diff --git a/y2015/control_loops/fridge/BUILD b/y2015/control_loops/fridge/BUILD
index a9bb737..dbecb75 100644
--- a/y2015/control_loops/fridge/BUILD
+++ b/y2015/control_loops/fridge/BUILD
@@ -75,6 +75,21 @@
   ],
 )
 
+genrule(
+  name = 'genrule_arm_motor',
+  visibility = ['//visibility:private'],
+  cmd = '$(location //y2015/control_loops/python:arm) $(OUTS)',
+  tools = [
+    '//y2015/control_loops/python:arm',
+  ],
+  outs = [
+    'arm_motor_plant.h',
+    'arm_motor_plant.cc',
+    'integral_arm_plant.h',
+    'integral_arm_plant.cc',
+  ],
+)
+
 cc_test(
   name = 'fridge_lib_test',
   srcs = [
diff --git a/y2015/control_loops/fridge/arm_motor_plant.cc b/y2015/control_loops/fridge/arm_motor_plant.cc
deleted file mode 100644
index 6e3205a..0000000
--- a/y2015/control_loops/fridge/arm_motor_plant.cc
+++ /dev/null
@@ -1,49 +0,0 @@
-#include "y2015/control_loops/fridge/arm_motor_plant.h"
-
-#include <vector>
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeArmPlantCoefficients() {
-  Eigen::Matrix<double, 4, 4> A;
-  A << 1.0, 0.00479642025454, 0.0, 0.0, 0.0, 0.919688585028, 0.0, 0.0, 0.0, 0.0, 0.999539771613, 0.00479566382645, 0.0, 0.0, -0.18154390621, 0.919241022297;
-  Eigen::Matrix<double, 4, 2> B;
-  B << 2.46496779984e-05, 2.46496779984e-05, 0.00972420175808, 0.00972420175808, 2.46477449538e-05, -2.46477449538e-05, 0.00972266818532, -0.00972266818532;
-  Eigen::Matrix<double, 2, 4> C;
-  C << 1, 0, 1, 0, 1, 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> MakeArmController() {
-  Eigen::Matrix<double, 4, 2> L;
-  L << 0.759844292514, 0.759844292514, 54.2541762188, 54.2541762188, 0.759390396955, -0.759390396955, 54.1048167043, -54.1048167043;
-  Eigen::Matrix<double, 2, 4> K;
-  K << 320.979606093, 21.0129517955, 884.233784759, 36.3637782119, 320.979606095, 21.0129517956, -884.233784749, -36.3637782119;
-  Eigen::Matrix<double, 4, 4> A_inv;
-  A_inv << 1.0, -0.00521526561559, 0.0, 0.0, 0.0, 1.08732457517, 0.0, 0.0, 0.0, 0.0, 0.999513354044, -0.00521444313273, 0.0, 0.0, 0.197397150694, 1.08682415753;
-  return StateFeedbackController<4, 2, 2>(L, K, A_inv, MakeArmPlantCoefficients());
-}
-
-StateFeedbackPlant<4, 2, 2> MakeArmPlant() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>> plants(1);
-  plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<4, 2, 2>>(new StateFeedbackPlantCoefficients<4, 2, 2>(MakeArmPlantCoefficients()));
-  return StateFeedbackPlant<4, 2, 2>(&plants);
-}
-
-StateFeedbackLoop<4, 2, 2> MakeArmLoop() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackController<4, 2, 2>>> controllers(1);
-  controllers[0] = ::std::unique_ptr<StateFeedbackController<4, 2, 2>>(new StateFeedbackController<4, 2, 2>(MakeArmController()));
-  return StateFeedbackLoop<4, 2, 2>(&controllers);
-}
-
-}  // namespace control_loops
-}  // namespace frc971
