
+  L << 0.954934950673, 0.00591596315544, 0.00591596315544, 0.737503334821;
+  Eigen::Matrix<double, 2, 2> K;
+  K << 32.8220766317, 6.33258809821, 2.16715237139, 5.78418649682;
+  return StateFeedbackController<2, 2, 2>(L, K, MakeClutchVelocityDrivetrainHighLowPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainHighHighController() {
+  Eigen::Matrix<double, 2, 2> L;
+  L << 0.948881997557, 0.00555499847336, 0.00555499847336, 0.948881997557;
+  Eigen::Matrix<double, 2, 2> K;
+  K << 32.8220767657, 6.33643373411, 6.33643373411, 32.8220767657;
+  return StateFeedbackController<2, 2, 2>(L, K, MakeClutchVelocityDrivetrainHighHighPlantCoefficients());
+}
+
+StateFeedbackPlant<2, 2, 2> MakeVClutchDrivetrainPlant() {
+  ::std::vector<StateFeedbackPlantCoefficients<2, 2, 2> *> plants(4);
+  plants[0] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeClutchVelocityDrivetrainLowLowPlantCoefficients());
+  plants[1] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeClutchVelocityDrivetrainLowHighPlantCoefficients());
+  plants[2] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeClutchVelocityDrivetrainHighLowPlantCoefficients());
+  plants[3] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeClutchVelocityDrivetrainHighHighPlantCoefficients());
+  return StateFeedbackPlant<2, 2, 2>(plants);
+}
+
+StateFeedbackLoop<2, 2, 2> MakeVClutchDrivetrainLoop() {
+  ::std::vector<StateFeedbackController<2, 2, 2> *> controllers(4);
+  controllers[0] = new StateFeedbackController<2, 2, 2>(MakeClutchVelocityDrivetrainLowLowController());
+  controllers[1] = new StateFeedbackController<2, 2, 2>(MakeClutchVelocityDrivetrainLowHighController());
+  controllers[2] = new StateFeedbackController<2, 2, 2>(MakeClutchVelocityDrivetrainHighLowController());
+  controllers[3] = new StateFeedbackController<2, 2, 2>(MakeClutchVelocityDrivetrainHighHighController());
+  return StateFeedbackLoop<2, 2, 2>(controllers);
+}
+
+}  // namespace control_loops
+}  // namespace frc971
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.h b/frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.h
new file mode 100644
index 0000000..85c87c1
--- /dev/null
+++ b/frc971/control_loops/drivetrain/polydrivetrain_clutch_motor_plant.h
@@ -0,0 +1,32 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CLUTCH_MOTOR_PLANT_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CLUTCH_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeClutchVelocityDrivetrainLowLowPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainLowLowController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeClutchVelocityDrivetrainLowHighPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainLowHighController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeClutchVelocityDrivetrainHighLowPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainHighLowController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeClutchVelocityDrivetrainHighHighPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeClutchVelocityDrivetrainHighHighController();
+
+StateFeedbackPlant<2, 2, 2> MakeVClutchDrivetrainPlant();
+
+StateFeedbackLoop<2, 2, 2> MakeVClutchDrivetrainLoop();
+
+}  // namespace control_loops
+}  // namespace frc971
+
+#endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_CLUTCH_MOTOR_PLANT_H_
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc b/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
new file mode 100644
index 0000000..d8421a2
--- /dev/null
+++ b/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.cc
@@ -0,0 +1,125 @@
+#include "frc971/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> MakeDogVelocityDrivetrainLowLowPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 0.858140318975, 0.0183781356125, 0.0183781356125, 0.858140318975;
+  Eigen::Matrix<double, 2, 2> B;
+  B << 0.0235210928559, -0.00304719305118, -0.00304719305118, 0.0235210928559;
+  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> MakeDogVelocityDrivetrainLowHighPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 0.857986344025, 0.00408284222985, 0.0195370380139, 0.968532564253;
+  Eigen::Matrix<double, 2, 2> B;
+  B << 0.0235466227252, -0.00148084354724, -0.00323934525959, 0.0114132132839;
+  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> MakeDogVelocityDrivetrainHighLowPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 0.968532564253, 0.0195370380139, 0.00408284222985, 0.857986344025;
+  Eigen::Matrix<double, 2, 2> B;
+  B << 0.0114132132839, -0.00323934525959, -0.00148084354724, 0.0235466227252;
+  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> MakeDogVelocityDrivetrainHighHighPlantCoefficients() {
+  Eigen::Matrix<double, 2, 2> A;
+  A << 0.968497658015, 0.0043351996773, 0.0043351996773, 0.968497658015;
+  Eigen::Matrix<double, 2, 2> B;
