diff --git a/y2020/control_loops/python/BUILD b/y2020/control_loops/python/BUILD
index 3833536..0650421 100644
--- a/y2020/control_loops/python/BUILD
+++ b/y2020/control_loops/python/BUILD
@@ -113,19 +113,6 @@
     ],
 )
 
-py_library(
-    name = "flywheel",
-    srcs = [
-        "flywheel.py",
-    ],
-    target_compatible_with = ["@platforms//cpu:x86_64"],
-    deps = [
-        "//frc971/control_loops/python:controls",
-        "@pip//matplotlib",
-        "@pip//pygobject",
-    ],
-)
-
 py_binary(
     name = "accelerator",
     srcs = [
@@ -134,8 +121,8 @@
     legacy_create_init = False,
     target_compatible_with = ["@platforms//cpu:x86_64"],
     deps = [
-        ":flywheel",
         ":python_init",
+        "//frc971/control_loops/python:flywheel",
         "@pip//glog",
         "@pip//python_gflags",
     ],
@@ -149,8 +136,8 @@
     legacy_create_init = False,
     target_compatible_with = ["@platforms//cpu:x86_64"],
     deps = [
-        ":flywheel",
         ":python_init",
+        "//frc971/control_loops/python:flywheel",
         "@pip//glog",
         "@pip//python_gflags",
     ],
diff --git a/y2020/control_loops/python/accelerator.py b/y2020/control_loops/python/accelerator.py
index 54ec9d3..752f8b5 100644
--- a/y2020/control_loops/python/accelerator.py
+++ b/y2020/control_loops/python/accelerator.py
@@ -1,7 +1,7 @@
 #!/usr/bin/python3
 
 from frc971.control_loops.python import control_loop
-from y2020.control_loops.python import flywheel
+from frc971.control_loops.python import flywheel
 import numpy
 
 import sys
diff --git a/y2020/control_loops/python/finisher.py b/y2020/control_loops/python/finisher.py
index 7e703fc..29af431 100644
--- a/y2020/control_loops/python/finisher.py
+++ b/y2020/control_loops/python/finisher.py
@@ -1,7 +1,7 @@
 #!/usr/bin/python3
 
 from frc971.control_loops.python import control_loop
-from y2020.control_loops.python import flywheel
+from frc971.control_loops.python import flywheel
 import numpy
 
