diff --git a/y2019/control_loops/superstructure/BUILD b/y2019/control_loops/superstructure/BUILD
index d89b1f3..29e04fe 100644
--- a/y2019/control_loops/superstructure/BUILD
+++ b/y2019/control_loops/superstructure/BUILD
@@ -66,7 +66,7 @@
         ":superstructure_position_fbs",
         ":superstructure_status_fbs",
         ":vacuum",
-        "//aos/controls:control_loop",
+        "//frc971/control_loops:control_loop",
         "//aos/events:event_loop",
         "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//y2019:constants",
@@ -90,7 +90,7 @@
         ":superstructure_position_fbs",
         ":superstructure_status_fbs",
         "//aos:math",
-        "//aos/controls:control_loop_test",
+        "//frc971/control_loops:control_loop_test",
         "//aos/testing:googletest",
         "//aos/time",
         "//frc971/control_loops:capped_test_plant",
@@ -127,7 +127,7 @@
     deps = [
         ":superstructure_goal_fbs",
         ":superstructure_status_fbs",
-        "//aos/controls:control_loop",
+        "//frc971/control_loops:control_loop",
         "//frc971:constants",
         "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:profiled_subsystem_fbs",
@@ -146,7 +146,7 @@
     deps = [
         ":superstructure_goal_fbs",
         ":superstructure_output_fbs",
-        "//aos/controls:control_loop",
+        "//frc971/control_loops:control_loop",
         "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:profiled_subsystem_fbs",
     ],
diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index 4246397..9e7a5fe 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -10,13 +10,13 @@
 namespace control_loops {
 namespace superstructure {
 
-using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
 using frc971::control_loops::AbsoluteEncoderProfiledJointStatus;
+using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
 
 Superstructure::Superstructure(::aos::EventLoop *event_loop,
                                const ::std::string &name)
-    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
-                                                                 name),
+    : frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                    name),
       status_light_sender_(
           event_loop->MakeSender<::y2019::StatusLight>("/superstructure")),
       drivetrain_status_fetcher_(
diff --git a/y2019/control_loops/superstructure/superstructure.h b/y2019/control_loops/superstructure/superstructure.h
index f4a23d9..f86d64c 100644
--- a/y2019/control_loops/superstructure/superstructure.h
+++ b/y2019/control_loops/superstructure/superstructure.h
@@ -1,7 +1,7 @@
 #ifndef Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
 #define Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
 
-#include "aos/controls/control_loop.h"
+#include "frc971/control_loops/control_loop.h"
 #include "aos/events/event_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
@@ -19,7 +19,7 @@
 namespace superstructure {
 
 class Superstructure
-    : public ::aos::controls::ControlLoop<Goal, Position, Status, Output> {
+    : public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
   explicit Superstructure(::aos::EventLoop *event_loop,
                           const ::std::string &name = "/superstructure");
diff --git a/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index 58bac76..cabb4e2 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -3,8 +3,8 @@
 #include <chrono>
 #include <memory>
 
-#include "aos/controls/control_loop_test.h"
 #include "frc971/control_loops/capped_test_plant.h"
+#include "frc971/control_loops/control_loop_test.h"
 #include "frc971/control_loops/position_sensor_sim.h"
 #include "frc971/control_loops/team_number_test_environment.h"
 #include "gtest/gtest.h"
@@ -399,10 +399,10 @@
   CollisionAvoidance collision_avoidance_;
 };
 
-class SuperstructureTest : public ::aos::testing::ControlLoopTest {
+class SuperstructureTest : public ::frc971::testing::ControlLoopTest {
  protected:
   SuperstructureTest()
-      : ::aos::testing::ControlLoopTest(
+      : ::frc971::testing::ControlLoopTest(
             aos::configuration::ReadConfig("y2019/config.json"),
             chrono::microseconds(5050)),
         test_event_loop_(MakeEventLoop("test")),
@@ -570,7 +570,6 @@
   {
     auto builder = superstructure_goal_sender_.MakeBuilder();
 
-
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
             *builder.fbb(), constants::Values::kElevatorRange().upper);