diff --git a/y2014/control_loops/python/BUILD b/y2014/control_loops/python/BUILD
index ee99aa4..6536f93 100644
--- a/y2014/control_loops/python/BUILD
+++ b/y2014/control_loops/python/BUILD
@@ -31,3 +31,13 @@
     '//frc971/control_loops/python:controls',
   ]
 )
+
+py_binary(
+  name = 'shooter',
+  srcs = [
+    'shooter.py',
+  ],
+  deps = [
+    '//frc971/control_loops/python:controls',
+  ]
+)
diff --git a/y2014/control_loops/python/shooter.py b/y2014/control_loops/python/shooter.py
index 69f2599..cfb7e35 100755
--- a/y2014/control_loops/python/shooter.py
+++ b/y2014/control_loops/python/shooter.py
@@ -1,6 +1,7 @@
 #!/usr/bin/python
 
-import control_loop
+from frc971.control_loops.python import control_loop
+import argparse
 import numpy
 import sys
 from matplotlib import pylab
@@ -178,13 +179,25 @@
   return new_u - old_u
 
 def main(argv):
+  parser = argparse.ArgumentParser(description='Calculate shooter.')
+  parser.add_argument('--plot', action='store_true', default=False, help='If true, plot')
+  parser.add_argument('shootercc')
+  parser.add_argument('shooterh')
+  parser.add_argument('unaugmented_shootercc')
+  parser.add_argument('unaugmented_shooterh')
+
+  args = parser.parse_args(argv[1:])
+
   # Simulate the response of the system to a goal.
   sprung_shooter = SprungShooterDeltaU()
   raw_sprung_shooter = SprungShooter()
   close_loop_x = []
   close_loop_u = []
   goal_position = -0.3
-  R = numpy.matrix([[goal_position], [0.0], [-sprung_shooter.A[1, 0] / sprung_shooter.A[1, 2] * goal_position]])
+  R = numpy.matrix([[goal_position],
+                    [0.0],
+                    [-sprung_shooter.A[1, 0] / sprung_shooter.A[1, 2] *
+                         goal_position]])
   voltage = numpy.matrix([[0.0]])
   for _ in xrange(500):
     U = sprung_shooter.K * (R - sprung_shooter.X_hat)
@@ -196,9 +209,10 @@
     close_loop_x.append(raw_sprung_shooter.X[0, 0] * 10)
     close_loop_u.append(voltage[0, 0])
 
-  pylab.plot(range(500), close_loop_x)
-  pylab.plot(range(500), close_loop_u)
-  pylab.show()
+  if args.plot:
+    pylab.plot(range(500), close_loop_x)
+    pylab.plot(range(500), close_loop_u)
+    pylab.show()
 
   shooter = ShooterDeltaU()
   raw_shooter = Shooter()
@@ -217,38 +231,33 @@
     close_loop_x.append(raw_shooter.X[0, 0] * 10)
     close_loop_u.append(voltage[0, 0])
 
-  pylab.plot(range(500), close_loop_x)
-  pylab.plot(range(500), close_loop_u)
-  pylab.show()
+  if args.plot:
+    pylab.plot(range(500), close_loop_x)
+    pylab.plot(range(500), close_loop_u)
+    pylab.show()
 
   # Write the generated constants out to a file.
-  if len(argv) != 5:
-    print "Expected .h file name and .cc file name for"
-    print "both the plant and unaugmented plant"
-  else:
-    unaug_sprung_shooter = SprungShooter("RawSprungShooter")
-    unaug_shooter = Shooter("RawShooter")
-    unaug_loop_writer = control_loop.ControlLoopWriter("RawShooter",
-                                                       [unaug_sprung_shooter,
-                                                        unaug_shooter])
-    if argv[3][-3:] == '.cc':
-      unaug_loop_writer.Write(argv[4], argv[3])
-    else:
-      unaug_loop_writer.Write(argv[3], argv[4])
+  unaug_sprung_shooter = SprungShooter("RawSprungShooter")
+  unaug_shooter = Shooter("RawShooter")
+  namespaces = ['y2014', 'control_loops', 'shooter']
+  unaug_loop_writer = control_loop.ControlLoopWriter("RawShooter",
+                                                     [unaug_sprung_shooter,
+                                                      unaug_shooter],
+                                                     namespaces=namespaces)
+  unaug_loop_writer.Write(args.unaugmented_shooterh,
+                          args.unaugmented_shootercc)
 
