diff --git a/y2014/control_loops/drivetrain/BUILD b/y2014/control_loops/drivetrain/BUILD
index 2d0d64f..85aad66 100644
--- a/y2014/control_loops/drivetrain/BUILD
+++ b/y2014/control_loops/drivetrain/BUILD
@@ -24,15 +24,35 @@
   ],
 )
 
+genrule(
+  name = 'genrule_drivetrain',
+  visibility = ['//visibility:private'],
+  cmd = '$(location //y2014/control_loops/python:drivetrain) $(OUTS)',
+  tools = [
+    '//y2014/control_loops/python:drivetrain',
+  ],
+  tags = [
+    'local',
+  ],
+  outs = [
+    'drivetrain_dog_motor_plant.h',
+    'drivetrain_dog_motor_plant.cc',
+    'kalman_drivetrain_motor_plant.h',
+    'kalman_drivetrain_motor_plant.cc',
+  ],
+)
+
 cc_library(
   name = 'polydrivetrain_plants',
   srcs = [
     'polydrivetrain_dog_motor_plant.cc',
     'drivetrain_dog_motor_plant.cc',
+    'kalman_drivetrain_motor_plant.cc',
   ],
   hdrs = [
     'polydrivetrain_dog_motor_plant.h',
     'drivetrain_dog_motor_plant.h',
+    'kalman_drivetrain_motor_plant.h',
   ],
   deps = [
     '//frc971/control_loops:state_feedback_loop',
diff --git a/y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.cc b/y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.cc
deleted file mode 100644
index 2bb5c94..0000000
--- a/y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.cc
+++ /dev/null
@@ -1,133 +0,0 @@
-#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-
-#include <vector>
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainLowLowPlantCoefficients() {
-  Eigen::Matrix<double, 4, 4> A;
-  A << 1.0, 0.00860955515291, 0.0, 0.000228184998733, 0.0, 0.735841675858, 0.0, 0.0410810558113, 0.0, 0.000228184998733, 1.0, 0.00860955515291, 0.0, 0.0410810558113, 0.0, 0.735841675858;
-  Eigen::Matrix<double, 4, 2> B;
-  B << 0.000272244648044, -4.46778919705e-05, 0.0517213538779, -0.00804353916233, -4.46778919705e-05, 0.000272244648044, -0.00804353916233, 0.0517213538779;
-  Eigen::Matrix<double, 2, 4> C;
-  C << 1, 0, 0, 0, 0, 0, 1, 0;
-  Eigen::Matrix<double, 2, 2> D;
-  D << 0, 0, 0, 0;
-  Eigen::Matrix<double, 2, 1> U_max;
-  U_max << 12.0, 12.0;
-  Eigen::Matrix<double, 2, 1> U_min;
-  U_min << -12.0, -12.0;
-  return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainLowHighPlantCoefficients() {
-  Eigen::Matrix<double, 4, 4> A;
-  A << 1.0, 0.00860667098456, 0.0, 7.04111872002e-05, 0.0, 0.735048848179, 0.0, 0.0131811893199, 0.0, 0.000245343870066, 1.0, 0.00957169266049, 0.0, 0.045929121897, 0.0, 0.915703853642;
-  Eigen::Matrix<double, 4, 2> B;
-  B << 0.000272809358971, -2.57343985847e-05, 0.0518765869984, -0.00481755802263, -4.80375440247e-05, 0.00015654091672, -0.00899277497558, 0.0308091755839;
-  Eigen::Matrix<double, 2, 4> C;
-  C << 1, 0, 0, 0, 0, 0, 1, 0;
-  Eigen::Matrix<double, 2, 2> D;
-  D << 0, 0, 0, 0;
-  Eigen::Matrix<double, 2, 1> U_max;
-  U_max << 12.0, 12.0;
-  Eigen::Matrix<double, 2, 1> U_min;
-  U_min << -12.0, -12.0;
-  return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainHighLowPlantCoefficients() {
-  Eigen::Matrix<double, 4, 4> A;
-  A << 1.0, 0.00957169266049, 0.0, 0.000245343870066, 0.0, 0.915703853642, 0.0, 0.045929121897, 0.0, 7.04111872002e-05, 1.0, 0.00860667098456, 0.0, 0.0131811893199, 0.0, 0.735048848179;
-  Eigen::Matrix<double, 4, 2> B;
-  B << 0.00015654091672, -4.80375440247e-05, 0.0308091755839, -0.00899277497558, -2.57343985847e-05, 0.000272809358971, -0.00481755802263, 0.0518765869984;
-  Eigen::Matrix<double, 2, 4> C;
-  C << 1, 0, 0, 0, 0, 0, 1, 0;
-  Eigen::Matrix<double, 2, 2> D;
-  D << 0, 0, 0, 0;
