diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 611dd0e..dc7e112 100644
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -2,7 +2,7 @@
 
 #include <algorithm>
 
-#include "aos/common/control_loop/control_loops.q.h"
+#include "aos/common/controls/control_loops.q.h"
 #include "aos/common/logging/logging.h"
 #include "aos/common/logging/queue_logging.h"
 #include "aos/common/logging/matrix_logging.h"
diff --git a/frc971/control_loops/claw/claw.gyp b/frc971/control_loops/claw/claw.gyp
index 5982378..65472d6 100644
--- a/frc971/control_loops/claw/claw.gyp
+++ b/frc971/control_loops/claw/claw.gyp
@@ -29,7 +29,7 @@
         '<(AOS)/common/common.gyp:controls',
         '<(DEPTH)/frc971/frc971.gyp:constants',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
-        '<(DEPTH)/aos/build/externals.gyp:libcdd',
+        '<(AOS)/common/controls/controls.gyp:polytope',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:coerce_goal',
         '<(AOS)/common/logging/logging.gyp:queue_logging',
         '<(AOS)/common/logging/logging.gyp:matrix_logging',
@@ -38,7 +38,7 @@
         'claw_loop',
         '<(AOS)/common/common.gyp:controls',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
-        '<(DEPTH)/aos/build/externals.gyp:libcdd',
+        '<(AOS)/common/controls/controls.gyp:polytope',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:coerce_goal',
       ],
     },
diff --git a/frc971/control_loops/claw/claw.h b/frc971/control_loops/claw/claw.h
index 366565f..89f36f6 100644
--- a/frc971/control_loops/claw/claw.h
+++ b/frc971/control_loops/claw/claw.h
@@ -3,8 +3,8 @@
 
 #include <memory>
 
-#include "aos/common/control_loop/control_loop.h"
-#include "aos/controls/polytope.h"
+#include "aos/common/controls/control_loop.h"
+#include "aos/common/controls/polytope.h"
 #include "frc971/constants.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/control_loops/coerce_goal.h"
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 53289ee..ef3db90 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -1,6 +1,6 @@
 package frc971.control_loops;
 
-import "aos/common/control_loop/control_loops.q";
+import "aos/common/controls/control_loops.q";
 import "frc971/control_loops/control_loops.q";
 
 struct HalfClawPosition {
diff --git a/frc971/control_loops/coerce_goal.cc b/frc971/control_loops/coerce_goal.cc
index de6b757..6482cc7 100644
--- a/frc971/control_loops/coerce_goal.cc
+++ b/frc971/control_loops/coerce_goal.cc
@@ -2,7 +2,7 @@
 
 #include "Eigen/Dense"
 
-#include "aos/controls/polytope.h"
+#include "aos/common/controls/polytope.h"
 
 namespace frc971 {
 namespace control_loops {
diff --git a/frc971/control_loops/coerce_goal.h b/frc971/control_loops/coerce_goal.h
index 59049c5..3933050 100644
--- a/frc971/control_loops/coerce_goal.h
+++ b/frc971/control_loops/coerce_goal.h
@@ -3,7 +3,7 @@
 
 #include "Eigen/Dense"
 
-#include "aos/controls/polytope.h"
+#include "aos/common/controls/polytope.h"
 
 namespace frc971 {
 namespace control_loops {
diff --git a/frc971/control_loops/control_loops.gyp b/frc971/control_loops/control_loops.gyp
index 29cd29e..848a210 100644
--- a/frc971/control_loops/control_loops.gyp
+++ b/frc971/control_loops/control_loops.gyp
@@ -32,11 +32,11 @@
       ],
       'dependencies': [
         '<(EXTERNALS):eigen',
-        '<(DEPTH)/aos/build/externals.gyp:libcdd',
+        '<(AOS)/common/controls/controls.gyp:polytope',
       ],
       'export_dependent_settings': [
         '<(EXTERNALS):eigen',
-        '<(DEPTH)/aos/build/externals.gyp:libcdd',
+        '<(AOS)/common/controls/controls.gyp:polytope',
       ],
     },
     {
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index c8b943c..092f66e 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -8,7 +8,7 @@
 