-    sprung_shooter = SprungShooterDeltaU()
-    shooter = ShooterDeltaU()
-    loop_writer = control_loop.ControlLoopWriter("Shooter", [sprung_shooter,
-                                                             shooter])
+  sprung_shooter = SprungShooterDeltaU()
+  shooter = ShooterDeltaU()
+  loop_writer = control_loop.ControlLoopWriter("Shooter",
+                                               [sprung_shooter, shooter],
+                                               namespaces=namespaces)
 
-    loop_writer.AddConstant(control_loop.Constant("kMaxExtension", "%f",
+  loop_writer.AddConstant(control_loop.Constant("kMaxExtension", "%f",
                                                   sprung_shooter.max_extension))
-    loop_writer.AddConstant(control_loop.Constant("kSpringConstant", "%f",
+  loop_writer.AddConstant(control_loop.Constant("kSpringConstant", "%f",
                                                   sprung_shooter.Ks))
-    if argv[1][-3:] == '.cc':
-      loop_writer.Write(argv[2], argv[1])
-    else:
-      loop_writer.Write(argv[1], argv[2])
+  loop_writer.Write(args.shooterh, args.shootercc)
 
 if __name__ == '__main__':
   sys.exit(main(sys.argv))
diff --git a/y2014/control_loops/shooter/BUILD b/y2014/control_loops/shooter/BUILD
index f04a02a..41d4228 100644
--- a/y2014/control_loops/shooter/BUILD
+++ b/y2014/control_loops/shooter/BUILD
@@ -25,6 +25,24 @@
   ],
 )
 
+genrule(
+  name = 'genrule_shooter',
+  visibility = ['//visibility:private'],
+  cmd = '$(location //y2014/control_loops/python:shooter) $(OUTS)',
+  tools = [
+    '//y2014/control_loops/python:shooter',
+  ],
+  tags = [
+    'local',
+  ],
+  outs = [
+    'shooter_motor_plant.cc',
+    'shooter_motor_plant.h',
+    'unaugmented_shooter_motor_plant.cc',
+    'unaugmented_shooter_motor_plant.h',
+  ],
+)
+
 cc_library(
   name = 'shooter_lib',
   srcs = [
diff --git a/y2014/control_loops/shooter/shooter.cc b/y2014/control_loops/shooter/shooter.cc
index 52589f7..7506a0c 100644
--- a/y2014/control_loops/shooter/shooter.cc
+++ b/y2014/control_loops/shooter/shooter.cc
@@ -15,6 +15,9 @@
 namespace frc971 {
 namespace control_loops {
 
+using ::y2014::control_loops::shooter::kSpringConstant;
+using ::y2014::control_loops::shooter::kMaxExtension;
+using ::y2014::control_loops::shooter::MakeShooterLoop;
 using ::aos::time::Time;
 
 void ZeroedStateFeedbackLoop::CapU() {
diff --git a/y2014/control_loops/shooter/shooter.h b/y2014/control_loops/shooter/shooter.h
index 71347cb..0efbbd0 100644
--- a/y2014/control_loops/shooter/shooter.h
+++ b/y2014/control_loops/shooter/shooter.h
@@ -102,7 +102,8 @@
  private:
   // The offset between what is '0' (0 rate on the spring) and the 0 (all the
   // way cocked).
-  constexpr static double kPositionOffset = kMaxExtension;
+  constexpr static double kPositionOffset =
+      ::y2014::control_loops::shooter::kMaxExtension;
   // The accumulated voltage to apply to the motor.
   double voltage_;
   double last_voltage_;
diff --git a/y2014/control_loops/shooter/shooter_lib_test.cc b/y2014/control_loops/shooter/shooter_lib_test.cc
index 2beb705..d8c81e7 100644
--- a/y2014/control_loops/shooter/shooter_lib_test.cc
+++ b/y2014/control_loops/shooter/shooter_lib_test.cc
@@ -16,6 +16,9 @@
 namespace control_loops {
 namespace testing {
 