-  Eigen::Matrix<double, 2, 1> U_max;
-  U_max << 12.0, 12.0;
-  Eigen::Matrix<double, 2, 1> U_min;
-  U_min << -12.0, -12.0;
-  return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainHighHighPlantCoefficients() {
-  Eigen::Matrix<double, 4, 4> A;
-  A << 1.0, 0.00957076892085, 0.0, 7.56192087769e-05, 0.0, 0.915439806567, 0.0, 0.0146814193986, 0.0, 7.56192087769e-05, 1.0, 0.00957076892085, 0.0, 0.0146814193986, 0.0, 0.915439806567;
-  Eigen::Matrix<double, 4, 2> B;
-  B << 0.000156878531877, -2.76378646165e-05, 0.0309056814511, -0.00536587314624, -2.76378646165e-05, 0.000156878531877, -0.00536587314624, 0.0309056814511;
-  Eigen::Matrix<double, 2, 4> C;
-  C << 1, 0, 0, 0, 0, 0, 1, 0;
-  Eigen::Matrix<double, 2, 2> D;
-  D << 0, 0, 0, 0;
-  Eigen::Matrix<double, 2, 1> U_max;
-  U_max << 12.0, 12.0;
-  Eigen::Matrix<double, 2, 1> U_min;
-  U_min << -12.0, -12.0;
-  return StateFeedbackPlantCoefficients<4, 2, 2>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackController<4, 2, 2> MakeDrivetrainLowLowController() {
-  Eigen::Matrix<double, 4, 2> L;
-  L << 1.03584167586, 0.0410810558113, 17.1117704011, 3.22861251708, 0.0410810558113, 1.03584167586, 3.22861251708, 17.1117704011;
-  Eigen::Matrix<double, 2, 4> K;
-  K << 128.210620632, 6.93828382074, 5.11036686771, 0.729493080206, 5.1103668677, 0.729493080206, 128.210620632, 6.93828382074;
-  Eigen::Matrix<double, 4, 4> A_inv;
-  A_inv << 1.0, -0.0117194973377, 0.0, 0.000344183176608, 0.0, 1.36323698074, 0.0, -0.0761076958907, 0.0, 0.000344183176608, 1.0, -0.0117194973377, 0.0, -0.0761076958907, 0.0, 1.36323698074;
-  return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeDrivetrainLowLowPlantCoefficients());
-}
-
-StateFeedbackController<4, 2, 2> MakeDrivetrainLowHighController() {
-  Eigen::Matrix<double, 4, 2> L;
-  L << 1.02891982345, 0.0143715516939, 16.6997472571, 1.23741823594, 0.0143715516939, 1.22183287838, 2.40440177527, 33.5403677132;
-  Eigen::Matrix<double, 2, 4> K;
-  K << 127.841025245, 6.90618982868, -2.11442482189, 0.171361719101, 11.257083857, 1.47190974842, 138.457761234, 11.0770574926;
-  Eigen::Matrix<double, 4, 4> A_inv;
-  A_inv << 1.0, -0.011714710309, 0.0, 9.17355833725e-05, 0.0, 1.36167854796, 0.0, -0.0196008159867, 0.0, 0.00031964754384, 1.0, -0.0104574267731, 0.0, -0.0682979543713, 0.0, 1.09303924439;
-  return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeDrivetrainLowHighPlantCoefficients());
-}
-
-StateFeedbackController<4, 2, 2> MakeDrivetrainHighLowController() {
-  Eigen::Matrix<double, 4, 2> L;
-  L << 1.21584032636, 0.045928553155, 33.3376290177, 4.12652814156, 0.045928553155, 1.03491237546, 2.45838080322, 16.967272239;
-  Eigen::Matrix<double, 2, 4> K;
-  K << 138.457761234, 11.0770574926, 11.257083857, 1.47190974842, -2.1144248219, 0.171361719101, 127.841025245, 6.90618982868;
-  Eigen::Matrix<double, 4, 4> A_inv;
-  A_inv << 1.0, -0.0104574267731, 0.0, 0.00031964754384, 0.0, 1.09303924439, 0.0, -0.0682979543713, 0.0, 9.17355833725e-05, 1.0, -0.011714710309, 0.0, -0.0196008159867, 0.0, 1.36167854796;
-  return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeDrivetrainHighLowPlantCoefficients());
-}
-
-StateFeedbackController<4, 2, 2> MakeDrivetrainHighHighController() {
-  Eigen::Matrix<double, 4, 2> L;
-  L << 1.21543980657, 0.0146814193986, 33.1557840927, 1.47278696694, 0.0146814193986, 1.21543980657, 1.47278696694, 33.1557840927;
-  Eigen::Matrix<double, 2, 4> K;
-  K << 138.52410152, 11.0779399816, 3.96842371774, 0.882728086516, 3.96842371774, 0.882728086517, 138.52410152, 11.0779399816;
