diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 64d1d9d..16c6340 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -10,7 +10,7 @@
     ],
     deps = [
         ":drivetrain_queue",
-        "//aos/common/controls:replay_control_loop",
+        "//aos/controls:replay_control_loop",
         "//aos/linux_code:init",
         "//frc971/queues:gyro",
     ],
@@ -25,7 +25,7 @@
         "//tools:armhf-debian",
     ],
     deps = [
-        "//aos/common/controls:control_loop_queues",
+        "//aos/controls:control_loop_queues",
         "//frc971/control_loops:queues",
     ],
 )
@@ -61,14 +61,14 @@
         ":drivetrain_config",
         ":drivetrain_queue",
         ":gear",
-        "//aos/common:math",
-        "//aos/common/controls:control_loop",
-        "//aos/common/controls:polytope",
-        "//aos/common/logging:matrix_logging",
-        "//aos/common/logging:queue_logging",
-        "//aos/common/messages:robot_state",
-        "//aos/common/util:log_interval",
-        "//aos/common/util:trapezoid_profile",
+        "//aos:math",
+        "//aos/controls:control_loop",
+        "//aos/controls:polytope",
+        "//aos/logging:matrix_logging",
+        "//aos/logging:queue_logging",
+        "//aos/robot_state:robot_state",
+        "//aos/util:log_interval",
+        "//aos/util:trapezoid_profile",
         "//frc971:shifter_hall_effect",
         "//frc971/control_loops:coerce_goal",
         "//frc971/control_loops:state_feedback_loop",
@@ -87,12 +87,12 @@
         ":drivetrain_config",
         ":drivetrain_queue",
         ":gear",
-        "//aos/common:math",
-        "//aos/common/controls:polytope",
-        "//aos/common/logging:matrix_logging",
-        "//aos/common/logging:queue_logging",
-        "//aos/common/messages:robot_state",
-        "//aos/common/util:log_interval",
+        "//aos:math",
+        "//aos/controls:polytope",
+        "//aos/logging:matrix_logging",
+        "//aos/logging:queue_logging",
+        "//aos/robot_state:robot_state",
+        "//aos/util:log_interval",
         "//frc971/control_loops:coerce_goal",
         "//frc971/control_loops:state_feedback_loop",
     ],
@@ -124,8 +124,8 @@
     deps = [
         ":drivetrain_config_uc",
         ":gear",
-        "//aos/common:math",
-        "//aos/common/controls:polytope_uc",
+        "//aos:math",
+        "//aos/controls:polytope_uc",
         "//frc971/control_loops:coerce_goal_uc",
         "//frc971/control_loops:state_feedback_loop_uc",
     ],
@@ -171,10 +171,10 @@
         ":gear",
         ":polydrivetrain",
         ":ssdrivetrain",
-        "//aos/common/controls:control_loop",
-        "//aos/common/logging:matrix_logging",
-        "//aos/common/logging:queue_logging",
-        "//aos/common/util:log_interval",
+        "//aos/controls:control_loop",
+        "//aos/logging:matrix_logging",
+        "//aos/logging:queue_logging",
+        "//aos/util:log_interval",
         "//frc971/queues:gyro",
         "//frc971/wpilib:imu_queue",
     ],
@@ -189,8 +189,8 @@
         ":drivetrain_config",
         ":drivetrain_lib",
         ":drivetrain_queue",
-        "//aos/common:queues",
-        "//aos/common/controls:control_loop_test",
+        "//aos:queues",
+        "//aos/controls:control_loop_test",
         "//aos/testing:googletest",
         "//frc971/control_loops:state_feedback_loop",
         "//frc971/queues:gyro",
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 14c1a42..a4401ea 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -6,9 +6,9 @@
 #include <memory>
 #include "Eigen/Dense"
 
-#include "aos/common/logging/logging.h"
-#include "aos/common/logging/queue_logging.h"
-#include "aos/common/logging/matrix_logging.h"
+#include "aos/logging/logging.h"
+#include "aos/logging/queue_logging.h"
+#include "aos/logging/matrix_logging.h"
 
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/polydrivetrain.h"
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index 83e6c52..3f6c32f 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -3,9 +3,9 @@
 
 #include "Eigen/Dense"
 
-#include "aos/common/controls/control_loop.h"
-#include "aos/common/controls/polytope.h"
-#include "aos/common/util/log_interval.h"
+#include "aos/controls/control_loop.h"
+#include "aos/controls/polytope.h"
+#include "aos/util/log_interval.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 #include "frc971/control_loops/drivetrain/gear.h"
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index a1c60c0..ed659c3 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -1,6 +1,6 @@
 package frc971.control_loops;
 
-import "aos/common/controls/control_loops.q";
+import "aos/controls/control_loops.q";
 import "frc971/control_loops/control_loops.q";
 
