diff --git a/y2014/control_loops/BUILD b/y2014/control_loops/BUILD
new file mode 100644
index 0000000..995a4c7
--- /dev/null
+++ b/y2014/control_loops/BUILD
@@ -0,0 +1,6 @@
+py_library(
+    name = "python_init",
+    srcs = ["__init__.py"],
+    visibility = ["//visibility:public"],
+    deps = ["//y2014:python_init"],
+)
diff --git a/y2014/control_loops/__init__.py b/y2014/control_loops/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2014/control_loops/__init__.py
diff --git a/y2014/control_loops/python/BUILD b/y2014/control_loops/python/BUILD
index 00dfda1..5216eb9 100644
--- a/y2014/control_loops/python/BUILD
+++ b/y2014/control_loops/python/BUILD
@@ -1,84 +1,104 @@
-package(default_visibility = ['//y2014:__subpackages__'])
+package(default_visibility = ["//y2014:__subpackages__"])
 
 py_binary(
-  name = 'drivetrain',
-  srcs = [
-    'drivetrain.py',
-  ],
-  deps = [
-    '//external:python-gflags',
-    '//external:python-glog',
-    '//frc971/control_loops/python:drivetrain',
-  ],
-  restricted_to = ['//tools:k8'],
+    name = "drivetrain",
+    srcs = [
+        "drivetrain.py",
+    ],
+    legacy_create_init = False,
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":python_init",
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:drivetrain",
+    ],
 )
 
 py_binary(
-  name = 'polydrivetrain',
-  srcs = [
-    'polydrivetrain.py',
-    'drivetrain.py',
-  ],
-  deps = [
-    '//external:python-gflags',
-    '//external:python-glog',
-    '//frc971/control_loops/python:polydrivetrain',
-  ],
-  restricted_to = ['//tools:k8'],
+    name = "polydrivetrain",
+    srcs = [
+        "drivetrain.py",
+        "polydrivetrain.py",
+    ],
+    legacy_create_init = False,
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":python_init",
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:polydrivetrain",
+    ],
 )
 
 py_library(
-  name = 'polydrivetrain_lib',
-  srcs = [
-    'polydrivetrain.py',
-    'drivetrain.py',
-  ],
-  deps = [
-    '//external:python-gflags',
-    '//external:python-glog',
-    '//frc971/control_loops/python:controls',
-    '//frc971/control_loops/python:drivetrain',
-    '//frc971/control_loops/python:polydrivetrain',
-  ],
-  restricted_to = ['//tools:k8'],
+    name = "polydrivetrain_lib",
+    srcs = [
+        "drivetrain.py",
+        "polydrivetrain.py",
+    ],
+    restricted_to = ["//tools:k8"],
+    deps = [
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:controls",
+        "//frc971/control_loops/python:drivetrain",
+        "//frc971/control_loops/python:polydrivetrain",
+    ],
 )
 
 py_binary(
-  name = 'claw',
-  srcs = [
-    'claw.py',
-  ],
-  deps = [
-    ':polydrivetrain_lib',
-    '//external:python-gflags',
-    '//external:python-glog',
-    '//frc971/control_loops/python:controls',
-  ],
-  restricted_to = ['//tools:k8'],
+    name = "claw",
+    srcs = [
+        "claw.py",
+    ],
+    legacy_create_init = False,
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":polydrivetrain_lib",
+        ":python_init",
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:controls",
+        "@matplotlib",
+    ],
 )
 
 py_binary(
-  name = 'shooter',
-  srcs = [
-    'shooter.py',
-  ],
-  deps = [
-    '//external:python-gflags',
-    '//external:python-glog',
-    '//frc971/control_loops/python:controls',
-  ],
-  restricted_to = ['//tools:k8'],
+    name = "shooter",
+    srcs = [
+        "shooter.py",
+    ],
+    legacy_create_init = False,
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":python_init",
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:controls",
+        "@matplotlib",
+    ],
 )
 
 py_binary(
-  name = 'extended_lqr',
-  srcs = [
-    'extended_lqr.py',
-  ],
-  deps = [
-    '//external:python-gflags',
-    '//external:python-glog',
-    '//frc971/control_loops/python:controls',
-  ],
-  restricted_to = ['//tools:k8'],
+    name = "extended_lqr",
+    srcs = [
+        "extended_lqr.py",
+    ],
+    legacy_create_init = False,
+    restricted_to = ["//tools:k8"],
+    deps = [
+        ":python_init",
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:controls",
+        "@matplotlib",
+    ],
+)
+
+py_library(
+    name = "python_init",
+    srcs = ["__init__.py"],
+    visibility = ["//visibility:public"],
+    deps = ["//y2014/control_loops:python_init"],
 )
diff --git a/y2014/control_loops/python/__init__.py b/y2014/control_loops/python/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2014/control_loops/python/__init__.py