diff --git a/y2024/control_loops/drivetrain/BUILD b/y2024/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..e3c627a
--- /dev/null
+++ b/y2024/control_loops/drivetrain/BUILD
@@ -0,0 +1,116 @@
+load("//aos:config.bzl", "aos_config")
+
+genrule(
+    name = "genrule_drivetrain",
+    outs = [
+        "drivetrain_dog_motor_plant.h",
+        "drivetrain_dog_motor_plant.cc",
+        "kalman_drivetrain_motor_plant.h",
+        "kalman_drivetrain_motor_plant.cc",
+    ],
+    cmd = "$(location //y2024/control_loops/python:drivetrain) $(OUTS)",
+    target_compatible_with = ["@platforms//os:linux"],
+    tools = [
+        "//y2024/control_loops/python:drivetrain",
+    ],
+)
+
+genrule(
+    name = "genrule_polydrivetrain",
+    outs = [
+        "polydrivetrain_dog_motor_plant.h",
+        "polydrivetrain_dog_motor_plant.cc",
+        "polydrivetrain_cim_plant.h",
+        "polydrivetrain_cim_plant.cc",
+        "hybrid_velocity_drivetrain.h",
+        "hybrid_velocity_drivetrain.cc",
+    ],
+    cmd = "$(location //y2024/control_loops/python:polydrivetrain) $(OUTS)",
+    target_compatible_with = ["@platforms//os:linux"],
+    tools = [
+        "//y2024/control_loops/python:polydrivetrain",
+    ],
+)
+
+cc_library(
+    name = "polydrivetrain_plants",
+    srcs = [
+        "drivetrain_dog_motor_plant.cc",
+        "hybrid_velocity_drivetrain.cc",
+        "kalman_drivetrain_motor_plant.cc",
+        "polydrivetrain_dog_motor_plant.cc",
+    ],
+    hdrs = [
+        "drivetrain_dog_motor_plant.h",
+        "hybrid_velocity_drivetrain.h",
+        "kalman_drivetrain_motor_plant.h",
+        "polydrivetrain_dog_motor_plant.h",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops:hybrid_state_feedback_loop",
+        "//frc971/control_loops:state_feedback_loop",
+    ],
+)
+
+cc_library(
+    name = "drivetrain_base",
+    srcs = [
+        "drivetrain_base.cc",
+    ],
+    hdrs = [
+        "drivetrain_base.h",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":polydrivetrain_plants",
+        "//frc971:shifter_hall_effect",
+        "//frc971/control_loops/drivetrain:drivetrain_config",
+    ],
+)
+
+cc_binary(
+    name = "drivetrain",
+    srcs = [
+        "drivetrain_main.cc",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":drivetrain_base",
+        "//aos:init",
+        "//aos/events:shm_event_loop",
+        "//frc971/constants:constants_sender_lib",
+        "//frc971/control_loops/drivetrain:drivetrain_lib",
+        "//frc971/control_loops/drivetrain/localization:puppet_localizer",
+        "//y2024/constants:constants_fbs",
+    ],
+)
+
+aos_config(
+    name = "simulation_config",
+    src = "drivetrain_simulation_config.json",
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops/drivetrain:simulation_channels",
+        "//y2024:aos_config",
+    ],
+)
+
+cc_binary(
+    name = "trajectory_generator",
+    srcs = [
+        "trajectory_generator_main.cc",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":drivetrain_base",
+        "//aos:init",
+        "//aos/events:shm_event_loop",
+        "//frc971/control_loops/drivetrain:trajectory_generator",
+    ],
+)
diff --git a/y2024/control_loops/drivetrain/drivetrain_base.cc b/y2024/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..88b74f9
--- /dev/null
+++ b/y2024/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,90 @@
+#include "y2024/control_loops/drivetrain/drivetrain_base.h"
+
+#include <chrono>
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2024/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2024/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
+#include "y2024/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2024/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+
+using ::frc971::control_loops::drivetrain::DownEstimatorConfig;
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+using ::frc971::control_loops::drivetrain::LineFollowConfig;
+
+namespace chrono = ::std::chrono;
+
+namespace y2024 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::constants::ShifterHallEffect;
+
+const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};
+
+const DrivetrainConfig<double> &GetDrivetrainConfig() {
+  // Yaw of the IMU relative to the robot frame.
+  static constexpr double kImuYaw = 0.0;
+  static DrivetrainConfig<double> kDrivetrainConfig{
+      ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
+      ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+      ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+      ::frc971::control_loops::drivetrain::IMUType::IMU_FLIPPED_X,
+
+      drivetrain::MakeDrivetrainLoop,
+      drivetrain::MakeVelocityDrivetrainLoop,
+      drivetrain::MakeKFDrivetrainLoop,
+      drivetrain::MakeHybridVelocityDrivetrainLoop,
+
+      chrono::duration_cast<chrono::nanoseconds>(
+          chrono::duration<double>(drivetrain::kDt)),
+      drivetrain::kRobotRadius,
+      drivetrain::kWheelRadius,
+      drivetrain::kV,
+
+      drivetrain::kHighGearRatio,
+      drivetrain::kLowGearRatio,
+      drivetrain::kJ,
+      drivetrain::kMass,
+      kThreeStateDriveShifter,
+      kThreeStateDriveShifter,
+      true /* default_high_gear */,
+      0 /* down_offset if using constants use
+     constants::GetValues().down_error */
+      ,
+      0.7 /* wheel_non_linearity */,
+      1.2 /* quickturn_wheel_multiplier */,
+      1.2 /* wheel_multiplier */,
+      true /*pistol_grip_shift_enables_line_follow*/,
+      (Eigen::Matrix<double, 3, 3>() << std::cos(kImuYaw), -std::sin(kImuYaw),
+       0.0, std::sin(kImuYaw), std::cos(kImuYaw), 0.0, 0.0, 0.0, 1.0)
+          .finished(),
+      false /*is_simulated*/,
+      DownEstimatorConfig{.gravity_threshold = 0.015,
+                          .do_accel_corrections = 1000},
+      LineFollowConfig{
+          .Q = Eigen::Matrix3d((::Eigen::DiagonalMatrix<double, 3>().diagonal()
+                                    << 1.0 / ::std::pow(0.1, 2),
+                                1.0 / ::std::pow(1.0, 2),
+                                1.0 / ::std::pow(1.0, 2))
+                                   .finished()
+                                   .asDiagonal()),
+          .R = Eigen::Matrix2d((::Eigen::DiagonalMatrix<double, 2>().diagonal()
+                                    << 10.0 / ::std::pow(12.0, 2),
+                                10.0 / ::std::pow(12.0, 2))
+                                   .finished()
+                                   .asDiagonal()),
+          .max_controllable_offset = 0.5},
+      frc971::control_loops::drivetrain::PistolTopButtonUse::kNone,
+      frc971::control_loops::drivetrain::PistolSecondButtonUse::kTurn1,
+      frc971::control_loops::drivetrain::PistolBottomButtonUse::
+          kControlLoopDriving,
+  };
+
+  return kDrivetrainConfig;
+};
+
+}  // namespace drivetrain
+}  // namespace control_loops
+}  // namespace y2024
diff --git a/y2024/control_loops/drivetrain/drivetrain_base.h b/y2024/control_loops/drivetrain/drivetrain_base.h
new file mode 100644
index 0000000..807981a
--- /dev/null
+++ b/y2024/control_loops/drivetrain/drivetrain_base.h
@@ -0,0 +1,17 @@
+#ifndef Y2024_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#define Y2024_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace y2024 {
+namespace control_loops {
+namespace drivetrain {
+
+const ::frc971::control_loops::drivetrain::DrivetrainConfig<double> &
+GetDrivetrainConfig();
+
+}  // namespace drivetrain
+}  // namespace control_loops
+}  // namespace y2024
+
+#endif  // Y2024_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2024/control_loops/drivetrain/drivetrain_main.cc b/y2024/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..196fbb7
--- /dev/null
+++ b/y2024/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,33 @@
+#include <memory>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "frc971/constants/constants_sender_lib.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "frc971/control_loops/drivetrain/localization/puppet_localizer.h"
+#include "y2024/constants/constants_generated.h"
+#include "y2024/control_loops/drivetrain/drivetrain_base.h"
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
+int main(int argc, char **argv) {
+  aos::InitGoogle(&argc, &argv);
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("aos_config.json");
+
+  frc971::constants::WaitForConstants<y2024::Constants>(&config.message());
+
+  aos::ShmEventLoop event_loop(&config.message());
+  std::unique_ptr<::frc971::control_loops::drivetrain::PuppetLocalizer>
+      localizer = std::make_unique<
+          ::frc971::control_loops::drivetrain::PuppetLocalizer>(
+          &event_loop,
+          ::y2024::control_loops::drivetrain::GetDrivetrainConfig());
+  std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
+      y2024::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
+      localizer.get());
+
+  event_loop.Run();
+
+  return 0;
+}
diff --git a/y2024/control_loops/drivetrain/drivetrain_simulation_config.json b/y2024/control_loops/drivetrain/drivetrain_simulation_config.json
new file mode 100644
index 0000000..f0886b0
--- /dev/null
+++ b/y2024/control_loops/drivetrain/drivetrain_simulation_config.json
@@ -0,0 +1,6 @@
+{
+  "imports": [
+    "../../y2024.json",
+    "../../../frc971/control_loops/drivetrain/drivetrain_simulation_channels.json"
+  ]
+}
diff --git a/y2024/control_loops/drivetrain/trajectory_generator_main.cc b/y2024/control_loops/drivetrain/trajectory_generator_main.cc
new file mode 100644
index 0000000..260f4a3
--- /dev/null
+++ b/y2024/control_loops/drivetrain/trajectory_generator_main.cc
@@ -0,0 +1,39 @@
+#include <sys/resource.h>
+#include <sys/time.h>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "frc971/control_loops/drivetrain/trajectory_generator.h"
+#include "y2024/control_loops/drivetrain/drivetrain_base.h"
+
+using ::frc971::control_loops::drivetrain::TrajectoryGenerator;
+
+DEFINE_bool(skip_renicing, false,
+            "If true, skip renicing the trajectory generator.");
+
+int main(int argc, char *argv[]) {
+  ::aos::InitGoogle(&argc, &argv);
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("aos_config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
+  TrajectoryGenerator generator(
+      &event_loop, ::y2024::control_loops::drivetrain::GetDrivetrainConfig());
+
+  event_loop.OnRun([]() {
+    if (FLAGS_skip_renicing) {
+      LOG(WARNING) << "Ignoring request to renice to -20 due to "
+                      "--skip_renicing.";
+    } else {
+      errno = 0;
+      setpriority(PRIO_PROCESS, 0, -20);
+      PCHECK(errno == 0)
+          << ": Renicing to -20 failed, use --skip_renicing to skip renicing.";
+    }
+  });
+
+  event_loop.Run();
+
+  return 0;
+}