diff --git a/y2015/control_loops/fridge/arm_motor_plant.h b/y2015/control_loops/fridge/arm_motor_plant.h
deleted file mode 100644
index 3bf8d09..0000000
--- a/y2015/control_loops/fridge/arm_motor_plant.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef Y2015_CONTROL_LOOPS_FRIDGE_ARM_MOTOR_PLANT_H_
-#define Y2015_CONTROL_LOOPS_FRIDGE_ARM_MOTOR_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<4, 2, 2> MakeArmPlantCoefficients();
-
-StateFeedbackController<4, 2, 2> MakeArmController();
-
-StateFeedbackPlant<4, 2, 2> MakeArmPlant();
-
-StateFeedbackLoop<4, 2, 2> MakeArmLoop();
-
-}  // namespace control_loops
-}  // namespace frc971
-
-#endif  // Y2015_CONTROL_LOOPS_FRIDGE_ARM_MOTOR_PLANT_H_
diff --git a/y2015/control_loops/fridge/fridge.cc b/y2015/control_loops/fridge/fridge.cc
index 4c24a1f..518d41f 100644
--- a/y2015/control_loops/fridge/fridge.cc
+++ b/y2015/control_loops/fridge/fridge.cc
@@ -54,7 +54,7 @@
 Fridge::Fridge(FridgeQueue *fridge)
     : aos::controls::ControlLoop<FridgeQueue>(fridge),
       arm_loop_(new CappedStateFeedbackLoop<5>(StateFeedbackLoop<5, 2, 2>(
-          ::frc971::control_loops::MakeIntegralArmLoop()))),
+          MakeIntegralArmLoop()))),
       elevator_loop_(new CappedStateFeedbackLoop<4>(
           StateFeedbackLoop<4, 2, 2>(MakeElevatorLoop()))),
       left_arm_estimator_(constants::GetValues().fridge.left_arm_zeroing),
diff --git a/y2015/control_loops/fridge/fridge_lib_test.cc b/y2015/control_loops/fridge/fridge_lib_test.cc
index 6acc983..16a1f15 100644
--- a/y2015/control_loops/fridge/fridge_lib_test.cc
+++ b/y2015/control_loops/fridge/fridge_lib_test.cc
@@ -34,8 +34,7 @@
   static constexpr double kNoiseScalar = 0.1;
   // Constructs a simulation.
   FridgeSimulation()
-      : arm_plant_(new StateFeedbackPlant<4, 2, 2>(
-            ::frc971::control_loops::MakeArmPlant())),
+      : arm_plant_(new StateFeedbackPlant<4, 2, 2>(MakeArmPlant())),
         elevator_plant_(new StateFeedbackPlant<4, 2, 2>(MakeElevatorPlant())),
         left_arm_pot_encoder_(
             constants::GetValues().fridge.left_arm_zeroing.index_difference),
diff --git a/y2015/control_loops/fridge/integral_arm_plant.cc b/y2015/control_loops/fridge/integral_arm_plant.cc
deleted file mode 100644
index da269d7..0000000
--- a/y2015/control_loops/fridge/integral_arm_plant.cc
+++ /dev/null
@@ -1,49 +0,0 @@
-#include "y2015/control_loops/fridge/integral_arm_plant.h"
-
-#include <vector>
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<5, 2, 2> MakeIntegralArmPlantCoefficients() {
-  Eigen::Matrix<double, 5, 5> A;
-  A << 1.0, 0.00479642025454, 0.0, 0.0, 4.92993559969e-05, 0.0, 0.919688585028, 0.0, 0.0, 0.0194484035162, 0.0, 0.0, 0.999539771613, 0.00479566382645, 0.0, 0.0, 0.0, -0.18154390621, 0.919241022297, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0;
-  Eigen::Matrix<double, 5, 2> B;