+  B << 0.0114258737482, -0.00157237338764, -0.00157237338764, 0.0114258737482;
+  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> MakeDogVelocityDrivetrainLowLowController() {
+  Eigen::Matrix<double, 2, 2> L;
+  L << 0.838140318975, 0.0183781356125, 0.0183781356125, 0.838140318975;
+  Eigen::Matrix<double, 2, 2> K;
+  K << 11.2651379288, 2.240762619, 2.240762619, 11.2651379288;
+  return StateFeedbackController<2, 2, 2>(L, K, MakeDogVelocityDrivetrainLowLowPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainLowHighController() {
+  Eigen::Matrix<double, 2, 2> L;
+  L << 0.838267905918, 0.0195319064993, 0.0195319064993, 0.94825100236;
+  Eigen::Matrix<double, 2, 2> K;
+  K << 11.2651385254, 2.24416423621, 4.90910926672, 32.9269398272;
+  return StateFeedbackController<2, 2, 2>(L, K, MakeDogVelocityDrivetrainLowHighPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainHighLowController() {
+  Eigen::Matrix<double, 2, 2> L;
+  L << 0.950927164662, 0.00446324489791, 0.00446324489791, 0.835591743616;
+  Eigen::Matrix<double, 2, 2> K;
+  K << 32.9269398272, 4.90910926672, 2.24416423621, 11.2651385254;
+  return StateFeedbackController<2, 2, 2>(L, K, MakeDogVelocityDrivetrainHighLowPlantCoefficients());
+}
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainHighHighController() {
+  Eigen::Matrix<double, 2, 2> L;
+  L << 0.948497658015, 0.0043351996773, 0.0043351996773, 0.948497658015;
+  Eigen::Matrix<double, 2, 2> K;
+  K << 32.9269398561, 4.91066546682, 4.91066546682, 32.9269398561;
+  return StateFeedbackController<2, 2, 2>(L, K, MakeDogVelocityDrivetrainHighHighPlantCoefficients());
+}
+
+StateFeedbackPlant<2, 2, 2> MakeVDogDrivetrainPlant() {
+  ::std::vector<StateFeedbackPlantCoefficients<2, 2, 2> *> plants(4);
+  plants[0] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeDogVelocityDrivetrainLowLowPlantCoefficients());
+  plants[1] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeDogVelocityDrivetrainLowHighPlantCoefficients());
+  plants[2] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeDogVelocityDrivetrainHighLowPlantCoefficients());
+  plants[3] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeDogVelocityDrivetrainHighHighPlantCoefficients());
+  return StateFeedbackPlant<2, 2, 2>(plants);
+}
+
+StateFeedbackLoop<2, 2, 2> MakeVDogDrivetrainLoop() {
+  ::std::vector<StateFeedbackController<2, 2, 2> *> controllers(4);
+  controllers[0] = new StateFeedbackController<2, 2, 2>(MakeDogVelocityDrivetrainLowLowController());
+  controllers[1] = new StateFeedbackController<2, 2, 2>(MakeDogVelocityDrivetrainLowHighController());
+  controllers[2] = new StateFeedbackController<2, 2, 2>(MakeDogVelocityDrivetrainHighLowController());
+  controllers[3] = new StateFeedbackController<2, 2, 2>(MakeDogVelocityDrivetrainHighHighController());
+  return StateFeedbackLoop<2, 2, 2>(controllers);
+}
+
+}  // namespace control_loops
+}  // namespace frc971
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h b/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h
new file mode 100644
index 0000000..613bff4
--- /dev/null
+++ b/frc971/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h
@@ -0,0 +1,32 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
+#define FRC971_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> MakeDogVelocityDrivetrainLowLowPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainLowLowController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeDogVelocityDrivetrainLowHighPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainLowHighController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeDogVelocityDrivetrainHighLowPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainHighLowController();
+
+StateFeedbackPlantCoefficients<2, 2, 2> MakeDogVelocityDrivetrainHighHighPlantCoefficients();
+
+StateFeedbackController<2, 2, 2> MakeDogVelocityDrivetrainHighHighController();
+
+StateFeedbackPlant<2, 2, 2> MakeVDogDrivetrainPlant();
+
+StateFeedbackLoop<2, 2, 2> MakeVDogDrivetrainLoop();
+
+}  // namespace control_loops
+}  // namespace frc971
+
+#endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_DOG_MOTOR_PLANT_H_
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_motor_plant.cc b/frc971/control_loops/drivetrain/polydrivetrain_motor_plant.cc
deleted file mode 100644
index 4b1a1ba..0000000
--- a/frc971/control_loops/drivetrain/polydrivetrain_motor_plant.cc
+++ /dev/null
@@ -1,125 +0,0 @@
-#include "frc971/control_loops/drivetrain/polydrivetrain_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 << 0.8793262727, 0.0205382709865, 0.0205382709865, 0.8793262727;
-  Eigen::Matrix<double, 2, 2> B;
-  B << 0.0223622719242, -0.00380598503859, -0.00380598503859, 0.0223622719242;
-  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 << 0.879138263008, 0.00451814985125, 0.0216200529991, 0.97348145244;