-  Eigen::Matrix<double, 4, 4> A_inv;
-  A_inv << 1.0, -0.010456196092, 0.0, 8.50876166887e-05, 0.0, 1.0926521463, 0.0, -0.0175234726538, 0.0, 8.50876166887e-05, 1.0, -0.010456196092, 0.0, -0.0175234726538, 0.0, 1.0926521463;
-  return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeDrivetrainHighHighPlantCoefficients());
-}
-
-StateFeedbackPlant<4, 2, 2> MakeDrivetrainPlant() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>> plants(4);
-  plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>(new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainLowLowPlantCoefficients()));
-  plants[1] = ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>(new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainLowHighPlantCoefficients()));
-  plants[2] = ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>(new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainHighLowPlantCoefficients()));
-  plants[3] = ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>(new StateFeedbackPlantCoefficients<4, 2, 2>(MakeDrivetrainHighHighPlantCoefficients()));
-  return StateFeedbackPlant<4, 2, 2>(&plants);
-}
-
-StateFeedbackLoop<4, 2, 2> MakeDrivetrainLoop() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackController<4, 2, 2>>> controllers(4);
-  controllers[0] = ::std::unique_ptr<StateFeedbackController<4, 2, 2>>(new StateFeedbackController<4, 2, 2>(MakeDrivetrainLowLowController()));
-  controllers[1] = ::std::unique_ptr<StateFeedbackController<4, 2, 2>>(new StateFeedbackController<4, 2, 2>(MakeDrivetrainLowHighController()));
-  controllers[2] = ::std::unique_ptr<StateFeedbackController<4, 2, 2>>(new StateFeedbackController<4, 2, 2>(MakeDrivetrainHighLowController()));
-  controllers[3] = ::std::unique_ptr<StateFeedbackController<4, 2, 2>>(new StateFeedbackController<4, 2, 2>(MakeDrivetrainHighHighController()));
-  return StateFeedbackLoop<4, 2, 2>(&controllers);
-}
-
-}  // namespace control_loops
-}  // namespace frc971
diff --git a/y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h b/y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h
deleted file mode 100644
index 64498dd..0000000
--- a/y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
-#define Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainLowLowPlantCoefficients();
-
-StateFeedbackController<4, 2, 2> MakeDrivetrainLowLowController();
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainLowHighPlantCoefficients();
-
-StateFeedbackController<4, 2, 2> MakeDrivetrainLowHighController();
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainHighLowPlantCoefficients();
-
-StateFeedbackController<4, 2, 2> MakeDrivetrainHighLowController();
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeDrivetrainHighHighPlantCoefficients();
-
-StateFeedbackController<4, 2, 2> MakeDrivetrainHighHighController();
-
-StateFeedbackPlant<4, 2, 2> MakeDrivetrainPlant();
-
-StateFeedbackLoop<4, 2, 2> MakeDrivetrainLoop();
-
-}  // namespace control_loops
-}  // namespace frc971
-
-#endif  // Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_DOG_MOTOR_PLANT_H_
diff --git a/y2014/control_loops/drivetrain/drivetrain_lib_test.cc b/y2014/control_loops/drivetrain/drivetrain_lib_test.cc
index e9291d8..e2db9de 100644
--- a/y2014/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -20,6 +20,8 @@
 namespace control_loops {
 namespace testing {
 
+using ::y2014::control_loops::drivetrain::MakeDrivetrainPlant;
+
 class Environment : public ::testing::Environment {
  public:
   virtual ~Environment() {}