 // For logging information about what the code is doing with the shifters.
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 06b4f21..1c11ae2 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -3,10 +3,10 @@
 #include <chrono>
 #include <memory>
 
-#include "aos/common/controls/control_loop_test.h"
-#include "aos/common/controls/polytope.h"
-#include "aos/common/network/team_number.h"
-#include "aos/common/time.h"
+#include "aos/controls/control_loop_test.h"
+#include "aos/controls/polytope.h"
+#include "aos/network/team_number.h"
+#include "aos/time/time.h"
 #include "gtest/gtest.h"
 
 #include "frc971/control_loops/coerce_goal.h"
diff --git a/frc971/control_loops/drivetrain/drivetrain_uc.q.h b/frc971/control_loops/drivetrain/drivetrain_uc.q.h
index e93af26..7fcdea1 100644
--- a/frc971/control_loops/drivetrain/drivetrain_uc.q.h
+++ b/frc971/control_loops/drivetrain/drivetrain_uc.q.h
@@ -1,7 +1,7 @@
 #ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_Q_H_
 #define FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_Q_H_
 #include <array>
-#include "aos/common/macros.h"
+#include "aos/macros.h"
 
 namespace frc971 {
 namespace control_loops {
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc
index 266acd5..c213b06 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.cc
+++ b/frc971/control_loops/drivetrain/polydrivetrain.cc
@@ -1,7 +1,7 @@
 #include "frc971/control_loops/drivetrain/polydrivetrain.h"
 
-#include "aos/common/commonmath.h"
-#include "aos/common/controls/polytope.h"
+#include "aos/commonmath.h"
+#include "aos/controls/polytope.h"
 #include "frc971/control_loops/coerce_goal.h"
 #ifdef __linux__
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.h b/frc971/control_loops/drivetrain/polydrivetrain.h
index b93c1de..c09c527 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.h
+++ b/frc971/control_loops/drivetrain/polydrivetrain.h
@@ -1,17 +1,17 @@
 #ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
 #define FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
 
-#include "aos/common/controls/polytope.h"
+#include "aos/controls/polytope.h"
 
-#include "aos/common/commonmath.h"
+#include "aos/commonmath.h"
 #include "frc971/control_loops/coerce_goal.h"
 #include "frc971/control_loops/drivetrain/gear.h"
 #ifdef __linux__
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "aos/common/logging/logging.h"
-#include "aos/common/logging/matrix_logging.h"
-#include "aos/common/logging/queue_logging.h"
-#include "aos/common/messages/robot_state.q.h"
+#include "aos/logging/logging.h"
+#include "aos/logging/matrix_logging.h"
+#include "aos/logging/queue_logging.h"
+#include "aos/robot_state/robot_state.q.h"
 #else
 #include "frc971/control_loops/drivetrain/drivetrain_uc.q.h"
 #endif  // __linux__
diff --git a/frc971/control_loops/drivetrain/replay_drivetrain.cc b/frc971/control_loops/drivetrain/replay_drivetrain.cc
index c535607..55e18ad 100644
--- a/frc971/control_loops/drivetrain/replay_drivetrain.cc
+++ b/frc971/control_loops/drivetrain/replay_drivetrain.cc
@@ -1,4 +1,4 @@
-#include "aos/common/controls/replay_control_loop.h"
+#include "aos/controls/replay_control_loop.h"
 #include "aos/linux_code/init.h"
 
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.cc b/frc971/control_loops/drivetrain/ssdrivetrain.cc
index ad86b1f..925256b 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.cc
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.cc
@@ -1,8 +1,8 @@
 #include "frc971/control_loops/drivetrain/ssdrivetrain.h"
 
-#include "aos/common/commonmath.h"
-#include "aos/common/controls/polytope.h"
-#include "aos/common/logging/matrix_logging.h"
+#include "aos/commonmath.h"
+#include "aos/controls/polytope.h"
+#include "aos/logging/matrix_logging.h"
 
 #include "frc971/control_loops/coerce_goal.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.h b/frc971/control_loops/drivetrain/ssdrivetrain.h
index 5e261e9..ee8d145 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.h
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.h
@@ -1,11 +1,11 @@
 #ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_
 #define FRC971_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_
 
-#include "aos/common/commonmath.h"
-#include "aos/common/controls/control_loop.h"
-#include "aos/common/controls/polytope.h"
-#include "aos/common/logging/matrix_logging.h"
-#include "aos/common/util/trapezoid_profile.h"
+#include "aos/commonmath.h"
+#include "aos/controls/control_loop.h"
+#include "aos/controls/polytope.h"
+#include "aos/logging/matrix_logging.h"
+#include "aos/util/trapezoid_profile.h"
 
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/control_loops/coerce_goal.h"