diff --git a/y2016/control_loops/python/arm.py b/y2016/control_loops/python/arm.py
index 96975bb..9e6de34 100755
--- a/y2016/control_loops/python/arm.py
+++ b/y2016/control_loops/python/arm.py
@@ -261,7 +261,7 @@
         shooter_profile.SetGoal(goal[2, 0])
 
         U_last = numpy.matrix(numpy.zeros((2, 1)))
-        for i in xrange(iterations):
+        for i in range(iterations):
             X_hat = arm.X
 
             if observer is not None:
diff --git a/y2016/control_loops/python/shooter.py b/y2016/control_loops/python/shooter.py
index b3c988c..5e3eddb 100755
--- a/y2016/control_loops/python/shooter.py
+++ b/y2016/control_loops/python/shooter.py
@@ -190,7 +190,7 @@
         else:
             initial_t = 0
 
-        for i in xrange(iterations):
+        for i in range(iterations):
             X_hat = shooter.X
 
             if observer_shooter is not None:
diff --git a/y2016/control_loops/python/shoulder.py b/y2016/control_loops/python/shoulder.py
index 6c07725..e17bc7e 100755
--- a/y2016/control_loops/python/shoulder.py
+++ b/y2016/control_loops/python/shoulder.py
@@ -188,7 +188,7 @@
     else:
       initial_t = 0
 
-    for i in xrange(iterations):
+    for i in range(iterations):
       X_hat = shoulder.X
 
       if observer_shoulder is not None:
diff --git a/y2016/control_loops/python/wrist.py b/y2016/control_loops/python/wrist.py
index 6de8551..a775494 100755
--- a/y2016/control_loops/python/wrist.py
+++ b/y2016/control_loops/python/wrist.py
@@ -184,7 +184,7 @@
     else:
       initial_t = 0
 
-    for i in xrange(iterations):
+    for i in range(iterations):
       X_hat = wrist.X
 
       if observer_wrist is not None: