diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index f1c54a7..ec480c0 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -152,7 +152,7 @@
     target_compatible_with = ["@platforms//os:linux"],
     visibility = ["//visibility:public"],
     deps = [
-        "//aos/robot_state:config",
+        "//frc971/input:config",
     ],
 )
 
@@ -317,7 +317,7 @@
         "//aos:math",
         "//aos/controls:control_loop",
         "//aos/controls:polytope",
-        "//aos/robot_state:robot_state_fbs",
+        "//frc971/input:robot_state_fbs",
         "//aos/util:log_interval",
         "//aos/util:trapezoid_profile",
         "//frc971:shifter_hall_effect",
@@ -355,7 +355,7 @@
             ":drivetrain_output_fbs",
             ":drivetrain_position_fbs",
             ":drivetrain_status_fbs",
-            "//aos/robot_state:robot_state_fbs",
+            "//frc971/input:robot_state_fbs",
             "//aos/util:log_interval",
         ],
         "@platforms//os:none": [
diff --git a/frc971/control_loops/drivetrain/drivetrain_simulation_config.json b/frc971/control_loops/drivetrain/drivetrain_simulation_config.json
index c113bc0..8523cb1 100644
--- a/frc971/control_loops/drivetrain/drivetrain_simulation_config.json
+++ b/frc971/control_loops/drivetrain/drivetrain_simulation_config.json
@@ -1,6 +1,6 @@
 {
   "imports": [
-    "../../../aos/robot_state/robot_state_config.json",
+    "../../../frc971/input/robot_state_config.json",
     "drivetrain_config.json",
     "drivetrain_simulation_channels.json"
   ]
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.h b/frc971/control_loops/drivetrain/polydrivetrain.h
index 17a32b8..fe733bb 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.h
+++ b/frc971/control_loops/drivetrain/polydrivetrain.h
@@ -7,12 +7,12 @@
 #include "frc971/control_loops/drivetrain/gear.h"
 #ifdef __linux__
 #include "aos/logging/logging.h"
-#include "aos/robot_state/robot_state_generated.h"
 #include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "frc971/input/robot_state_generated.h"
 #else
 #include "frc971/control_loops/drivetrain/drivetrain_goal_float_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_output_float_generated.h"