+using ::y2014::control_loops::shooter::kMaxExtension;
+using ::y2014::control_loops::shooter::MakeRawShooterPlant;
+
 static const int kTestTeam = 1;
 
 class TeamNumberEnvironment : public ::testing::Environment {
diff --git a/y2014/control_loops/shooter/shooter_motor_plant.cc b/y2014/control_loops/shooter/shooter_motor_plant.cc
deleted file mode 100644
index 7da6407..0000000
--- a/y2014/control_loops/shooter/shooter_motor_plant.cc
+++ /dev/null
@@ -1,77 +0,0 @@
-#include "y2014/control_loops/shooter/shooter_motor_plant.h"
-
-#include <vector>
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<3, 1, 1> MakeSprungShooterPlantCoefficients() {
-  Eigen::Matrix<double, 3, 3> A;
-  A << 0.999391114909, 0.00811316740387, 7.59766686183e-05, -0.113584343654, 0.64780421498, 0.0141730519709, 0.0, 0.0, 1.0;
-  Eigen::Matrix<double, 3, 1> B;
-  B << 0.0, 0.0, 1.0;
-  Eigen::Matrix<double, 1, 3> C;
-  C << 1.0, 0.0, 0.0;
-  Eigen::Matrix<double, 1, 1> D;
-  D << 0.0;
-  Eigen::Matrix<double, 1, 1> U_max;
-  U_max << 12.0;
-  Eigen::Matrix<double, 1, 1> U_min;
-  U_min << -12.0;
-  return StateFeedbackPlantCoefficients<3, 1, 1>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackPlantCoefficients<3, 1, 1> MakeShooterPlantCoefficients() {
-  Eigen::Matrix<double, 3, 3> A;
-  A << 1.0, 0.00811505488455, 7.59852687598e-05, 0.0, 0.648331305446, 0.0141763492481, 0.0, 0.0, 1.0;
-  Eigen::Matrix<double, 3, 1> B;
-  B << 0.0, 0.0, 1.0;
-  Eigen::Matrix<double, 1, 3> C;
-  C << 1.0, 0.0, 0.0;
-  Eigen::Matrix<double, 1, 1> D;
-  D << 0.0;
-  Eigen::Matrix<double, 1, 1> U_max;
-  U_max << 12.0;
-  Eigen::Matrix<double, 1, 1> U_min;
-  U_min << -12.0;
-  return StateFeedbackPlantCoefficients<3, 1, 1>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackController<3, 1, 1> MakeSprungShooterController() {
-  Eigen::Matrix<double, 3, 1> L;
-  L << 1.64719532989, 57.0572680832, 636.74290365;
-  Eigen::Matrix<double, 1, 3> K;
-  K << 450.571849185, 11.8404918938, 0.997195329889;
-  Eigen::Matrix<double, 3, 3> A_inv;
-  A_inv << 0.99918700445, -0.0125139220268, 0.00010144556732, 0.175194908375, 1.54148211958, -0.0218608169185, 0.0, 0.0, 1.0;
-  return StateFeedbackController<3, 1, 1>(L, K, A_inv, MakeSprungShooterPlantCoefficients());
-}
-
-StateFeedbackController<3, 1, 1> MakeShooterController() {
-  Eigen::Matrix<double, 3, 1> L;
-  L << 1.64833130545, 57.2417604572, 636.668851906;
-  Eigen::Matrix<double, 1, 3> K;
-  K << 349.173113146, 8.65077618169, 0.848331305446;
-  Eigen::Matrix<double, 3, 3> A_inv;
-  A_inv << 1.0, -0.0125168333171, 0.000101457731824, 0.0, 1.5424212769, -0.021865902709, 0.0, 0.0, 1.0;
-  return StateFeedbackController<3, 1, 1>(L, K, A_inv, MakeShooterPlantCoefficients());
-}
-
-StateFeedbackPlant<3, 1, 1> MakeShooterPlant() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<3, 1, 1>>> plants(2);
-  plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<3, 1, 1>>(new StateFeedbackPlantCoefficients<3, 1, 1>(MakeSprungShooterPlantCoefficients()));