-  B << 2.46496779984e-05, 2.46496779984e-05, 0.00972420175808, 0.00972420175808, 2.46477449538e-05, -2.46477449538e-05, 0.00972266818532, -0.00972266818532, 0.0, 0.0;
-  Eigen::Matrix<double, 2, 5> C;
-  C << 1.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 0.0;
-  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<5, 2, 2>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackController<5, 2, 2> MakeIntegralArmController() {
-  Eigen::Matrix<double, 5, 2> L;
-  L << 0.461805946837, 0.461805946837, 5.83483983392, 5.83483983392, 0.429725467802, -0.429725467802, 0.18044816586, -0.18044816586, 31.0623964848, 31.0623964848;
-  Eigen::Matrix<double, 2, 5> K;
-  K << 320.979606093, 21.0129517955, 884.233784759, 36.3637782119, 1.0, 320.979606095, 21.0129517956, -884.233784749, -36.3637782119, 1.0;
-  Eigen::Matrix<double, 5, 5> A_inv;
-  A_inv << 1.0, -0.00521526561559, 0.0, 0.0, 5.21292341391e-05, 0.0, 1.08732457517, 0.0, 0.0, -0.0211467270909, 0.0, 0.0, 0.999513354044, -0.00521444313273, 0.0, 0.0, 0.0, 0.197397150694, 1.08682415753, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0;
-  return StateFeedbackController<5, 2, 2>(L, K, A_inv, MakeIntegralArmPlantCoefficients());
-}
-
-StateFeedbackPlant<5, 2, 2> MakeIntegralArmPlant() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<5, 2, 2>>> plants(1);
-  plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<5, 2, 2>>(new StateFeedbackPlantCoefficients<5, 2, 2>(MakeIntegralArmPlantCoefficients()));
-  return StateFeedbackPlant<5, 2, 2>(&plants);
-}
-
-StateFeedbackLoop<5, 2, 2> MakeIntegralArmLoop() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackController<5, 2, 2>>> controllers(1);
-  controllers[0] = ::std::unique_ptr<StateFeedbackController<5, 2, 2>>(new StateFeedbackController<5, 2, 2>(MakeIntegralArmController()));
-  return StateFeedbackLoop<5, 2, 2>(&controllers);
-}
-
-}  // namespace control_loops
-}  // namespace frc971
diff --git a/y2015/control_loops/fridge/integral_arm_plant.h b/y2015/control_loops/fridge/integral_arm_plant.h
deleted file mode 100644
index 80a4876..0000000
--- a/y2015/control_loops/fridge/integral_arm_plant.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef Y2015_CONTROL_LOOPS_FRIDGE_INTEGRAL_ARM_PLANT_H_
-#define Y2015_CONTROL_LOOPS_FRIDGE_INTEGRAL_ARM_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<5, 2, 2> MakeIntegralArmPlantCoefficients();
-
-StateFeedbackController<5, 2, 2> MakeIntegralArmController();
-
-StateFeedbackPlant<5, 2, 2> MakeIntegralArmPlant();
-
-StateFeedbackLoop<5, 2, 2> MakeIntegralArmLoop();
-
-}  // namespace control_loops
-}  // namespace frc971
-
-#endif  // Y2015_CONTROL_LOOPS_FRIDGE_INTEGRAL_ARM_PLANT_H_
diff --git a/y2015/control_loops/python/arm.py b/y2015/control_loops/python/arm.py
index 9fa270e..d3d77c5 100755
--- a/y2015/control_loops/python/arm.py
+++ b/y2015/control_loops/python/arm.py
@@ -1,18 +1,22 @@
 #!/usr/bin/python
 
