diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
new file mode 100644
index 0000000..47550a1
--- /dev/null
+++ b/frc971/control_loops/python/control_loop.py
@@ -0,0 +1,219 @@
+import controls
+import numpy
+
+class ControlLoop(object):
+  def __init__(self, name):
+    """Constructs a control loop object.
+
+    Args:
+      name: string, The name of the loop to use when writing the C++ files.
+    """
+    self._name = name
+
+    self._namespace_start = ("namespace frc971 {\n"
+                             "namespace control_loops {\n\n")
+
+    self._namespace_end = ("}  // namespace frc971\n"
+                           "}  // namespace control_loops\n")
+
+    self._header_start = ("#ifndef FRC971_CONTROL_LOOPS_%s_MOTOR_PLANT_H_\n"
+                          "#define FRC971_CONTROL_LOOPS_%s_MOTOR_PLANT_H_\n\n"
+                          % (self._name.upper(), self._name.upper()))
+
+    self._header_end = ("#endif  // FRC971_CONTROL_LOOPS_%s_MOTOR_PLANT_H_\n"
+                        % (self._name.upper()))
+
+  def ContinuousToDiscrete(self, A_continuous, B_continuous, dt, C):
+    """Calculates the discrete time values for A and B as well as initializing
+      X and Y to the correct sizes.
+
+      Args:
+        A_continuous: numpy.matrix, The continuous time A matrix
+        B_continuous: numpy.matrix, The continuous time B matrix
+        dt: float, The time step of the control loop
+        C: C
+    """
+    self.A, self.B = controls.c2d(
+        A_continuous, B_continuous, dt)
+    self.X = numpy.zeros((self.A.shape[0], 1))
+    self.Y = C * self.X
+    self.X_hat = numpy.zeros((self.A.shape[0], 1))
+
+  def PlaceControllerPoles(self, poles):
+    """Places the controller poles.
+
+    Args:
+      poles: array, An array of poles.  Must be complex conjegates if they have
+        any imaginary portions.
+    """
+    self.K = controls.dplace(self.A, self.B, poles)
+
+  def PlaceObserverPoles(self, poles):
+    """Places the observer poles.
+
+    Args:
+      poles: array, An array of poles.  Must be complex conjegates if they have
+        any imaginary portions.
+    """
+    self.L = controls.dplace(self.A.T, self.C.T, poles).T
+
+  def Update(self, U):
+    """Simulates one time step with the provided U."""
+    U = numpy.clip(U, self.U_min, self.U_max)
+    self.X = self.A * self.X + self.B * U
+    self.Y = self.C * self.X + self.D * U
+
+  def UpdateObserver(self, U):
+    """Updates the observer given the provided U."""
+    self.X_hat = (self.A * self.X_hat + self.B * U +
+                  self.L * (self.Y - self.C * self.X_hat - self.D * U))
+
+  def _DumpMatrix(self, matrix_name, matrix):
+    """Dumps the provided matrix into a variable called matrix_name.
+
+    Args:
+      matrix_name: string, The variable name to save the matrix to.
+      matrix: The matrix to dump.
+
+    Returns:
+      string, The C++ commands required to populate a variable named matrix_name
+        with the contents of matrix.
+    """
+    ans = ["  Eigen::Matrix<double, %d, %d> %s;\n" % (
+        matrix.shape[0], matrix.shape[1], matrix_name)]
+    first = True
+    for element in numpy.nditer(matrix, order='C'):
+      if first:
+        ans.append("  %s << " % matrix_name)
+        first = False
+      else:
+        ans.append(", ")
+      ans.append(str(element))
+
+    ans.append(";\n")
+    return "".join(ans)
+
+  def _DumpPlantHeader(self, plant_name):
+    """Writes out a c++ header declaration which will create a Plant object.
+
+    Args:
+      plant_name: string, the name of the plant.  Used to create the name of the
+        function.  The function name will be Make<plant_name>Plant().
+
+    Returns:
+      string, The header declaration for the function.
+    """
+    num_states = self.A.shape[0]
+    num_inputs = self.B.shape[1]
+    num_outputs = self.C.shape[0]
+    return "StateFeedbackPlant<%d, %d, %d> Make%sPlant();\n" % (
+        num_states, num_inputs, num_outputs, plant_name)
+
+  def _DumpPlant(self, plant_name):
+    """Writes out a c++ function which will create a Plant object.
+
+    Args:
+      plant_name: string, the name of the plant.  Used to create the name of the
+        function.  The function name will be Make<plant_name>Plant().
+
+    Returns:
+      string, The function which will create the object.
+    """
+    num_states = self.A.shape[0]
+    num_inputs = self.B.shape[1]
+    num_outputs = self.C.shape[0]
+    ans = ["StateFeedbackPlant<%d, %d, %d> Make%sPlant() {\n" % (
+        num_states, num_inputs, num_outputs, plant_name)]
+
+    ans.append(self._DumpMatrix("A", self.A))
+    ans.append(self._DumpMatrix("B", self.B))
+    ans.append(self._DumpMatrix("C", self.C))
+    ans.append(self._DumpMatrix("D", self.D))
+    ans.append(self._DumpMatrix("U_max", self.U_max))
+    ans.append(self._DumpMatrix("U_min", self.U_min))
+
+    ans.append("  return StateFeedbackPlant<%d, %d, %d>"
+               "(A, B, C, D, U_max, U_min);\n" % (num_states, num_inputs,
+                                                  num_outputs))
+    ans.append("}\n")
+    return "".join(ans)
+
+  def _DumpLoopHeader(self, loop_name):
+    """Writes out a c++ header declaration which will create a Loop object.
+
+    Args:
+      loop_name: string, the name of the loop.  Used to create the name of the
+        function.  The function name will be Make<loop_name>Loop().
+
+    Returns:
+      string, The header declaration for the function.
+    """
+    num_states = self.A.shape[0]
+    num_inputs = self.B.shape[1]
+    num_outputs = self.C.shape[0]
+    return "StateFeedbackLoop<%d, %d, %d> Make%sLoop();\n" % (
+        num_states, num_inputs, num_outputs, loop_name)
+
+  def _DumpLoop(self, loop_name):
+    """Returns a c++ function which will create a Loop object.
+
+    Args:
+      loop_name: string, the name of the loop.  Used to create the name of the
+        function and create the plant.  The function name will be
+        Make<loop_name>Loop().
+
+    Returns:
+      string, The function which will create the object.
+    """
+    num_states = self.A.shape[0]
+    num_inputs = self.B.shape[1]
+    num_outputs = self.C.shape[0]
+    ans = ["StateFeedbackLoop<%d, %d, %d> Make%sLoop() {\n" % (
+        num_states, num_inputs, num_outputs, loop_name)]
+
+    ans.append(self._DumpMatrix("L", self.L))
+    ans.append(self._DumpMatrix("K", self.K))
+
+    ans.append("  return StateFeedbackLoop<%d, %d, %d>"
+               "(L, K, Make%sPlant());\n" % (num_states, num_inputs,
+                                             num_outputs, loop_name))
+    ans.append("}\n")
+    return "".join(ans)
+
+  def DumpHeaderFile(self, file_name):
+    """Writes the header file for creating a Plant and Loop object.
+
+    Args:
+      file_name: string, name of the file to write the header file to.
+    """
+    with open(file_name, "w") as fd:
+      fd.write(self._header_start)
+      fd.write("#include \"frc971/control_loops/state_feedback_loop.h\"\n")
+      fd.write('\n')
+      fd.write(self._namespace_start)
+      fd.write(self._DumpPlantHeader(self._name))
+      fd.write('\n')
+      fd.write(self._DumpLoopHeader("Wrist"))
+      fd.write('\n')
+      fd.write(self._namespace_end)
+      fd.write('\n')
+      fd.write(self._header_end)
+
+  def DumpCppFile(self, file_name, header_file_name):
+    """Writes the C++ file for creating a Plant and Loop object.
+
+    Args:
+      file_name: string, name of the file to write the header file to.
+    """
+    with open(file_name, "w") as fd:
+      fd.write("#include \"frc971/control_loops/%s\"\n" % header_file_name)
+      fd.write('\n')
+      fd.write("#include \"frc971/control_loops/state_feedback_loop.h\"\n")
+      fd.write('\n')
+      fd.write(self._namespace_start)
+      fd.write('\n')
+      fd.write(self._DumpPlant(self._name))
+      fd.write('\n')
+      fd.write(self._DumpLoop(self._name))
+      fd.write('\n')
+      fd.write(self._namespace_end)
diff --git a/frc971/control_loops/python/wrist.py b/frc971/control_loops/python/wrist.py
index e239ac7..441999f 100755
--- a/frc971/control_loops/python/wrist.py
+++ b/frc971/control_loops/python/wrist.py
@@ -1,27 +1,28 @@
 #!/usr/bin/python
 
