diff --git a/bot3/control_loops/BUILD b/bot3/control_loops/BUILD
new file mode 100644
index 0000000..1dc5c67
--- /dev/null
+++ b/bot3/control_loops/BUILD
@@ -0,0 +1,14 @@
+package(default_visibility = ['//visibility:public'])
+
+cc_library(
+  name = 'position_sensor_sim',
+  srcs = [
+    'position_sensor_sim.cc',
+  ],
+  hdrs = [
+    'position_sensor_sim.h',
+  ],
+  deps = [
+    '//bot3/control_loops/elevator:elevator_queue',
+  ],
+)
diff --git a/bot3/control_loops/control_loops.gyp b/bot3/control_loops/control_loops.gyp
index b63816e..0c49272 100644
--- a/bot3/control_loops/control_loops.gyp
+++ b/bot3/control_loops/control_loops.gyp
@@ -4,9 +4,6 @@
       'target_name': 'position_sensor_sim',
       'type': 'static_library',
       'sources': ['position_sensor_sim.cc'],
-      'variables': {
-        'header_path': 'bot3/control_loops',
-      },
       'dependencies': [
         '<(DEPTH)/bot3/control_loops/elevator/elevator.gyp:elevator_queue',
       ],
diff --git a/bot3/control_loops/drivetrain/BUILD b/bot3/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..6fd8faa
--- /dev/null
+++ b/bot3/control_loops/drivetrain/BUILD
@@ -0,0 +1,96 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+cc_binary(
+  name = 'replay_drivetrain_bot3',
+  srcs = [
+    'replay_drivetrain.cc',
+  ],
+  deps = [
+    ':drivetrain_queue',
+    '//aos/common/controls:replay_control_loop',
+    '//aos/linux_code:init',
+  ],
+)
+
+queue_library(
+  name = 'drivetrain_queue',
+  srcs = [
+    'drivetrain.q',
+  ],
+  deps = [
+    '//aos/common/controls:control_loop_queues',
+  ],
+)
+
+cc_library(
+  name = 'polydrivetrain_plants',
+  srcs = [
+    'polydrivetrain_dog_motor_plant.cc',
+    'drivetrain_dog_motor_plant.cc',
+  ],
+  hdrs = [
+    'polydrivetrain_dog_motor_plant.h',
+    'drivetrain_dog_motor_plant.h',
+  ],
+  deps = [
+    '//frc971/control_loops:state_feedback_loop',
+  ],
+)
+
+cc_library(
+  name = 'drivetrain_lib',
+  srcs = [
+    'drivetrain.cc',
+    'polydrivetrain_cim_plant.cc',
+    'drivetrain_dog_motor_plant.cc',
+    'polydrivetrain_dog_motor_plant.cc',
+  ],
+  hdrs = [
+    'drivetrain.h',
+    'polydrivetrain_cim_plant.h',
+    'drivetrain_dog_motor_plant.h',
+    'polydrivetrain_dog_motor_plant.h',
+  ],
+  deps = [
+    ':drivetrain_queue',
+    '//aos/common/controls:control_loop',
+    '//aos/common/controls:polytope',
+    '//frc971/control_loops:state_feedback_loop',
+    '//frc971/control_loops:coerce_goal',
+    '//frc971/queues:gyro',
+    '//aos/common/util:log_interval',
+    '//aos/common/logging:queue_logging',
+    '//aos/common/logging:matrix_logging',
+  ],
+)
+
+cc_binary(
+  name = 'drivetrain_lib_test_bot3',
+  srcs = [
+    'drivetrain_lib_test.cc',
+  ],
+  deps = [
+    '//third_party/googletest',
+    ':drivetrain_queue',
+    ':drivetrain_lib',
+    '//aos/common/controls:control_loop_test',
+    '//frc971/control_loops:state_feedback_loop',
+    '//frc971/queues:gyro',
+    '//aos/common:queues',
+    '//aos/common/network:team_number',
+  ],
+)
+
+cc_binary(
+  name = 'drivetrain_bot3',
+  srcs = [
