diff --git a/y2016/control_loops/drivetrain/BUILD b/y2016/control_loops/drivetrain/BUILD
index 9d7edb6..1150426 100644
--- a/y2016/control_loops/drivetrain/BUILD
+++ b/y2016/control_loops/drivetrain/BUILD
@@ -5,9 +5,9 @@
 genrule(
   name = 'genrule_drivetrain',
   visibility = ['//visibility:private'],
-  cmd = '$(location //y2014/control_loops/python:drivetrain) $(OUTS)',
+  cmd = '$(location //y2016/control_loops/python:drivetrain) $(OUTS)',
   tools = [
-    '//y2014/control_loops/python:drivetrain',
+    '//y2016/control_loops/python:drivetrain',
   ],
   outs = [
     'drivetrain_dog_motor_plant.h',
@@ -20,9 +20,9 @@
 genrule(
   name = 'genrule_polydrivetrain',
   visibility = ['//visibility:private'],
-  cmd = '$(location //y2014/control_loops/python:polydrivetrain) $(OUTS)',
+  cmd = '$(location //y2016/control_loops/python:polydrivetrain) $(OUTS)',
   tools = [
-    '//y2014/control_loops/python:polydrivetrain',
+    '//y2016/control_loops/python:polydrivetrain',
   ],
   outs = [
     'polydrivetrain_dog_motor_plant.h',
@@ -59,8 +59,8 @@
   ],
   deps = [
     ':polydrivetrain_plants',
-    '//y2014:constants',
     '//frc971/control_loops/drivetrain:drivetrain_config',
+    '//y2016:constants',
   ],
 )
 
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index b4ef447..2e5138c 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -1,36 +1,46 @@
-#include "y2014/control_loops/drivetrain/drivetrain_base.h"
+#include "y2016/control_loops/drivetrain/drivetrain_base.h"
 
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 
-#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
-#include "y2014/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
-#include "y2014/constants.h"
+#include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2016/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2016/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+#include "y2016/constants.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainConfig;
 
-namespace y2014 {
+namespace y2016 {
 namespace control_loops {
 
 const DrivetrainConfig &GetDrivetrainConfig() {
   static DrivetrainConfig kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
 
-      ::y2014::control_loops::drivetrain::MakeDrivetrainLoop,
-      ::y2014::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
-      ::y2014::control_loops::drivetrain::MakeKFDrivetrainLoop,
+      ::y2016::control_loops::drivetrain::MakeDrivetrainLoop,
+      ::y2016::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+      ::y2016::control_loops::drivetrain::MakeKFDrivetrainLoop,
 
-      drivetrain::kDt, drivetrain::kStallTorque, drivetrain::kStallCurrent,
-      drivetrain::kFreeSpeedRPM, drivetrain::kFreeCurrent, drivetrain::kJ,
-      drivetrain::kMass, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
-      drivetrain::kR, drivetrain::kV, drivetrain::kT,
+      drivetrain::kDt,
+      drivetrain::kStallTorque,
+      drivetrain::kStallCurrent,
+      drivetrain::kFreeSpeedRPM,
+      drivetrain::kFreeCurrent,
+      drivetrain::kJ,
+      drivetrain::kMass,
+      drivetrain::kRobotRadius,
+      drivetrain::kWheelRadius,
+      drivetrain::kR,
+      drivetrain::kV,
+      drivetrain::kT,
 
-      constants::GetValues().turn_width, constants::GetValues().high_gear_ratio,
+      constants::GetValues().turn_width,
+      constants::GetValues().high_gear_ratio,
       constants::GetValues().low_gear_ratio,
-      constants::GetValues().left_drive, constants::GetValues().right_drive};
+      constants::GetValues().left_drive,
+      constants::GetValues().right_drive};
 
   return kDrivetrainConfig;
 };
 
 }  // namespace control_loops
-}  // namespace y2014
+}  // namespace y2016
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.h b/y2016/control_loops/drivetrain/drivetrain_base.h
index 3a9d70e..816ed21 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.h
+++ b/y2016/control_loops/drivetrain/drivetrain_base.h
@@ -1,16 +1,16 @@
-#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
-#define Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#ifndef Y2016_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#define Y2016_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
 
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainConfig;
 
-namespace y2014 {
+namespace y2016 {
 namespace control_loops {
 
 const DrivetrainConfig &GetDrivetrainConfig();
 
 }  // namespace control_loops
-}  // namespace y2014
+}  // namespace y2016
 
-#endif  // Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#endif  // Y2016_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2016/control_loops/drivetrain/drivetrain_main.cc b/y2016/control_loops/drivetrain/drivetrain_main.cc
index 52dafcc..9c678bf 100644
--- a/y2016/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_main.cc
@@ -1,14 +1,14 @@
 #include "aos/linux_code/init.h"
 
-#include "y2014/control_loops/drivetrain/drivetrain_base.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "y2016/control_loops/drivetrain/drivetrain_base.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainLoop;
 
 int main() {
   ::aos::Init();
   DrivetrainLoop drivetrain =
-      DrivetrainLoop(::y2014::control_loops::GetDrivetrainConfig());
+      DrivetrainLoop(::y2016::control_loops::GetDrivetrainConfig());
   drivetrain.Run();
   ::aos::Cleanup();
   return 0;