 import sys
diff --git a/y2020/control_loops/python/flywheel.py b/y2020/control_loops/python/flywheel.py
deleted file mode 100755
index 9153bc6..0000000
--- a/y2020/control_loops/python/flywheel.py
+++ /dev/null
@@ -1,325 +0,0 @@
-from frc971.control_loops.python import control_loop
-from frc971.control_loops.python import controls
-import numpy
-from matplotlib import pylab
-
-import glog
-
-
-class FlywheelParams(object):
-
-    def __init__(self,
-                 name,
-                 motor,
-                 G,
-                 J,
-                 q_pos,
-                 q_vel,
-                 q_voltage,
-                 r_pos,
-                 controller_poles,
-                 dt=0.00505):
-        self.name = name
-        self.motor = motor
-        self.G = G
-        self.J = J
-        self.q_pos = q_pos
-        self.q_vel = q_vel
-        self.q_voltage = q_voltage
-        self.r_pos = r_pos
-        self.dt = dt
-        self.controller_poles = controller_poles
-
-
-class VelocityFlywheel(control_loop.HybridControlLoop):
-
-    def __init__(self, params, name="Flywheel"):
-        super(VelocityFlywheel, self).__init__(name=name)
-        self.params = params
-        # Set Motor
-        self.motor = self.params.motor
-        # Moment of inertia of the flywheel wheel in kg m^2
-        self.J = self.params.J
-        # Gear ratio
-        self.G = self.params.G
-        # Control loop time step
-        self.dt = self.params.dt
-
-        # State feedback matrices
-        # [angular velocity]
-        self.A_continuous = numpy.matrix([[
-            -self.motor.Kt / self.motor.Kv /
-            (self.J * self.G * self.G * self.motor.resistance)
-        ]])
-        self.B_continuous = numpy.matrix(
-            [[self.motor.Kt / (self.J * self.G * self.motor.resistance)]])
-        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.PlaceControllerPoles(self.params.controller_poles)
-
-        # Generated controller not used.
-        self.PlaceObserverPoles([0.3])
-
-        self.U_max = numpy.matrix([[12.0]])
-        self.U_min = numpy.matrix([[-12.0]])
-
-        qff_vel = 8.0
-        self.Qff = numpy.matrix([[1.0 / (qff_vel**2.0)]])
-
-        self.Kff = controls.TwoStateFeedForwards(self.B, self.Qff)
-
-        glog.debug('K: %s', str(self.K))
-        glog.debug('Poles: %s',
-                   str(numpy.linalg.eig(self.A - self.B * self.K)[0]))
-
-
-class Flywheel(VelocityFlywheel):
-
-    def __init__(self, params, name="Flywheel"):
-        super(Flywheel, self).__init__(params, name=name)
-
-        self.A_continuous_unaugmented = self.A_continuous
-        self.B_continuous_unaugmented = self.B_continuous
-
-        self.A_continuous = numpy.matrix(numpy.zeros((2, 2)))
-        self.A_continuous[1:2, 1:2] = self.A_continuous_unaugmented
-        self.A_continuous[0, 1] = 1
-
-        self.B_continuous = numpy.matrix(numpy.zeros((2, 1)))
-        self.B_continuous[1:2, 0] = self.B_continuous_unaugmented
-
-        # State feedback matrices
-        # [position, angular velocity]
-        self.C = numpy.matrix([[1, 0]])
-        self.D = numpy.matrix([[0]])
-
-        self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
-                                                   self.B_continuous, self.dt)
-
-        rpl = 0.45
-        ipl = 0.07
-        self.PlaceObserverPoles([rpl + 1j * ipl, rpl - 1j * ipl])
-
-        self.K_unaugmented = self.K
-        self.K = numpy.matrix(numpy.zeros((1, 2)))
-        self.K[0, 1:2] = self.K_unaugmented
-        self.Kff_unaugmented = self.Kff
-        self.Kff = numpy.matrix(numpy.zeros((1, 2)))
-        self.Kff[0, 1:2] = self.Kff_unaugmented
-
-        self.InitializeState()
-
-
-class IntegralFlywheel(Flywheel):
-
-    def __init__(self, params, name="IntegralFlywheel"):
-        super(IntegralFlywheel, self).__init__(params, name=name)
-
-        self.A_continuous_unaugmented = self.A_continuous
-        self.B_continuous_unaugmented = self.B_continuous
-
-        self.A_continuous = numpy.matrix(numpy.zeros((3, 3)))
-        self.A_continuous[0:2, 0:2] = self.A_continuous_unaugmented
-        self.A_continuous[0:2, 2] = self.B_continuous_unaugmented
-
-        self.B_continuous = numpy.matrix(numpy.zeros((3, 1)))
-        self.B_continuous[0:2, 0] = self.B_continuous_unaugmented
-
-        # states
-        # [position, velocity, voltage_error]
-        self.C_unaugmented = self.C
-        self.C = numpy.matrix(numpy.zeros((1, 3)))
-        self.C[0:1, 0:2] = self.C_unaugmented
-
-        glog.debug('A_continuous %s' % str(self.A_continuous))
-        glog.debug('B_continuous %s' % str(self.B_continuous))
-        glog.debug('C %s' % str(self.C))
-
-        self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
-                                                   self.B_continuous, self.dt)
-
-        glog.debug('A %s' % str(self.A))
-        glog.debug('B %s' % str(self.B))
-
-        q_pos = self.params.q_pos
-        q_vel = self.params.q_vel
-        q_voltage = self.params.q_voltage
-        self.Q_continuous = numpy.matrix([[(q_pos**2.0), 0.0, 0.0],
-                                          [0.0, (q_vel**2.0), 0.0],
-                                          [0.0, 0.0, (q_voltage**2.0)]])
-
-        r_pos = self.params.r_pos
-        self.R_continuous = numpy.matrix([[(r_pos**2.0)]])
-
-        _, _, self.Q, self.R = controls.kalmd(A_continuous=self.A_continuous,
-                                              B_continuous=self.B_continuous,
-                                              Q_continuous=self.Q_continuous,
-                                              R_continuous=self.R_continuous,