+    'drivetrain_main.cc',
+  ],
+  deps = [
+    '//aos/linux_code:init',
+    ':drivetrain_lib',
+    ':drivetrain_queue',
+  ],
+)
diff --git a/bot3/control_loops/elevator/BUILD b/bot3/control_loops/elevator/BUILD
new file mode 100644
index 0000000..c3cb1ac
--- /dev/null
+++ b/bot3/control_loops/elevator/BUILD
@@ -0,0 +1,63 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+  name = 'elevator_queue',
+  srcs = [
+    'elevator.q',
+  ],
+  deps = [
+    '//aos/common/controls:control_loop_queues',
+    '//frc971/control_loops:queues',
+  ],
+)
+
+cc_library(
+  name = 'elevator_lib',
+  srcs = [
+    'elevator.cc',
+    'elevator_motor_plant.cc',
+    'integral_elevator_motor_plant.cc',
+  ],
+  hdrs = [
+    'elevator.h',
+    'elevator_motor_plant.h',
+    'integral_elevator_motor_plant.h',
+  ],
+  deps = [
+    ':elevator_queue',
+    '//aos/common/logging',
+    '//aos/common/controls:control_loop_queues',
+    '//aos/common/controls:control_loop',
+    '//aos/common/util:trapezoid_profile',
+    '//frc971/control_loops:state_feedback_loop',
+    '//frc971/control_loops/voltage_cap:voltage_cap',
+  ],
+)
+
+cc_test(
+  name = 'elevator_lib_test',
+  srcs = [
+    'elevator_lib_test.cc',
+  ],
+  deps = [
+    '//third_party/googletest',
+    ':elevator_lib',
+    '//bot3/control_loops:position_sensor_sim',
+    '//frc971/control_loops:state_feedback_loop',
+    '//aos/common/controls:control_loop_test',
+    '//aos/common:time',
+  ],
+)
+
+cc_binary(
+  name = 'elevator',
+  srcs = [
+    'elevator_main.cc',
+  ],
+  deps = [
+    '//aos/linux_code:init',
+    ':elevator_lib',
+  ],
+)
diff --git a/bot3/control_loops/elevator/elevator_lib_test.cc b/bot3/control_loops/elevator/elevator_lib_test.cc
index 66b7845..76a2c54 100644
--- a/bot3/control_loops/elevator/elevator_lib_test.cc
+++ b/bot3/control_loops/elevator/elevator_lib_test.cc
@@ -593,6 +593,7 @@
     RunIteration(true);
     EXPECT_NEAR(0.0, plant_.GetVoltage(), voltage_range);
   }
+}
 
 }  // namespace testing
 }  // namespace control_loops
diff --git a/bot3/control_loops/intake/BUILD b/bot3/control_loops/intake/BUILD
new file mode 100644
index 0000000..fe21b7f
--- /dev/null
+++ b/bot3/control_loops/intake/BUILD
@@ -0,0 +1,53 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+  name = 'intake_queue',
+  srcs = [
+    'intake.q',
+  ],
+  deps = [
+    '//aos/common/controls:control_loop_queues',
+  ],
+)
+
+cc_library(
+  name = 'intake_lib',
+  srcs = [
+    'intake.cc',
+  ],
+  hdrs = [
+    'intake.h',
+  ],
+  deps = [
+    ':intake_queue',
+    '//aos/common/controls:control_loop',
+  ],
+)
+
+cc_test(
+  name = 'intake_lib_test',
+  srcs = [
+    'intake_lib_test.cc',
+  ],
+  deps = [
+    '//third_party/googletest',
+    ':intake_lib',
+    '//frc971/control_loops:state_feedback_loop',
+    '//aos/common/controls:control_loop_test',
+    '//aos/common:time',
+    '//frc971/control_loops:team_number_test_environment',
+  ],
+)
+
+cc_binary(
+  name = 'intake',
+  srcs = [
+    'intake_main.cc',
+  ],
+  deps = [
+    '//aos/linux_code:init',
+    ':intake_lib',
+  ],
+)