 #include "aos/common/logging/logging.h"
 #include "aos/common/queue.h"
-#include "aos/controls/polytope.h"
+#include "aos/common/controls/polytope.h"
 #include "aos/common/commonmath.h"
 #include "aos/common/logging/queue_logging.h"
 #include "aos/common/logging/matrix_logging.h"
diff --git a/frc971/control_loops/drivetrain/drivetrain.gyp b/frc971/control_loops/drivetrain/drivetrain.gyp
index bf73d9f..339e01e 100644
--- a/frc971/control_loops/drivetrain/drivetrain.gyp
+++ b/frc971/control_loops/drivetrain/drivetrain.gyp
@@ -42,7 +42,7 @@
         'drivetrain_loop',
         '<(AOS)/common/common.gyp:controls',
         '<(DEPTH)/frc971/frc971.gyp:constants',
-        '<(DEPTH)/aos/build/externals.gyp:libcdd',
+        '<(AOS)/common/controls/controls.gyp:polytope',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:coerce_goal',
         '<(DEPTH)/frc971/queues/queues.gyp:queues',
@@ -51,7 +51,7 @@
         '<(AOS)/common/logging/logging.gyp:matrix_logging',
       ],
       'export_dependent_settings': [
-        '<(DEPTH)/aos/build/externals.gyp:libcdd',
+        '<(AOS)/common/controls/controls.gyp:polytope',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:coerce_goal',
         '<(AOS)/common/common.gyp:controls',
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index 1d4c8e4..0130828 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -3,9 +3,9 @@
 
 #include "Eigen/Dense"
 
-#include "aos/controls/polytope.h"
-#include "aos/common/control_loop/control_loop.h"
-#include "aos/controls/polytope.h"
+#include "aos/common/controls/polytope.h"
+#include "aos/common/controls/control_loop.h"
+#include "aos/common/controls/polytope.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "aos/common/util/log_interval.h"
 
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index 50d9dbf..a3706bc 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -1,6 +1,6 @@
 package frc971.control_loops;
 
-import "aos/common/control_loop/control_loops.q";
+import "aos/common/controls/control_loops.q";
 
 struct GearLogging {
   int8_t controller_index;
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 0827fec..a2567e4 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -6,7 +6,7 @@
 #include "aos/common/network/team_number.h"
 #include "aos/common/queue.h"
 #include "aos/common/queue_testutils.h"
-#include "aos/controls/polytope.h"
+#include "aos/common/controls/polytope.h"
 
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index da2aa42..ce8aa71 100755
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -4,7 +4,7 @@
 
 #include <algorithm>
 
-#include "aos/common/control_loop/control_loops.q.h"
+#include "aos/common/controls/control_loops.q.h"
 #include "aos/common/logging/logging.h"
 #include "aos/common/logging/queue_logging.h"
 
diff --git a/frc971/control_loops/shooter/shooter.h b/frc971/control_loops/shooter/shooter.h
index 7221751..a909d40 100755
--- a/frc971/control_loops/shooter/shooter.h
+++ b/frc971/control_loops/shooter/shooter.h
@@ -3,7 +3,7 @@
 
 #include <memory>
 
-#include "aos/common/control_loop/control_loop.h"
+#include "aos/common/controls/control_loop.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "aos/common/time.h"
 
diff --git a/frc971/control_loops/shooter/shooter.q b/frc971/control_loops/shooter/shooter.q
index 2a42172..bc83ff7 100755
--- a/frc971/control_loops/shooter/shooter.q
+++ b/frc971/control_loops/shooter/shooter.q
@@ -1,6 +1,6 @@
 package frc971.control_loops;
 
-import "aos/common/control_loop/control_loops.q";
+import "aos/common/controls/control_loops.q";
 import "frc971/control_loops/control_loops.q";
 
 queue_group ShooterGroup {
diff --git a/frc971/control_loops/zeroed_joint.h b/frc971/control_loops/zeroed_joint.h
index c81330b..e1a256b 100644
--- a/frc971/control_loops/zeroed_joint.h
+++ b/frc971/control_loops/zeroed_joint.h
@@ -3,7 +3,7 @@
 
 #include <memory>
 
-#include "aos/common/control_loop/control_loop.h"
+#include "aos/common/controls/control_loop.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 
 namespace frc971 {