diff --git a/frc971/control_loops/python/drivetrain.py b/frc971/control_loops/python/drivetrain.py
index c6a3f05..c39886a 100755
--- a/frc971/control_loops/python/drivetrain.py
+++ b/frc971/control_loops/python/drivetrain.py
@@ -50,8 +50,8 @@
 
 
 class Drivetrain(control_loop.ControlLoop):
-  def __init__(self, left_low=True, right_low=True):
-    super(Drivetrain, self).__init__("Drivetrain")
+  def __init__(self, left_low=True, right_low=True, is_clutch=False):
+    super(Drivetrain, self).__init__(("Clutch" if is_clutch else "Dog" )+"Drivetrain")
     # Stall Torque in N m
     self.stall_torque = 2.42
     # Stall Current in Amps
@@ -62,7 +62,10 @@
     self.free_current = 2.7
     # Moment of inertia of the drivetrain in kg m^2
     # Just borrowed from last year.
-    self.J = 4.5
+    if is_clutch:
+      self.J = 4.5
+    else:
+      self.J = 4.9
     # Mass of the robot, in kg.
     self.m = 68
     # Radius of the robot, in meters (from last year).
@@ -77,8 +80,12 @@
     # 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
+    if is_clutch:
+      self.G_low = 14.0 / 60.0 * 15.0 / 50.0
+      self.G_high = 30.0 / 44.0 * 15.0 / 50.0
+    else:
+      self.G_low = 16.0 / 60.0 * 17.0 / 50.0
+      self.G_high = 28.0 / 48.0 * 17.0 / 50.0
     if left_low:
       self.Gl = self.G_low
     else:
@@ -200,14 +207,23 @@
   #pylab.show()
 
   # Write the generated constants out to a file.
-  if len(argv) != 3:
+  dog_drivetrain = Drivetrain(is_clutch=False)
+  clutch_drivetrain = Drivetrain(is_clutch=True)
+
+  if len(argv) != 5:
     print "Expected .h file name and .cc file name"
   else:
-    loop_writer = control_loop.ControlLoopWriter("Drivetrain", [drivetrain])
+    dog_loop_writer = control_loop.ControlLoopWriter("DogDrivetrain", [dog_drivetrain])
     if argv[1][-3:] == '.cc':
-      loop_writer.Write(argv[2], argv[1])
+      dog_loop_writer.Write(argv[2], argv[1])
     else:
-      loop_writer.Write(argv[1], argv[2])
+      dog_loop_writer.Write(argv[1], argv[2])
+
+    clutch_loop_writer = control_loop.ControlLoopWriter("ClutchDrivetrain", [clutch_drivetrain])
+    if argv[3][-3:] == '.cc':
+      clutch_loop_writer.Write(argv[4], argv[3])
+    else:
+      clutch_loop_writer.Write(argv[3], argv[4])
 
 if __name__ == '__main__':
   sys.exit(main(sys.argv))
diff --git a/frc971/control_loops/python/polydrivetrain.py b/frc971/control_loops/python/polydrivetrain.py
index f28cf42..5ffcff4 100755
--- a/frc971/control_loops/python/polydrivetrain.py
+++ b/frc971/control_loops/python/polydrivetrain.py
@@ -96,10 +96,11 @@
 
 
 class VelocityDrivetrainModel(control_loop.ControlLoop):
-  def __init__(self, left_low=True, right_low=True, name="VelocityDrivetrainModel"):
+  def __init__(self, left_low=True, right_low=True, name="VelocityDrivetrainModel", is_clutch=False):
     super(VelocityDrivetrainModel, self).__init__(name)
     self._drivetrain = drivetrain.Drivetrain(left_low=left_low,
-                                             right_low=right_low)
+                                             right_low=right_low,
+                                             is_clutch=is_clutch)
     self.dt = 0.01
     self.A_continuous = numpy.matrix(
         [[self._drivetrain.A_continuous[1, 1], self._drivetrain.A_continuous[1, 3]],
@@ -137,12 +138,13 @@
   SHIFTING_UP = 'up'
   SHIFTING_DOWN = 'down'
 