-import control_loop
-import controls
-import polytope
-import polydrivetrain
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import controls
 import numpy
 import math
 import sys
-import matplotlib
 from matplotlib import pylab
 
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
 
 class Arm(control_loop.ControlLoop):
-  def __init__(self, name="Arm", mass=None):
+  def __init__(self, name='Arm', mass=None):
     super(Arm, self).__init__(name)
     # Stall Torque in N m
     self.stall_torque = 0.476
@@ -63,12 +67,12 @@
          [0, 0, 0, 1],
          [0, 0, -self.C1 * 2.0, -self.C3]])
 
-    print 'Full speed is', self.C2 / self.C3 * 12.0
+    glog.debug('Full speed is %f', self.C2 / self.C3 * 12.0)
 
-    print 'Stall arm difference is', 12.0 * self.C2 / self.C1
-    print 'Stall arm difference first principles is', self.stall_torque * self.G / self.spring
+    glog.debug('Stall arm difference is %f', 12.0 * self.C2 / self.C1)
+    glog.debug('Stall arm difference first principles is %f', self.stall_torque * self.G / self.spring)
 
-    print '5 degrees of arm error is', self.spring / self.r * (math.pi * 5.0 / 180.0)
+    glog.debug('5 degrees of arm error is %f', self.spring / self.r * (math.pi * 5.0 / 180.0))
 
     # Start with the unmodified input
     self.B_continuous = numpy.matrix(
@@ -86,8 +90,8 @@
         self.A_continuous, self.B_continuous, self.dt)
 
     controllability = controls.ctrb(self.A, self.B)
-    print 'Rank of augmented controllability matrix.', numpy.linalg.matrix_rank(
-        controllability)
+    glog.debug('Rank of augmented controllability matrix. %d', numpy.linalg.matrix_rank(
+        controllability))
 
     q_pos = 0.02
     q_vel = 0.300
@@ -101,11 +105,10 @@
     self.R = numpy.matrix([[(1.0 / (12.0 ** 2.0)), 0.0],
                            [0.0, 1.0 / (12.0 ** 2.0)]])
     self.K = controls.dlqr(self.A, self.B, self.Q, self.R)
-    print 'Controller'
-    print self.K
+    glog.debug('Controller\n %s', repr(self.K))
 
-    print 'Controller Poles'
-    print numpy.linalg.eig(self.A - self.B * self.K)[0]
+    glog.debug('Controller Poles\n %s',
+               numpy.linalg.eig(self.A - self.B * self.K)[0])
 
     self.rpl = 0.20
     self.ipl = 0.05
@@ -119,13 +122,14 @@
     self.U_max = numpy.matrix([[12.0], [12.0]])
     self.U_min = numpy.matrix([[-12.0], [-12.0]])
 
-    print 'Observer (Converted to a KF)', numpy.linalg.inv(self.A) * self.L
+    glog.debug('Observer (Converted to a KF):\n%s',
+               repr(numpy.linalg.inv(self.A) * self.L))
 
     self.InitializeState()
 
 
 class IntegralArm(Arm):
-  def __init__(self, name="IntegralArm", mass=None):
+  def __init__(self, name='IntegralArm', mass=None):
     super(IntegralArm, self).__init__(name=name, mass=mass)
 
     self.A_continuous_unaugmented = self.A_continuous
@@ -144,9 +148,9 @@
 
     self.A, self.B = self.ContinuousToDiscrete(
         self.A_continuous, self.B_continuous, self.dt)
-    print 'A cont', self.A_continuous
-    print 'B cont', self.B_continuous
-    print 'A discrete', self.A
+    glog.debug('A cont: %s', repr(self.A_continuous))
+    glog.debug('B cont %s', repr(self.B_continuous))
+    glog.debug('A discrete %s', repr(self.A))
 
     q_pos = 0.08
     q_vel = 0.40
@@ -175,7 +179,7 @@
     self.K[0:2, 0:4] = self.K_unaugmented
     self.K[0, 4] = 1
     self.K[1, 4] = 1
-    print 'Kal', self.KalmanGain
+    glog.debug('Kal: %s', repr(self.KalmanGain))
     self.L = self.A * self.KalmanGain
 
     self.InitializeState()
@@ -264,10 +268,10 @@
     u_left.append(U[0, 0])
     u_right.append(U[1, 0])
 
-  print numpy.linalg.inv(arm.A)
-  print "delta time is ", arm.dt
-  print "Velocity at t=0 is ", x_avg[0], v_avg[0], x_sep[0], v_sep[0]
-  print "Velocity at t=1+dt is ", x_avg[1], v_avg[1], x_sep[1], v_sep[1]
+  glog.debug(repr(numpy.linalg.inv(arm.A)))
+  glog.debug('delta time is %f', arm.dt)
+  glog.debug('Velocity at t=0 is %f %f %f %f', x_avg[0], v_avg[0], x_sep[0], v_sep[0])
+  glog.debug('Velocity at t=1+dt is %f %f %f %f', x_avg[1], v_avg[1], x_sep[1], v_sep[1])
 
   if show_graph:
     pylab.subplot(2, 1, 1)
@@ -350,7 +354,7 @@
     u_left.append(U[0, 0])
     u_right.append(U[1, 0])
 
