diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index bcd62f9..7e6159f 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -13,8 +13,8 @@
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/control_loops/drivetrain/polydrivetrain_cim_plant.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/queues/GyroAngle.q.h"
-#include "frc971/queues/Piston.q.h"
+#include "frc971/queues/gyro_angle.q.h"
+#include "frc971/queues/piston.q.h"
 #include "frc971/constants.h"
 
 using frc971::sensors::gyro;
@@ -569,155 +569,6 @@
 constexpr double PolyDrivetrain::Kt;
 
 
-
-class DrivetrainMotorsOL {
- public:
-  DrivetrainMotorsOL() {
-    _old_wheel = 0.0;
-    wheel_ = 0.0;
-    throttle_ = 0.0;
-    quickturn_ = false;
-    highgear_ = true;
-    _neg_inertia_accumulator = 0.0;
-    _left_pwm = 0.0;
-    _right_pwm = 0.0;
-  }
-  void SetGoal(double wheel, double throttle, bool quickturn, bool highgear) {
-    wheel_ = wheel;
-    throttle_ = throttle;
-    quickturn_ = quickturn;
-    highgear_ = highgear;
-    _left_pwm = 0.0;
-    _right_pwm = 0.0;
-  }
-  void Update() {
-    double overPower;
-    float sensitivity = 1.7;
-    float angular_power;
-    float linear_power;
-    double wheel;
-
-    double neg_inertia = wheel_ - _old_wheel;
-    _old_wheel = wheel_;
-
-    double wheelNonLinearity;
-    if (highgear_) {
-      wheelNonLinearity = 0.1;  // used to be csvReader->TURN_NONLIN_HIGH
-      // Apply a sin function that's scaled to make it feel better.
-      const double angular_range = M_PI / 2.0 * wheelNonLinearity;
-      wheel = sin(angular_range * wheel_) / sin(angular_range);
-      wheel = sin(angular_range * wheel) / sin(angular_range);
-    } else {
-      wheelNonLinearity = 0.2;  // used to be csvReader->TURN_NONLIN_LOW
-      // Apply a sin function that's scaled to make it feel better.
-      const double angular_range = M_PI / 2.0 * wheelNonLinearity;
-      wheel = sin(angular_range * wheel_) / sin(angular_range);
-      wheel = sin(angular_range * wheel) / sin(angular_range);
-      wheel = sin(angular_range * wheel) / sin(angular_range);
-    }
-
-    static const double kThrottleDeadband = 0.05;
-    if (::std::abs(throttle_) < kThrottleDeadband) {
-      throttle_ = 0;
-    } else {
-      throttle_ = copysign((::std::abs(throttle_) - kThrottleDeadband) /
-                           (1.0 - kThrottleDeadband), throttle_);
-    }
-
-    double neg_inertia_scalar;
-    if (highgear_) {
-      neg_inertia_scalar = 8.0;  // used to be csvReader->NEG_INTERTIA_HIGH
-      sensitivity = 1.22; // used to be csvReader->SENSE_HIGH
-    } else {
-      if (wheel * neg_inertia > 0) {
-        neg_inertia_scalar = 5;  // used to be csvReader->NEG_INERTIA_LOW_MORE
-      } else {
-        if (::std::abs(wheel) > 0.65) {
-          neg_inertia_scalar = 5;  // used to be csvReader->NEG_INTERTIA_LOW_LESS_EXT
-        } else {
-          neg_inertia_scalar = 5;  // used to be csvReader->NEG_INTERTIA_LOW_LESS
-        }
-      }
-      sensitivity = 1.24;  // used to be csvReader->SENSE_LOW
-    }
-    double neg_inertia_power = neg_inertia * neg_inertia_scalar;
-    _neg_inertia_accumulator += neg_inertia_power;
-
-    wheel = wheel + _neg_inertia_accumulator;
-    if (_neg_inertia_accumulator > 1) {
-      _neg_inertia_accumulator -= 1;
-    } else if (_neg_inertia_accumulator < -1) {
-      _neg_inertia_accumulator += 1;
-    } else {
-      _neg_inertia_accumulator = 0;
-    }
-
-    linear_power = throttle_;
-
-    if (quickturn_) {
-      double qt_angular_power = wheel;
-      if (::std::abs(linear_power) < 0.2) {
-        if (qt_angular_power > 1) qt_angular_power = 1.0;
-        if (qt_angular_power < -1) qt_angular_power = -1.0;
-      } else {
-        qt_angular_power = 0.0;
-      }
-      overPower = 1.0;
-      if (highgear_) {
-        sensitivity = 1.0;
-      } else {
-        sensitivity = 1.0;
-      }
-      angular_power = wheel;
-    } else {
-      overPower = 0.0;
-      angular_power = ::std::abs(throttle_) * wheel * sensitivity;
-    }
-
-    _right_pwm = _left_pwm = linear_power;
-    _left_pwm += angular_power;
-    _right_pwm -= angular_power;
-
-    if (_left_pwm > 1.0) {
-      _right_pwm -= overPower*(_left_pwm - 1.0);
-      _left_pwm = 1.0;
-    } else if (_right_pwm > 1.0) {
-      _left_pwm -= overPower*(_right_pwm - 1.0);
-      _right_pwm = 1.0;
-    } else if (_left_pwm < -1.0) {
-      _right_pwm += overPower*(-1.0 - _left_pwm);
-      _left_pwm = -1.0;
-    } else if (_right_pwm < -1.0) {
-      _left_pwm += overPower*(-1.0 - _right_pwm);
-      _right_pwm = -1.0;
-    }
-  }
-
-  void SendMotors(Drivetrain::Output *output) {
-    LOG(DEBUG, "left pwm: %f right pwm: %f wheel: %f throttle: %f\n",
-        _left_pwm, _right_pwm, wheel_, throttle_);
-    if (output) {
-      output->left_voltage = _left_pwm * 12.0;
-      output->right_voltage = _right_pwm * 12.0;
-    }
-    if (highgear_) {
-      shifters.MakeWithBuilder().set(false).Send();
-    } else {
-      shifters.MakeWithBuilder().set(true).Send();
-    }
-  }
-
- private:
-  double _old_wheel;
-  double wheel_;
-  double throttle_;
-  bool quickturn_;
-  bool highgear_;
-  double _neg_inertia_accumulator;
-  double _left_pwm;
-  double _right_pwm;
-};
-
 void DrivetrainLoop::RunIteration(const Drivetrain::Goal *goal,
                                   const Drivetrain::Position *position,
                                   Drivetrain::Output *output,
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 0f8c87e..0119dd2 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -11,7 +11,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "frc971/queues/GyroAngle.q.h"
+#include "frc971/queues/gyro_angle.q.h"
 
 
 using ::aos::time::Time;