-  def __init__(self):
+  def __init__(self, is_clutch):
+    prefix = 'Clutch' if is_clutch else 'Dog'
     self.drivetrain_low_low = VelocityDrivetrainModel(
-        left_low=True, right_low=True, name='VelocityDrivetrainLowLow')
-    self.drivetrain_low_high = VelocityDrivetrainModel(left_low=True, right_low=False, name='VelocityDrivetrainLowHigh')
-    self.drivetrain_high_low = VelocityDrivetrainModel(left_low=False, right_low=True, name = 'VelocityDrivetrainHighLow')
-    self.drivetrain_high_high = VelocityDrivetrainModel(left_low=False, right_low=False, name = 'VelocityDrivetrainHighHigh')
+        left_low=True, right_low=True, name=prefix+'VelocityDrivetrainLowLow', is_clutch=is_clutch)
+    self.drivetrain_low_high = VelocityDrivetrainModel(left_low=True, right_low=False, name=prefix+'VelocityDrivetrainLowHigh', is_clutch=is_clutch)
+    self.drivetrain_high_low = VelocityDrivetrainModel(left_low=False, right_low=True, name = prefix+'VelocityDrivetrainHighLow', is_clutch=is_clutch)
+    self.drivetrain_high_high = VelocityDrivetrainModel(left_low=False, right_low=False, name = prefix+'VelocityDrivetrainHighHigh', is_clutch=is_clutch)
 
     # X is [lvel, rvel]
     self.X = numpy.matrix(
@@ -390,29 +392,41 @@
 
 
 def main(argv):
-  vdrivetrain = VelocityDrivetrain()
+  dog_vdrivetrain = VelocityDrivetrain(False)
+  clutch_vdrivetrain = VelocityDrivetrain(True)
 
-  if len(argv) != 5:
+  if len(argv) != 7:
     print "Expected .h file name and .cc file name"
   else:
-    loop_writer = control_loop.ControlLoopWriter(
-        "VDrivetrain", [vdrivetrain.drivetrain_low_low,
-                        vdrivetrain.drivetrain_low_high,
-                        vdrivetrain.drivetrain_high_low,
-                        vdrivetrain.drivetrain_high_high])
+    dog_loop_writer = control_loop.ControlLoopWriter(
+        "VDogDrivetrain", [dog_vdrivetrain.drivetrain_low_low,
+                           dog_vdrivetrain.drivetrain_low_high,
+                           dog_vdrivetrain.drivetrain_high_low,
+                           dog_vdrivetrain.drivetrain_high_high])
 
     if argv[1][-3:] == '.cc':
-      loop_writer.Write(argv[2], argv[1])
+      dog_loop_writer.Write(argv[2], argv[1])
     else:
-      loop_writer.Write(argv[1], argv[2])
+      dog_loop_writer.Write(argv[1], argv[2])
+
+    clutch_loop_writer = control_loop.ControlLoopWriter(
+        "VClutchDrivetrain", [clutch_vdrivetrain.drivetrain_low_low,
+                              clutch_vdrivetrain.drivetrain_low_high,
+                              clutch_vdrivetrain.drivetrain_high_low,
+                              clutch_vdrivetrain.drivetrain_high_high])
+
+    if argv[3][-3:] == '.cc':
+      clutch_loop_writer.Write(argv[4], argv[3])
+    else:
+      clutch_loop_writer.Write(argv[3], argv[4])
 
     cim_writer = control_loop.ControlLoopWriter(
         "CIM", [drivetrain.CIM()])
 
-    if argv[3][-3:] == '.cc':
-      cim_writer.Write(argv[4], argv[3])
+    if argv[5][-3:] == '.cc':
+      cim_writer.Write(argv[6], argv[5])
     else:
-      cim_writer.Write(argv[3], argv[4])
+      cim_writer.Write(argv[5], argv[6])
     return
 
   vl_plot = []