-  print 'End is', observer_arm.X_hat[4, 0]
+  glog.debug('End is %f', observer_arm.X_hat[4, 0])
 
   if show_graph:
     pylab.subplot(2, 1, 1)
@@ -370,40 +374,40 @@
 
 
 def main(argv):
-  loaded_mass = 25
-  #loaded_mass = 0
-  arm = Arm(mass=13 + loaded_mass)
-  #arm_controller = Arm(mass=13 + 15)
-  #observer_arm = Arm(mass=13 + 15)
-  #observer_arm = None
+  if FLAGS.plot:
+    loaded_mass = 25
+    #loaded_mass = 0
+    arm = Arm(mass=13 + loaded_mass)
+    #arm_controller = Arm(mass=13 + 15)
+    #observer_arm = Arm(mass=13 + 15)
+    #observer_arm = None
 
-  integral_arm = IntegralArm(mass=13 + loaded_mass)
-  integral_arm.X_hat[0, 0] += 0.02
-  integral_arm.X_hat[2, 0] += 0.02
-  integral_arm.X_hat[4] = 0
+    integral_arm = IntegralArm(mass=13 + loaded_mass)
+    integral_arm.X_hat[0, 0] += 0.02
+    integral_arm.X_hat[2, 0] += 0.02
+    integral_arm.X_hat[4] = 0
 
-  # Test moving the arm with constant separation.
-  initial_X = numpy.matrix([[0.0], [0.0], [0.0], [0.0]])
-  R = numpy.matrix([[0.0], [0.0], [0.0], [0.0]])
-  run_integral_test(arm, initial_X, R, integral_arm, disturbance=2)
+    # Test moving the arm with constant separation.
+    initial_X = numpy.matrix([[0.0], [0.0], [0.0], [0.0]])
+    R = numpy.matrix([[0.0], [0.0], [0.0], [0.0]])
+    run_integral_test(arm, initial_X, R, integral_arm, disturbance=2)
 
   # Write the generated constants out to a file.
   if len(argv) != 5:
-    print "Expected .h file name and .cc file name for the arm and augmented arm."
+    glog.fatal('Expected .h file name and .cc file name for the arm and augmented arm.')
   else:
-    arm = Arm("Arm", mass=13)
-    loop_writer = control_loop.ControlLoopWriter("Arm", [arm])
-    if argv[1][-3:] == '.cc':
-      loop_writer.Write(argv[2], argv[1])
-    else:
-      loop_writer.Write(argv[1], argv[2])
+    namespaces = ['y2015', 'control_loops', 'fridge']
+    arm = Arm('Arm', mass=13)
+    loop_writer = control_loop.ControlLoopWriter('Arm', [arm],
+                                                 namespaces=namespaces)
+    loop_writer.Write(argv[1], argv[2])
 
-    integral_arm = IntegralArm("IntegralArm", mass=13)
-    loop_writer = control_loop.ControlLoopWriter("IntegralArm", [integral_arm])
-    if argv[3][-3:] == '.cc':
-      loop_writer.Write(argv[4], argv[3])
-    else:
-      loop_writer.Write(argv[3], argv[4])
+    integral_arm = IntegralArm('IntegralArm', mass=13)
+    loop_writer = control_loop.ControlLoopWriter('IntegralArm', [integral_arm],
+                                                 namespaces=namespaces)
+    loop_writer.Write(argv[3], argv[4])
 
 if __name__ == '__main__':
-  sys.exit(main(sys.argv))
+  argv = FLAGS(sys.argv)
+  glog.init()
+  sys.exit(main(argv))
diff --git a/y2015/control_loops/python/claw.py b/y2015/control_loops/python/claw.py
index 86a261d..9987089 100755
--- a/y2015/control_loops/python/claw.py
+++ b/y2015/control_loops/python/claw.py
@@ -18,7 +18,7 @@
   pass
 
 class Claw(control_loop.ControlLoop):
-  def __init__(self, name="Claw", mass=None):
+  def __init__(self, name='Claw', mass=None):
     super(Claw, self).__init__(name)
     # Stall Torque in N m
     self.stall_torque = 0.476
@@ -74,7 +74,7 @@
 
     controllability = controls.ctrb(self.A, self.B)
 