-                                              dt=self.dt)
-
-        glog.debug('Q_discrete %s' % (str(self.Q)))
-        glog.debug('R_discrete %s' % (str(self.R)))
-
-        self.KalmanGain, self.P_steady_state = controls.kalman(A=self.A,
-                                                               B=self.B,
-                                                               C=self.C,
-                                                               Q=self.Q,
-                                                               R=self.R)
-        self.L = self.A * self.KalmanGain
-
-        self.K_unaugmented = self.K
-        self.K = numpy.matrix(numpy.zeros((1, 3)))
-        self.K[0, 0:2] = self.K_unaugmented
-        self.K[0, 2] = 1
-        self.Kff_unaugmented = self.Kff
-        self.Kff = numpy.matrix(numpy.zeros((1, 3)))
-        self.Kff[0, 0:2] = self.Kff_unaugmented
-
-        self.InitializeState()
-
-
-def PlotSpinup(params, goal, iterations=400):
-    """Runs the flywheel plant with an initial condition and goal.
-
-    Args:
-        flywheel: Flywheel object to use.
-        goal: goal state.
-        iterations: Number of timesteps to run the model for.
-        controller_flywheel: Flywheel object to get K from, or None if we should
-             use flywheel.
-        observer_flywheel: Flywheel object to use for the observer, or None if we
-            should use the actual state.
-    """
-
-    # Various lists for graphing things.
-    t = []
-    x = []
-    v = []
-    a = []
-    x_hat = []
-    u = []
-    offset = []
-
-    flywheel = Flywheel(params, params.name)
-    controller_flywheel = IntegralFlywheel(params, params.name)
-    observer_flywheel = IntegralFlywheel(params, params.name)
-    vbat = 12.0
-
-    if t:
-        initial_t = t[-1] + flywheel.dt
-    else:
-        initial_t = 0
-
-    for i in range(iterations):
-        X_hat = flywheel.X
-
-        if observer_flywheel is not None:
-            X_hat = observer_flywheel.X_hat
-            x_hat.append(observer_flywheel.X_hat[1, 0])
-
-        ff_U = controller_flywheel.Kff * (goal - observer_flywheel.A * goal)
-
-        U = controller_flywheel.K * (goal - X_hat) + ff_U
-        U[0, 0] = numpy.clip(U[0, 0], -vbat, vbat)
-        x.append(flywheel.X[0, 0])
-
-        if v:
-            last_v = v[-1]
-        else:
-            last_v = 0
-
-        v.append(flywheel.X[1, 0])
-        a.append((v[-1] - last_v) / flywheel.dt)
-
-        if observer_flywheel is not None:
-            observer_flywheel.Y = flywheel.Y
-            observer_flywheel.CorrectHybridObserver(U)
-            offset.append(observer_flywheel.X_hat[2, 0])
-
-        applied_U = U.copy()
-        if i > 200:
-            applied_U += 2
-        flywheel.Update(applied_U)
-
-        if observer_flywheel is not None:
-            observer_flywheel.PredictHybridObserver(U, flywheel.dt)
-
-        t.append(initial_t + i * flywheel.dt)
-        u.append(U[0, 0])
-
-    pylab.subplot(3, 1, 1)
-    pylab.plot(t, v, label='x')
-    pylab.plot(t, x_hat, label='x_hat')
-    pylab.legend()
-
-    pylab.subplot(3, 1, 2)
-    pylab.plot(t, u, label='u')
-    pylab.plot(t, offset, label='voltage_offset')
-    pylab.legend()
-
-    pylab.subplot(3, 1, 3)
-    pylab.plot(t, a, label='a')
-    pylab.legend()
-
-    pylab.show()
-
-
-def WriteFlywheel(params, plant_files, controller_files, namespace):
-    """Writes out the constants for a flywheel to a file.
-
-    Args:
-      params: list of Flywheel Params, the
-        parameters defining the system.
-      plant_files: list of strings, the cc and h files for the plant.
-      controller_files: list of strings, the cc and h files for the integral
-        controller.
-      namespaces: list of strings, the namespace list to use.
-    """
-    # Write the generated constants out to a file.
-    flywheels = []
-    integral_flywheels = []
-
-    if type(params) is list:
-        name = params[0].name
-        for index, param in enumerate(params):
-            flywheels.append(Flywheel(param, name=param.name + str(index)))
-            integral_flywheels.append(
-                IntegralFlywheel(param,
-                                 name='Integral' + param.name + str(index)))
-    else:
-        name = params.name
-        flywheels.append(Flywheel(params, params.name))
-        integral_flywheels.append(
-            IntegralFlywheel(params, name='Integral' + params.name))
-
-    loop_writer = control_loop.ControlLoopWriter(name,
-                                                 flywheels,
-                                                 namespaces=namespace)
-    loop_writer.AddConstant(
-        control_loop.Constant('kOutputRatio', '%f', flywheels[0].G))
-    loop_writer.AddConstant(
-        control_loop.Constant('kFreeSpeed', '%f',
-                              flywheels[0].motor.free_speed))
-    loop_writer.AddConstant(
-        control_loop.Constant('kBemf',
-                              '%f',
-                              flywheels[0].motor.Kv * flywheels[0].G,
-                              comment="// Radians/sec / volt"))
-    loop_writer.AddConstant(
-        control_loop.Constant('kResistance',
-                              '%f',
-                              flywheels[0].motor.resistance,
-                              comment="// Ohms"))
-    loop_writer.Write(plant_files[0], plant_files[1])
-
-    integral_loop_writer = control_loop.ControlLoopWriter(
-        'Integral' + name,
-        integral_flywheels,
-        namespaces=namespace,
-        plant_type='StateFeedbackHybridPlant',
-        observer_type='HybridKalman')
-    integral_loop_writer.Write(controller_files[0], controller_files[1])