diff --git a/y2016/control_loops/drivetrain/BUILD b/y2016/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..9d7edb6
--- /dev/null
+++ b/y2016/control_loops/drivetrain/BUILD
@@ -0,0 +1,77 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+genrule(
+  name = 'genrule_drivetrain',
+  visibility = ['//visibility:private'],
+  cmd = '$(location //y2014/control_loops/python:drivetrain) $(OUTS)',
+  tools = [
+    '//y2014/control_loops/python:drivetrain',
+  ],
+  outs = [
+    'drivetrain_dog_motor_plant.h',
+    'drivetrain_dog_motor_plant.cc',
+    'kalman_drivetrain_motor_plant.h',
+    'kalman_drivetrain_motor_plant.cc',
+  ],
+)
+
+genrule(
+  name = 'genrule_polydrivetrain',
+  visibility = ['//visibility:private'],
+  cmd = '$(location //y2014/control_loops/python:polydrivetrain) $(OUTS)',
+  tools = [
+    '//y2014/control_loops/python:polydrivetrain',
+  ],
+  outs = [
+    'polydrivetrain_dog_motor_plant.h',
+    'polydrivetrain_dog_motor_plant.cc',
+    'polydrivetrain_cim_plant.h',
+    'polydrivetrain_cim_plant.cc',
+  ],
+)
+
+cc_library(
+  name = 'polydrivetrain_plants',
+  srcs = [
+    'polydrivetrain_dog_motor_plant.cc',
+    'drivetrain_dog_motor_plant.cc',
+    'kalman_drivetrain_motor_plant.cc',
+  ],
+  hdrs = [
+    'polydrivetrain_dog_motor_plant.h',
+    'drivetrain_dog_motor_plant.h',
+    'kalman_drivetrain_motor_plant.h',
+  ],
+  deps = [
+    '//frc971/control_loops:state_feedback_loop',
+  ],
+)
+
+cc_library(
+  name = 'drivetrain_base',
+  srcs = [
+    'drivetrain_base.cc',
+  ],
+  hdrs = [
+    'drivetrain_base.h',
+  ],
+  deps = [
+    ':polydrivetrain_plants',
+    '//y2014:constants',
+    '//frc971/control_loops/drivetrain:drivetrain_config',
+  ],
+)
+
+cc_binary(
+  name = 'drivetrain',
+  srcs = [
+    'drivetrain_main.cc',
+  ],
+  deps = [
+    ':drivetrain_base',
+    '//aos/linux_code:init',
+    '//frc971/control_loops/drivetrain:drivetrain_lib',
+  ],
+)
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..b4ef447
--- /dev/null
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,36 @@
+#include "y2014/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"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace y2014 {
+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,
+
+      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().low_gear_ratio,
+      constants::GetValues().left_drive, constants::GetValues().right_drive};
+
+  return kDrivetrainConfig;
+};
+
+}  // namespace control_loops
+}  // namespace y2014
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.h b/y2016/control_loops/drivetrain/drivetrain_base.h
new file mode 100644
index 0000000..3a9d70e
--- /dev/null
+++ b/y2016/control_loops/drivetrain/drivetrain_base.h
@@ -0,0 +1,16 @@
+#ifndef Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#define Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace y2014 {
+namespace control_loops {
+
+const DrivetrainConfig &GetDrivetrainConfig();
+
+}  // namespace control_loops
+}  // namespace y2014
+
+#endif  // Y2014_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2016/control_loops/drivetrain/drivetrain_main.cc b/y2016/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..52dafcc
--- /dev/null
+++ b/y2016/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,15 @@
+#include "aos/linux_code/init.h"
+
+#include "y2014/control_loops/drivetrain/drivetrain_base.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
+int main() {
+  ::aos::Init();
+  DrivetrainLoop drivetrain =
+      DrivetrainLoop(::y2014::control_loops::GetDrivetrainConfig());
+  drivetrain.Run();
+  ::aos::Cleanup();
+  return 0;
+}