-    print "Free speed is", self.free_speed * numpy.pi * 2.0 / 60.0 / self.G
+    glog.debug('Free speed is %f', self.free_speed * numpy.pi * 2.0 / 60.0 / self.G)
 
     q_pos = 0.15
     q_vel = 2.5
@@ -84,15 +84,15 @@
     self.R = numpy.matrix([[(1.0 / (12.0 ** 2.0))]])
     self.K = controls.dlqr(self.A, self.B, self.Q, self.R)
 
-    print 'K', self.K
-    print 'Poles are', numpy.linalg.eig(self.A - self.B * self.K)[0]
+    glog.debug('K: %s', repr(self.K))
+    glog.debug('Poles are: %s', repr(numpy.linalg.eig(self.A - self.B * self.K)[0]))
 
     self.rpl = 0.30
     self.ipl = 0.10
     self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
                              self.rpl - 1j * self.ipl])
 
-    print 'L is', self.L
+    glog.debug('L is: %s', repr(self.L))
 
     q_pos = 0.05
     q_vel = 2.65
@@ -105,9 +105,9 @@
     self.KalmanGain, self.Q_steady = controls.kalman(
         A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
 
-    print 'Kal', self.KalmanGain
+    glog.debug('Kal: %s', repr(self.KalmanGain))
     self.L = self.A * self.KalmanGain
-    print 'KalL is', self.L
+    glog.debug('KalL is: %s', repr(self.L))
 
     # The box formed by U_min and U_max must encompass all possible values,
     # or else Austin's code gets angry.
@@ -118,7 +118,7 @@
 
 
 def run_test(claw, initial_X, goal, max_separation_error=0.01,
-             show_graph=False, iterations=200, controller_claw=None,
+             iterations=200, controller_claw=None,
              observer_claw=None):
   """Runs the claw plant with an initial condition and goal.
 
@@ -131,8 +131,6 @@
       claw: claw object to use.
       initial_X: starting state.
       goal: goal state.
-      show_graph: Whether or not to display a graph showing the changing
-           states and voltages.
       iterations: Number of timesteps to run the model for.
       controller_claw: claw object to get K from, or None if we should
           use claw.
@@ -177,32 +175,32 @@
     t.append(i * claw.dt)
     u.append(U[0, 0])
 
-  if show_graph:
-    pylab.subplot(2, 1, 1)
-    pylab.plot(t, x, label='x')
-    if observer_claw is not None:
-      pylab.plot(t, x_hat, label='x_hat')
-    pylab.legend()
+  pylab.subplot(2, 1, 1)
+  pylab.plot(t, x, label='x')
+  if observer_claw is not None:
+    pylab.plot(t, x_hat, label='x_hat')
+  pylab.legend()
 
-    pylab.subplot(2, 1, 2)
-    pylab.plot(t, u, label='u')
-    pylab.legend()
-    pylab.show()
+  pylab.subplot(2, 1, 2)
+  pylab.plot(t, u, label='u')
+  pylab.legend()
+  pylab.show()
 
 
 def main(argv):
-  loaded_mass = 0
-  #loaded_mass = 0
-  claw = Claw(mass=4 + loaded_mass)
-  claw_controller = Claw(mass=5 + 0)
-  observer_claw = Claw(mass=5 + 0)
-  #observer_claw = None
+  if FLAGS.plot:
+    loaded_mass = 0
+    #loaded_mass = 0
+    claw = Claw(mass=4 + loaded_mass)
+    claw_controller = Claw(mass=5 + 0)
+    observer_claw = Claw(mass=5 + 0)
+    #observer_claw = None
 
-  # Test moving the claw with constant separation.
-  initial_X = numpy.matrix([[0.0], [0.0]])
-  R = numpy.matrix([[1.0], [0.0]])
-  run_test(claw, initial_X, R, controller_claw=claw_controller,
-           observer_claw=observer_claw)
+    # Test moving the claw with constant separation.
+    initial_X = numpy.matrix([[0.0], [0.0]])
+    R = numpy.matrix([[1.0], [0.0]])
+    run_test(claw, initial_X, R, controller_claw=claw_controller,
+             observer_claw=observer_claw)
 
