diff --git a/y2014/control_loops/python/drivetrain.py b/y2014/control_loops/python/drivetrain.py
index 2a93285..7413158 100755
--- a/y2014/control_loops/python/drivetrain.py
+++ b/y2014/control_loops/python/drivetrain.py
@@ -14,48 +14,6 @@
 
 gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
 
-class CIM(control_loop.ControlLoop):
-  def __init__(self):
-    super(CIM, self).__init__("CIM")
-    # Stall Torque in N m
-    self.stall_torque = 2.42
-    # Stall Current in Amps
-    self.stall_current = 133
-    # Free Speed in RPM
-    self.free_speed = 4650.0
-    # Free Current in Amps
-    self.free_current = 2.7
-    # Moment of inertia of the CIM in kg m^2
-    self.J = 0.0001
-    # Resistance of the motor, divided by 2 to account for the 2 motors
-    self.resistance = 12.0 / self.stall_current
-    # Motor velocity constant
-    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
-              (12.0 - self.resistance * self.free_current))
-    # Torque constant
-    self.Kt = self.stall_torque / self.stall_current
-    # Control loop time step
-    self.dt = 0.005
-
-    # State feedback matrices
-    self.A_continuous = numpy.matrix(
-        [[-self.Kt / self.Kv / (self.J * self.resistance)]])
-    self.B_continuous = numpy.matrix(
-        [[self.Kt / (self.J * self.resistance)]])
-    self.C = numpy.matrix([[1]])
-    self.D = numpy.matrix([[0]])
-
-    self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
-                                               self.B_continuous, self.dt)
-
-    self.PlaceControllerPoles([0.01])
-    self.PlaceObserverPoles([0.01])
-
-    self.U_max = numpy.matrix([[12.0]])
-    self.U_min = numpy.matrix([[-12.0]])
-
-    self.InitializeState()
-
 
 class Drivetrain(control_loop.ControlLoop):
   def __init__(self, name="Drivetrain", left_low=True, right_low=True):
diff --git a/y2014/control_loops/python/polydrivetrain.py b/y2014/control_loops/python/polydrivetrain.py
index 93f3884..387fd78 100755
--- a/y2014/control_loops/python/polydrivetrain.py
+++ b/y2014/control_loops/python/polydrivetrain.py
@@ -6,6 +6,7 @@
 from y2014.control_loops.python import drivetrain
 from frc971.control_loops.python import control_loop
 from frc971.control_loops.python import controls
+from frc971.control_loops.python.cim import CIM
 from matplotlib import pylab
 
 import gflags
@@ -192,8 +193,8 @@
     self.right_gear = VelocityDrivetrain.LOW
     self.left_shifter_position = 0.0
     self.right_shifter_position = 0.0
-    self.left_cim = drivetrain.CIM()
-    self.right_cim = drivetrain.CIM()
+    self.left_cim = CIM()
+    self.right_cim = CIM()
 
   def IsInGear(self, gear):
     return gear is VelocityDrivetrain.HIGH or gear is VelocityDrivetrain.LOW
@@ -423,8 +424,7 @@
 
     dog_loop_writer.Write(argv[1], argv[2])
 
-    cim_writer = control_loop.ControlLoopWriter(
-        "CIM", [drivetrain.CIM()])
+    cim_writer = control_loop.ControlLoopWriter("CIM", [CIM()])
 
     cim_writer.Write(argv[3], argv[4])
     return
@@ -478,7 +478,7 @@
   cim_velocity_plot = []
   cim_voltage_plot = []
   cim_time = []
-  cim = drivetrain.CIM()
+  cim = CIM()
   R = numpy.matrix([[300]])
   for t in numpy.arange(0, 0.5, cim.dt):
     U = numpy.clip(cim.K * (R - cim.X) + R / cim.Kv, cim.U_min, cim.U_max)