+import control_loop
 import numpy
-import string
 import sys
-import polytope
 from matplotlib import pylab
-import controls
 
-
-class Wrist(object):
+class Wrist(control_loop.ControlLoop):
   def __init__(self):
+    super(Wrist, self).__init__("Wrist")
     # Stall Torque in N m
     self.stall_torque = 1.4
     # Stall Current in Amps
     self.stall_current = 86
     # Free Speed in RPM
     self.free_speed = 6200.0
+    # Free Current in Amps
+    self.free_current = 1.5
     # Moment of inertia of the wrist in kg m^2
     self.J = 0.51
     # Resistance of the motor
     self.R = 12.0 / self.stall_current + 0.024 + .003
     # Motor velocity constant
-    self.Kv = (self.free_speed / 60.0 * 2.0 * numpy.pi) / (13.5 - self.R * 1.5)
+    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+               (13.5 - self.R * self.free_current))
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
     # Gear ratio
@@ -39,181 +40,49 @@
     self.C = numpy.matrix([[1, 0]])
     self.D = numpy.matrix([[0]])
 
-    self.A, self.B = controls.c2d(
-        self.A_continuous, self.B_continuous, self.dt)
+    self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
+                              self.dt, self.C)
 
-    self.K = controls.dplace(self.A, self.B, [.89, .85])
+    self.PlaceControllerPoles([.89, .85])
 
     self.rpl = .05
     self.ipl = 0.008
-    self.L = controls.dplace(self.A.T, self.C.T,
-                             [self.rpl + 1j * self.ipl,
-                              self.rpl - 1j * self.ipl]).T
-
-    self.X = numpy.matrix([[0],
-                           [0]])
+    self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
+                             self.rpl - 1j * self.ipl])
 
     self.U_max = numpy.matrix([[12.0]])
     self.U_min = numpy.matrix([[-12.0]])
-    self.Y = self.C * self.X
-
-  def Update(self, U):
-    U = numpy.clip(U, self.U_min, self.U_max)
-    self.X = self.A * self.X + self.B * U
-    self.Y = self.C * self.X + self.D * U
-
-  def _DumpMatrix(self, matrix_name, matrix):
-    ans = ["  Eigen::Matrix<double, %d, %d> %s;\n" % (
-        matrix.shape[0], matrix.shape[1], matrix_name)]
-    first = True
-    for element in numpy.nditer(matrix, order='C'):
-      if first:
-        ans.append("  %s << " % matrix_name)
-        first = False
-      else:
-        ans.append(", ")
-      ans.append(str(element))
-
-    ans.append(";\n")
-    return "".join(ans)
-
-  def DumpPlantHeader(self, plant_name):
-    """Writes out a c++ header declaration which will create a Plant object.
-
-    Args:
-      plant_name: string, the name of the plant.  Used to create the name of the
-        function.  The function name will be Make<plant_name>Plant().
-    """
-    num_states = self.A.shape[0]
-    num_inputs = self.B.shape[1]
-    num_outputs = self.C.shape[0]
-    return "StateFeedbackPlant<%d, %d, %d> Make%sPlant();\n" % (
-        num_states, num_inputs, num_outputs, plant_name)
-
-  def DumpPlant(self, plant_name):
-    """Writes out a c++ function which will create a Plant object.
-
-    Args:
-      plant_name: string, the name of the plant.  Used to create the name of the
-        function.  The function name will be Make<plant_name>Plant().
-    """
-    num_states = self.A.shape[0]
-    num_inputs = self.B.shape[1]
-    num_outputs = self.C.shape[0]
-    ans = ["StateFeedbackPlant<%d, %d, %d> Make%sPlant() {\n" % (
-        num_states, num_inputs, num_outputs, plant_name)]
-
-    ans.append(self._DumpMatrix("A", self.A))
-    ans.append(self._DumpMatrix("B", self.B))
-    ans.append(self._DumpMatrix("C", self.C))
-    ans.append(self._DumpMatrix("D", self.D))
-    ans.append(self._DumpMatrix("U_max", self.U_max))
-    ans.append(self._DumpMatrix("U_min", self.U_min))
-
-    ans.append("  return StateFeedbackPlant<%d, %d, %d>"
-               "(A, B, C, D, U_max, U_min);\n" % (num_states, num_inputs,
-                                                  num_outputs))
-    ans.append("}\n")
-    return "".join(ans)
-
-  def DumpLoopHeader(self, loop_name):
-    """Writes out a c++ header declaration which will create a Loop object.
-
-    Args:
-      loop_name: string, the name of the loop.  Used to create the name of the
-        function.  The function name will be Make<loop_name>Loop().
-    """
-    num_states = self.A.shape[0]
-    num_inputs = self.B.shape[1]
-    num_outputs = self.C.shape[0]
-    return "StateFeedbackLoop<%d, %d, %d> Make%sLoop();\n" % (
-        num_states, num_inputs, num_outputs, loop_name)
-
-  def DumpLoop(self, loop_name):
-    """Writes out a c++ function which will create a Loop object.
-
-    Args:
-      loop_name: string, the name of the loop.  Used to create the name of the
-        function and create the plant.  The function name will be
-        Make<loop_name>Loop().
-    """
-    num_states = self.A.shape[0]
-    num_inputs = self.B.shape[1]
-    num_outputs = self.C.shape[0]
-    ans = ["StateFeedbackLoop<%d, %d, %d> Make%sLoop() {\n" % (
-        num_states, num_inputs, num_outputs, loop_name)]
-
-    ans.append(self._DumpMatrix("L", self.L))
-    ans.append(self._DumpMatrix("K", self.K))
-
-    ans.append("  return StateFeedbackLoop<%d, %d, %d>"
-               "(L, K, Make%sPlant());\n" % (num_states, num_inputs,
-                                             num_outputs, loop_name))
-    ans.append("}\n")
-    return "".join(ans)
-
 