   # Write the generated constants out to a file.
   if len(argv) != 3:
@@ -215,4 +213,6 @@
     loop_writer.Write(argv[1], argv[2])
 
 if __name__ == '__main__':
-  sys.exit(main(sys.argv))
+  argv = FLAGS(sys.argv)
+  glog.init()
+  sys.exit(main(argv))
diff --git a/y2015/control_loops/python/elevator.py b/y2015/control_loops/python/elevator.py
index dc9caa1..d522034 100755
--- a/y2015/control_loops/python/elevator.py
+++ b/y2015/control_loops/python/elevator.py
@@ -8,6 +8,14 @@
 import matplotlib
 from matplotlib import pylab
 
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+
 class Elevator(control_loop.ControlLoop):
   def __init__(self, name="Elevator", mass=None):
     super(Elevator, self).__init__(name)
@@ -57,7 +65,7 @@
          [0, 0, 0, 1],
          [0, 0, -C1 * 2.0, -C3]])
 
-    print "Full speed is", C2 / C3 * 12.0
+    glog.debug('Full speed is', C2 / C3 * 12.0)
 
     # Start with the unmodified input
     self.B_continuous = numpy.matrix(
@@ -74,11 +82,11 @@
     self.A, self.B = self.ContinuousToDiscrete(
         self.A_continuous, self.B_continuous, self.dt)
 
-    print self.A
+    glog.debug(repr(self.A))
 
     controllability = controls.ctrb(self.A, self.B)
-    print "Rank of augmented controllability matrix.", numpy.linalg.matrix_rank(
-        controllability)
+    glog.debug('Rank of augmented controllability matrix: %d',
+               numpy.linalg.matrix_rank(controllability))
 
     q_pos = 0.02
     q_vel = 0.400
@@ -92,9 +100,9 @@
     self.R = numpy.matrix([[(1.0 / (12.0 ** 2.0)), 0.0],
                            [0.0, 1.0 / (12.0 ** 2.0)]])
     self.K = controls.dlqr(self.A, self.B, self.Q, self.R)
-    print self.K
+    glog.debug(repr(self.K))
 
-    print numpy.linalg.eig(self.A - self.B * self.K)[0]
+    glog.debug(repr(numpy.linalg.eig(self.A - self.B * self.K)[0]))
 
     self.rpl = 0.20
     self.ipl = 0.05
@@ -194,10 +202,10 @@
     u_left.append(U[0, 0])
     u_right.append(U[1, 0])
 
-  print numpy.linalg.inv(elevator.A)
-  print "delta time is ", elevator.dt
-  print "Velocity at t=0 is ", x_avg[0], v_avg[0], x_sep[0], v_sep[0]
-  print "Velocity at t=1+dt is ", x_avg[1], v_avg[1], x_sep[1], v_sep[1]
+  glog.debug(repr(numpy.linalg.inv(elevator.A)))
+  glog.debug('delta time is %f', elevator.dt)
+  glog.debug('Velocity at t=0 is %f %f %f %f', x_avg[0], v_avg[0], x_sep[0], v_sep[0])
+  glog.debug('Velocity at t=1+dt is %f %f %f %f', x_avg[1], v_avg[1], x_sep[1], v_sep[1])
 
   if show_graph:
     pylab.subplot(2, 1, 1)
@@ -232,7 +240,7 @@
 
   # Write the generated constants out to a file.
   if len(argv) != 3:
-    print "Expected .h file name and .cc file name for the elevator."
+    glog.fatal('Expected .h file name and .cc file name for the elevator.')
   else:
     namespaces = ['y2015', 'control_loops', 'fridge']
     elevator = Elevator("Elevator")
@@ -244,4 +252,6 @@
     loop_writer.Write(argv[1], argv[2])
 
 if __name__ == '__main__':
-  sys.exit(main(sys.argv))
+  argv = FLAGS(sys.argv)
+  glog.init()
+  sys.exit(main(argv))