-  plants[1] = ::std::unique_ptr<StateFeedbackPlantCoefficients<3, 1, 1>>(new StateFeedbackPlantCoefficients<3, 1, 1>(MakeShooterPlantCoefficients()));
-  return StateFeedbackPlant<3, 1, 1>(&plants);
-}
-
-StateFeedbackLoop<3, 1, 1> MakeShooterLoop() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackController<3, 1, 1>>> controllers(2);
-  controllers[0] = ::std::unique_ptr<StateFeedbackController<3, 1, 1>>(new StateFeedbackController<3, 1, 1>(MakeSprungShooterController()));
-  controllers[1] = ::std::unique_ptr<StateFeedbackController<3, 1, 1>>(new StateFeedbackController<3, 1, 1>(MakeShooterController()));
-  return StateFeedbackLoop<3, 1, 1>(&controllers);
-}
-
-}  // namespace control_loops
-}  // namespace frc971
diff --git a/y2014/control_loops/shooter/shooter_motor_plant.h b/y2014/control_loops/shooter/shooter_motor_plant.h
deleted file mode 100644
index 45d6ed1..0000000
--- a/y2014/control_loops/shooter/shooter_motor_plant.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#ifndef Y2014_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
-#define Y2014_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-static constexpr double kMaxExtension = 0.323850;
-
-static constexpr double kSpringConstant = 2800.000000;
-
-
-StateFeedbackPlantCoefficients<3, 1, 1> MakeSprungShooterPlantCoefficients();
-
-StateFeedbackController<3, 1, 1> MakeSprungShooterController();
-
-StateFeedbackPlantCoefficients<3, 1, 1> MakeShooterPlantCoefficients();
-
-StateFeedbackController<3, 1, 1> MakeShooterController();
-
-StateFeedbackPlant<3, 1, 1> MakeShooterPlant();
-
-StateFeedbackLoop<3, 1, 1> MakeShooterLoop();
-
-}  // namespace control_loops
-}  // namespace frc971
-
-#endif  // Y2014_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
diff --git a/y2014/control_loops/shooter/unaugmented_shooter_motor_plant.cc b/y2014/control_loops/shooter/unaugmented_shooter_motor_plant.cc
deleted file mode 100644
index 8311948..0000000
--- a/y2014/control_loops/shooter/unaugmented_shooter_motor_plant.cc
+++ /dev/null
@@ -1,77 +0,0 @@
-#include "y2014/control_loops/shooter/unaugmented_shooter_motor_plant.h"
-
-#include <vector>
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<2, 1, 1> MakeRawSprungShooterPlantCoefficients() {
-  Eigen::Matrix<double, 2, 2> A;
-  A << 0.999391114909, 0.00811316740387, -0.113584343654, 0.64780421498;
-  Eigen::Matrix<double, 2, 1> B;
-  B << 7.59766686183e-05, 0.0141730519709;
-  Eigen::Matrix<double, 1, 2> C;
-  C << 1, 0;
-  Eigen::Matrix<double, 1, 1> D;
-  D << 0;
-  Eigen::Matrix<double, 1, 1> U_max;
-  U_max << 12.0;
-  Eigen::Matrix<double, 1, 1> U_min;
-  U_min << -12.0;
-  return StateFeedbackPlantCoefficients<2, 1, 1>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackPlantCoefficients<2, 1, 1> MakeRawShooterPlantCoefficients() {
-  Eigen::Matrix<double, 2, 2> A;
-  A << 1.0, 0.00811505488455, 0.0, 0.648331305446;
-  Eigen::Matrix<double, 2, 1> B;
-  B << 7.59852687598e-05, 0.0141763492481;
-  Eigen::Matrix<double, 1, 2> C;
-  C << 1, 0;
-  Eigen::Matrix<double, 1, 1> D;
-  D << 0;
-  Eigen::Matrix<double, 1, 1> U_max;
-  U_max << 12.0;
-  Eigen::Matrix<double, 1, 1> U_min;
-  U_min << -12.0;
-  return StateFeedbackPlantCoefficients<2, 1, 1>(A, B, C, D, U_max, U_min);
-}
-
-StateFeedbackController<2, 1, 1> MakeRawSprungShooterController() {
-  Eigen::Matrix<double, 2, 1> L;
-  L << 1.54719532989, 43.9345489758;
-  Eigen::Matrix<double, 1, 2> K;
-  K << 2126.06977433, 41.3223370936;
-  Eigen::Matrix<double, 2, 2> A_inv;
-  A_inv << 0.99918700445, -0.0125139220268, 0.175194908375, 1.54148211958;
-  return StateFeedbackController<2, 1, 1>(L, K, A_inv, MakeRawSprungShooterPlantCoefficients());
-}
-
-StateFeedbackController<2, 1, 1> MakeRawShooterController() {
-  Eigen::Matrix<double, 2, 1> L;
-  L << 1.54833130545, 44.1155797675;
-  Eigen::Matrix<double, 1, 2> K;
-  K << 2133.83569145, 41.3499425476;
-  Eigen::Matrix<double, 2, 2> A_inv;
-  A_inv << 1.0, -0.0125168333171, 0.0, 1.5424212769;
-  return StateFeedbackController<2, 1, 1>(L, K, A_inv, MakeRawShooterPlantCoefficients());
-}
-
-StateFeedbackPlant<2, 1, 1> MakeRawShooterPlant() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 1, 1>>> plants(2);
-  plants[0] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 1, 1>>(new StateFeedbackPlantCoefficients<2, 1, 1>(MakeRawSprungShooterPlantCoefficients()));
-  plants[1] = ::std::unique_ptr<StateFeedbackPlantCoefficients<2, 1, 1>>(new StateFeedbackPlantCoefficients<2, 1, 1>(MakeRawShooterPlantCoefficients()));
-  return StateFeedbackPlant<2, 1, 1>(&plants);
-}
-
-StateFeedbackLoop<2, 1, 1> MakeRawShooterLoop() {
-  ::std::vector< ::std::unique_ptr<StateFeedbackController<2, 1, 1>>> controllers(2);
-  controllers[0] = ::std::unique_ptr<StateFeedbackController<2, 1, 1>>(new StateFeedbackController<2, 1, 1>(MakeRawSprungShooterController()));
-  controllers[1] = ::std::unique_ptr<StateFeedbackController<2, 1, 1>>(new StateFeedbackController<2, 1, 1>(MakeRawShooterController()));
-  return StateFeedbackLoop<2, 1, 1>(&controllers);
-}
-
-}  // namespace control_loops
-}  // namespace frc971
diff --git a/y2014/control_loops/shooter/unaugmented_shooter_motor_plant.h b/y2014/control_loops/shooter/unaugmented_shooter_motor_plant.h
deleted file mode 100644
index 5b7de85..0000000
--- a/y2014/control_loops/shooter/unaugmented_shooter_motor_plant.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef Y2014_CONTROL_LOOPS_SHOOTER_UNAUGMENTED_SHOOTER_MOTOR_PLANT_H_
-#define Y2014_CONTROL_LOOPS_SHOOTER_UNAUGMENTED_SHOOTER_MOTOR_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlantCoefficients<2, 1, 1> MakeRawSprungShooterPlantCoefficients();
-
-StateFeedbackController<2, 1, 1> MakeRawSprungShooterController();
-
-StateFeedbackPlantCoefficients<2, 1, 1> MakeRawShooterPlantCoefficients();
-
-StateFeedbackController<2, 1, 1> MakeRawShooterController();
-
-StateFeedbackPlant<2, 1, 1> MakeRawShooterPlant();
-
-StateFeedbackLoop<2, 1, 1> MakeRawShooterLoop();
-
-}  // namespace control_loops
-}  // namespace frc971
-
-#endif  // Y2014_CONTROL_LOOPS_SHOOTER_UNAUGMENTED_SHOOTER_MOTOR_PLANT_H_