diff --git a/frc971/control_loops/DriveTrain.h b/frc971/control_loops/DriveTrain.h
new file mode 100644
index 0000000..61ea524
--- /dev/null
+++ b/frc971/control_loops/DriveTrain.h
@@ -0,0 +1,32 @@
+#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
+#define FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
+
+#include "aos/common/control_loop/ControlLoop.h"
+#include "frc971/control_loops/DriveTrain.q.h"
+
+namespace frc971 {
+namespace control_loops {
+
+class DrivetrainLoop
+    : public aos::control_loops::ControlLoop<control_loops::Drivetrain> {
+ public:
+  // Constructs a control loop which can take a Drivetrain or defaults to the
+  // drivetrain at frc971::control_loops::drivetrain
+  explicit DrivetrainLoop(
+      control_loops::Drivetrain *my_drivetrain = &control_loops::drivetrain)
+      : aos::control_loops::ControlLoop<control_loops::Drivetrain>(
+          my_drivetrain) {}
+
+ protected:
+  // Executes one cycle of the control loop.
+  virtual void RunIteration(
+      const control_loops::Drivetrain::Goal *goal,
+      const control_loops::Drivetrain::Position *position,
+      control_loops::Drivetrain::Output *output,
+      control_loops::Drivetrain::Status *status);
+};
+
+}  // namespace control_loops
+}  // namespace frc971
+
+#endif  // FRC971_CONTROL_LOOPS_DRIVETRAIN_H_