diff --git a/bot3/control_loops/drivetrain/drivetrain.cc b/bot3/control_loops/drivetrain/drivetrain.cc
index b0cb8b4..ca9db92 100644
--- a/bot3/control_loops/drivetrain/drivetrain.cc
+++ b/bot3/control_loops/drivetrain/drivetrain.cc
@@ -22,71 +22,6 @@
 // Width of the robot.
 const double width = 22.0 / 100.0 * 2.54;
 
-class DrivetrainMotorsSS {
- public:
-  DrivetrainMotorsSS ()
-      : loop_(new StateFeedbackLoop<4, 2, 2>(MakeDrivetrainLoop())) {
-    _offset = 0;
-    _integral_offset = 0;
-    _left_goal = 0.0;
-    _right_goal = 0.0;
-    _raw_left = 0.0;
-    _raw_right = 0.0;
-    _control_loop_driving = false;
-  }
-  void SetGoal(double left, double left_velocity, double right, double right_velocity) {
-    _left_goal = left;
-    _right_goal = right;
-    loop_->R << left, left_velocity, right, right_velocity;
-  }
-  void SetRawPosition(double left, double right) {
-    _raw_right = right;
-    _raw_left = left;
-    loop_->Y << left, right;
-  }
-  void SetPosition(
-      double left, double right, double gyro, bool control_loop_driving) {
-    // Decay the offset quickly because this gyro is great.
-    _offset = (0.25) * (right - left - gyro * width) / 2.0 + 0.75 * _offset;
-    const double angle_error = (_right_goal - _left_goal) / width - (_raw_right - _offset - _raw_left - _offset) / width;
-    // TODO(aschuh): Add in the gyro.
-    _integral_offset = 0.0;
-    _offset = 0.0;
-    _gyro = gyro;
-    _control_loop_driving = control_loop_driving;
-    SetRawPosition(left, right);
-    LOG(DEBUG, "Left %f->%f Right %f->%f Gyro %f aerror %f ioff %f\n", left + _offset, _left_goal, right - _offset, _right_goal, gyro, angle_error, _integral_offset);
-  }
-
-  void Update(bool update_observer, bool stop_motors) {
-    loop_->Update(update_observer, stop_motors);
-  }
-
-  void SendMotors(Drivetrain::Output *output) {
-    if (output) {
-      output->left_voltage = loop_->U(0, 0);
-      output->right_voltage = loop_->U(1, 0);
-    }
-  }
-  void PrintMotors() const {
-    // LOG(DEBUG, "Left Power %f Right Power %f lg %f rg %f le %f re %f gyro %f\n", U[0], U[1], R[0], R[2], Y[0], Y[1], _gyro);
-    ::Eigen::Matrix<double, 4, 1> E = loop_->R - loop_->X_hat;
-    LOG(DEBUG, "E[0, 0]: %f E[1, 0] %f E[2, 0] %f E[3, 0] %f\n", E(0, 0), E(1, 0), E(2, 0), E(3, 0));
-  }
-
- private:
-  ::std::unique_ptr<StateFeedbackLoop<4, 2, 2>> loop_;
-
-  double _integral_offset;
-  double _offset;
-  double _gyro;
-  double _left_goal;
-  double _right_goal;
-  double _raw_left;
-  double _raw_right;
-  bool _control_loop_driving;
-};
-
 class DrivetrainMotorsOL {
  public:
   DrivetrainMotorsOL() {
@@ -190,6 +125,7 @@
       overPower = 0.0;
       angular_power = ::std::abs(_throttle) * wheel * sensitivity;
     }
+    LOG(DEBUG, "Angular power: %f\n", angular_power);
 
     _right_pwm = _left_pwm = linear_power;
     _left_pwm += angular_power;
@@ -236,49 +172,20 @@
 };
 
 void DrivetrainLoop::RunIteration(const Drivetrain::Goal *goal,
-                                  const Drivetrain::Position *position,
+                                  const Drivetrain::Position * /*position*/,
                                   Drivetrain::Output *output,
                                   Drivetrain::Status * /*status*/) {
   // TODO(aschuh): These should be members of the class.
-  static DrivetrainMotorsSS dt_closedloop;
   static DrivetrainMotorsOL dt_openloop;
 
-  bool bad_pos = false;
-  if (position == NULL) {
-    LOG(WARNING, "no position\n");
-    bad_pos = true;
-  }
-
   double wheel = goal->steering;
   double throttle = goal->throttle;
   bool quickturn = goal->quickturn;
   bool highgear = goal->highgear;
 
-  bool control_loop_driving = goal->control_loop_driving;
-  double left_goal = goal->left_goal;
-  double right_goal = goal->right_goal;
-
-  dt_closedloop.SetGoal(left_goal, goal->left_velocity_goal,
-                        right_goal, goal->right_velocity_goal);
-  if (!bad_pos) {
-    const double left_encoder = position->left_encoder;
-    const double right_encoder = position->right_encoder;
-    if (gyro.FetchLatest()) {
-      dt_closedloop.SetPosition(left_encoder, right_encoder,
-          gyro->angle, control_loop_driving);
-    } else {
-      dt_closedloop.SetRawPosition(left_encoder, right_encoder);
-    }
-  }
-  dt_closedloop.Update(position, output == NULL);
-  //dt_closedloop.PrintMotors();
   dt_openloop.SetGoal(wheel, throttle, quickturn, highgear);
   dt_openloop.Update();
-  if (control_loop_driving) {
-    dt_closedloop.SendMotors(output);
-  } else {
-    dt_openloop.SendMotors(output);
-  }
+  dt_openloop.SendMotors(output);
 }
 
 }  // namespace control_loops
diff --git a/bot3/control_loops/drivetrain/drivetrain.h b/bot3/control_loops/drivetrain/drivetrain.h
index 03b3bd0..40bddf7 100644
--- a/bot3/control_loops/drivetrain/drivetrain.h
+++ b/bot3/control_loops/drivetrain/drivetrain.h
@@ -8,13 +8,13 @@
 namespace control_loops {
 
 class DrivetrainLoop
-    : public aos::control_loops::ControlLoop<control_loops::Drivetrain> {
+    : public aos::control_loops::ControlLoop<control_loops::Drivetrain, false> {
  public:
   // Constructs a control loop which can take a Drivetrain or defaults to the
   // drivetrain at frc971::control_loops::drivetrain
   explicit DrivetrainLoop(
-      control_loops::Drivetrain *my_drivetrain = &control_loops::drivetrain)
-      : aos::control_loops::ControlLoop<control_loops::Drivetrain>(
+      control_loops::Drivetrain *my_drivetrain = &::bot3::control_loops::drivetrain)
+      : aos::control_loops::ControlLoop<control_loops::Drivetrain, false>(
           my_drivetrain) {}
 
  protected: