diff --git a/frc971/control_loops/python/BUILD b/frc971/control_loops/python/BUILD
index 64201c4..fb3e971 100644
--- a/frc971/control_loops/python/BUILD
+++ b/frc971/control_loops/python/BUILD
@@ -1,79 +1,98 @@
-package(default_visibility = ['//visibility:public'])
+package(default_visibility = ["//visibility:public"])
 
 py_binary(
-  name = 'haptic_wheel',
-  srcs = [
-    'haptic_wheel.py',
-  ],
-  deps = [
-    '//external:python-gflags',
-    '//external:python-glog',
-    '//frc971/control_loops/python:controls',
-  ],
-  restricted_to = ['//tools:k8'],
+    name = "haptic_wheel",
+    srcs = [
+        "haptic_wheel.py",
+    ],
+    legacy_create_init = False,
+    restricted_to = ["//tools:k8"],
+    deps = [
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:controls",
+        "@matplotlib",
+    ],
 )
 
 py_library(
-  name = 'controls',
-  srcs = [
-    'cim.py',
-    'control_loop.py',
-    'controls.py',
-    'polytope.py',
-    'libcdd.py',
-  ],
-  deps = [
-    '//external:python-glog',
-    '@slycot_repo//:slycot',
-  ],
-  data = [
-    '//third_party/cddlib:_cddlib.so',
-  ],
-  restricted_to = ['//tools:k8'],
+    name = "controls",
+    srcs = [
+        "cim.py",
+        "control_loop.py",
+        "controls.py",
+        "libcdd.py",
+        "polytope.py",
+    ],
+    data = [
+        "//third_party/cddlib:_cddlib.so",
+        "@python_repo//:scipy",
+    ],
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":python_init",
+        "//external:python-glog",
+        "@slycot_repo//:slycot",
+    ],
 )
 
 py_test(
-  name = 'polytope_test',
-  srcs = [
-    'polytope_test.py',
-  ],
-  deps = [
-    ':controls',
-  ],
-  restricted_to = ['//tools:k8'],
+    name = "polytope_test",
+    srcs = [
+        "polytope_test.py",
+    ],
+    legacy_create_init = False,
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":controls",
+        ":python_init",
+    ],
 )
 
 py_binary(
-  name = 'down_estimator',
-  srcs = [
-    'down_estimator.py',
-  ],
-  deps = [
-    ':controls',
-  ],
-  restricted_to = ['//tools:k8'],
+    name = "down_estimator",
+    srcs = [
+        "down_estimator.py",
+    ],
+    legacy_create_init = False,
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":controls",
+        ":python_init",
+        "@matplotlib",
+    ],
 )
 
 py_library(
-  name = 'drivetrain',
-  srcs = [
-    'drivetrain.py',
-  ],
-  deps = [
-    ':controls',
-  ],
-  restricted_to = ['//tools:k8'],
+    name = "drivetrain",
+    srcs = [
+        "drivetrain.py",
+    ],
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":controls",
+        ":python_init",
+        "@matplotlib",
+    ],
 )
 
 py_library(
-  name = 'polydrivetrain',
-  srcs = [
-    'polydrivetrain.py',
-  ],
-  deps = [
-    ':controls',
-    ':drivetrain',
-    '//external:python-glog',
-  ],
-  restricted_to = ['//tools:k8'],
+    name = "polydrivetrain",
+    srcs = [
+        "polydrivetrain.py",
+    ],
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":controls",
+        ":drivetrain",
+        ":python_init",
+        "//external:python-glog",
+    ],
+)
+
+py_library(
+    name = "python_init",
+    srcs = ["__init__.py"],
+    visibility = ["//visibility:public"],
+    deps = ["//frc971/control_loops:python_init"],
 )
diff --git a/frc971/control_loops/python/__init__.py b/frc971/control_loops/python/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/frc971/control_loops/python/__init__.py