diff --git a/frc971/control_loops/drivetrain/swerve/BUILD b/frc971/control_loops/drivetrain/swerve/BUILD
new file mode 100644
index 0000000..06ba36a
--- /dev/null
+++ b/frc971/control_loops/drivetrain/swerve/BUILD
@@ -0,0 +1,15 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+
+package(default_visibility = ["//visibility:public"])
+
+flatbuffer_cc_library(
+    name = "swerve_drivetrain_output_fbs",
+    srcs = ["swerve_drivetrain_output.fbs"],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "swerve_drivetrain_position_fbs",
+    srcs = ["swerve_drivetrain_position.fbs"],
+    gen_reflections = 1,
+)
diff --git a/frc971/control_loops/drivetrain/swerve/swerve_drivetrain_output.fbs b/frc971/control_loops/drivetrain/swerve/swerve_drivetrain_output.fbs
new file mode 100644
index 0000000..43ba0ed
--- /dev/null
+++ b/frc971/control_loops/drivetrain/swerve/swerve_drivetrain_output.fbs
@@ -0,0 +1,16 @@
+namespace frc971.control_loops.drivetrain.swerve;
+
+table SwerveModuleOutput {
+  // Current in Amps.
+  rotation_current:double (id: 0);
+  translation_current:double (id: 1);
+}
+
+table Output {
+  front_left_output:SwerveModuleOutput (id: 0);
+  front_right_output:SwerveModuleOutput (id: 1);
+  back_left_output:SwerveModuleOutput (id: 2);
+  back_right_output:SwerveModuleOutput (id: 3);
+}
+
+root_type Output;
diff --git a/frc971/control_loops/drivetrain/swerve/swerve_drivetrain_position.fbs b/frc971/control_loops/drivetrain/swerve/swerve_drivetrain_position.fbs
new file mode 100644
index 0000000..e0f5571
--- /dev/null
+++ b/frc971/control_loops/drivetrain/swerve/swerve_drivetrain_position.fbs
@@ -0,0 +1,22 @@
+namespace frc971.control_loops.drivetrain.swerve;
+
+table SwerveModulePosition {
+  // Rotation in radians
+  rotation_encoder:double (id: 0);
+  // Translation in meters
+  translation_encoder:double (id: 1);
+
+  // Speed in radians/s
+  rotation_speed:double (id: 2);
+  // Speed in m/s
+  translation_speed:double (id: 3);
+}
+
+table Position {
+  front_left_position:SwerveModulePosition (id: 0);
+  front_right_position:SwerveModulePosition (id: 1);
+  back_left_position:SwerveModulePosition (id: 2);
+  back_right_position:SwerveModulePosition (id: 3);
+}
+
+root_type Position;