-  Eigen::Matrix<double, 2, 2> B;
-  B << 0.0223971123485, -0.00183152094495, -0.00400645206708, 0.0107498150538;
-  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 << 0.97348145244, 0.0216200529991, 0.00451814985125, 0.879138263008;
-  Eigen::Matrix<double, 2, 2> B;
-  B << 0.0107498150538, -0.00400645206708, -0.00183152094495, 0.0223971123485;
-  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 << 0.973439382316, 0.00475228155545, 0.00475228155545, 0.973439382316;
-  Eigen::Matrix<double, 2, 2> B;
-  B << 0.0107668690064, -0.00192643083821, -0.00192643083821, 0.0107668690064;
-  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 << 0.8593262727, 0.0205382709865, 0.0205382709865, 0.8593262727;
-  Eigen::Matrix<double, 2, 2> K;
-  K << 13.0245570096, 3.13517071687, 3.13517071687, 13.0245570096;
-  return StateFeedbackController<2, 2, 2>(L, K, MakeVelocityDrivetrainLowLowPlantCoefficients());
-}
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowHighController() {
-  Eigen::Matrix<double, 2, 2> L;
-  L << 0.859606856614, 0.0216072038404, 0.0216072038404, 0.953012858834;
-  Eigen::Matrix<double, 2, 2> K;
-  K << 13.0245575441, 3.13849145977, 6.86545006825, 35.9127730204;
-  return StateFeedbackController<2, 2, 2>(L, K, MakeVelocityDrivetrainLowHighPlantCoefficients());
-}
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighLowController() {
-  Eigen::Matrix<double, 2, 2> L;
-  L << 0.956890244313, 0.00522697730081, 0.00522697730081, 0.855729471134;
-  Eigen::Matrix<double, 2, 2> K;
-  K << 35.9127730204, 6.86545006825, 3.13849145977, 13.0245575441;
-  return StateFeedbackController<2, 2, 2>(L, K, MakeVelocityDrivetrainHighLowPlantCoefficients());
-}
-
-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighHighController() {
-  Eigen::Matrix<double, 2, 2> L;
-  L << 0.953439382316, 0.00475228155545, 0.00475228155545, 0.953439382316;
-  Eigen::Matrix<double, 2, 2> K;
-  K << 35.9127730463, 6.86696893904, 6.86696893904, 35.9127730463;
-  return StateFeedbackController<2, 2, 2>(L, K, MakeVelocityDrivetrainHighHighPlantCoefficients());
-}
-
-StateFeedbackPlant<2, 2, 2> MakeVDrivetrainPlant() {
-  ::std::vector<StateFeedbackPlantCoefficients<2, 2, 2> *> plants(4);
-  plants[0] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainLowLowPlantCoefficients());
-  plants[1] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainLowHighPlantCoefficients());
-  plants[2] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainHighLowPlantCoefficients());
-  plants[3] = new StateFeedbackPlantCoefficients<2, 2, 2>(MakeVelocityDrivetrainHighHighPlantCoefficients());
-  return StateFeedbackPlant<2, 2, 2>(plants);
-}
-
-StateFeedbackLoop<2, 2, 2> MakeVDrivetrainLoop() {
-  ::std::vector<StateFeedbackController<2, 2, 2> *> controllers(4);
-  controllers[0] = new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainLowLowController());
-  controllers[1] = new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainLowHighController());
-  controllers[2] = new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainHighLowController());
-  controllers[3] = new StateFeedbackController<2, 2, 2>(MakeVelocityDrivetrainHighHighController());
-  return StateFeedbackLoop<2, 2, 2>(controllers);
-}
-
-}  // namespace control_loops
-}  // namespace frc971
diff --git a/frc971/control_loops/drivetrain/polydrivetrain_motor_plant.h b/frc971/control_loops/drivetrain/polydrivetrain_motor_plant.h
deleted file mode 100644
index 99b113e..0000000
--- a/frc971/control_loops/drivetrain/polydrivetrain_motor_plant.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_MOTOR_PLANT_H_
-#define FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_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();
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-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainLowHighController();
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-StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighLowPlantCoefficients();
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-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighLowController();
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-StateFeedbackPlantCoefficients<2, 2, 2> MakeVelocityDrivetrainHighHighPlantCoefficients();
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-StateFeedbackController<2, 2, 2> MakeVelocityDrivetrainHighHighController();
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-StateFeedbackPlant<2, 2, 2> MakeVDrivetrainPlant();
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-StateFeedbackLoop<2, 2, 2> MakeVDrivetrainLoop();
-
-}  // namespace control_loops
-}  // namespace frc971
-
-#endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_MOTOR_PLANT_H_