 def main(argv):
+  # Simulate the response of the system to a step input.
   wrist = Wrist()
   simulated_x = []
   for _ in xrange(100):
     wrist.Update(numpy.matrix([[12.0]]))
     simulated_x.append(wrist.X[0, 0])
 
-  #pylab.plot(range(100), simulated_x)
-  #pylab.show()
+  pylab.plot(range(100), simulated_x)
+  pylab.show()
 
+  # Simulate the closed loop response of the system to a step input.
   wrist = Wrist()
   close_loop_x = []
-  X_hat = numpy.matrix([[0.0], [0.0]])
   R = numpy.matrix([[1.0], [0.0]])
   for _ in xrange(100):
-    U = numpy.clip(wrist.K * (R - X_hat), wrist.U_min, wrist.U_max)
-    X_hat = wrist.A * X_hat + wrist.B * U + wrist.L * (wrist.Y - wrist.C * X_hat - wrist.D * U)
+    U = numpy.clip(wrist.K * (R - wrist.X_hat), wrist.U_min, wrist.U_max)
+    wrist.UpdateObserver(U)
     wrist.Update(U)
     close_loop_x.append(wrist.X[0, 0])
 
   pylab.plot(range(100), close_loop_x)
   pylab.show()
 
+  # Write the generated constants out to a file.
   if len(argv) != 3:
     print "Expected .cc file name and .h file name"
   else:
-    namespace_start = ("namespace frc971 {\n"
-                       "namespace control_loops {\n\n");
-
-    namespace_end = ("}  // namespace frc971\n"
-                     "}  // namespace control_loops\n");
-
-    header_start = ("#ifndef FRC971_CONTROL_LOOPS_WRIST_MOTOR_PLANT_H_\n"
-                    "#define FRC971_CONTROL_LOOPS_WRIST_MOTOR_PLANT_H_\n\n")
-    header_end = "#endif  // FRC971_CONTROL_LOOPS_WRIST_MOTOR_PLANT_H_\n";
-
-    with open(argv[1], "w") as fd:
-      fd.write("#include \"frc971/control_loops/wrist_motor_plant.h\"\n")
-      fd.write('\n')
-      fd.write("#include \"frc971/control_loops/state_feedback_loop.h\"\n")
-      fd.write('\n')
-      fd.write(namespace_start)
-      fd.write('\n')
-      fd.write(wrist.DumpPlant("Wrist"))
-      fd.write('\n')
-      fd.write(wrist.DumpLoop("Wrist"))
-      fd.write('\n')
-      fd.write(namespace_end)
-
-    with open(argv[2], "w") as fd:
-      fd.write(header_start)
-      fd.write("#include \"frc971/control_loops/state_feedback_loop.h\"\n")
-      fd.write('\n')
-      fd.write(namespace_start)
-      fd.write(wrist.DumpPlantHeader("Wrist"))
-      fd.write('\n')
-      fd.write(wrist.DumpLoopHeader("Wrist"))
-      fd.write('\n')
-      fd.write(namespace_end)
-      fd.write(header_end)
-
+    wrist.DumpHeaderFile(argv[1])
+    wrist.DumpCppFile(argv[2], argv[1])
 
 if __name__ == '__main__':
   sys.exit(main(sys.argv))