diff --git a/y2023/control_loops/python/BUILD b/y2023/control_loops/python/BUILD
new file mode 100644
index 0000000..b024676
--- /dev/null
+++ b/y2023/control_loops/python/BUILD
@@ -0,0 +1,57 @@
+package(default_visibility = ["//y2023:__subpackages__"])
+
+py_binary(
+    name = "drivetrain",
+    srcs = [
+        "drivetrain.py",
+    ],
+    legacy_create_init = False,
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    deps = [
+        ":python_init",
+        "//frc971/control_loops/python:drivetrain",
+        "@pip//glog",
+        "@pip//python_gflags",
+    ],
+)
+
+py_binary(
+    name = "polydrivetrain",
+    srcs = [
+        "drivetrain.py",
+        "polydrivetrain.py",
+    ],
+    legacy_create_init = False,
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    deps = [
+        ":python_init",
+        "//frc971/control_loops/python:polydrivetrain",
+        "@pip//glog",
+        "@pip//python_gflags",
+    ],
+)
+
+py_library(
+    name = "polydrivetrain_lib",
+    srcs = [
+        "drivetrain.py",
+        "polydrivetrain.py",
+    ],
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops/python:controls",
+        "//frc971/control_loops/python:drivetrain",
+        "//frc971/control_loops/python:polydrivetrain",
+        "@pip//glog",
+        "@pip//python_gflags",
+    ],
+)
+
+py_library(
+    name = "python_init",
+    srcs = ["__init__.py"],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = ["//y2023/control_loops:python_init"],
+)
diff --git a/y2023/control_loops/python/__init__.py b/y2023/control_loops/python/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2023/control_loops/python/__init__.py
diff --git a/y2023/control_loops/python/drivetrain.py b/y2023/control_loops/python/drivetrain.py
new file mode 100644
index 0000000..863684c
--- /dev/null
+++ b/y2023/control_loops/python/drivetrain.py
@@ -0,0 +1,47 @@
+#!/usr/bin/python3
+
+from __future__ import print_function
+from frc971.control_loops.python import drivetrain
+from frc971.control_loops.python import control_loop
+import sys
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+kDrivetrain = drivetrain.DrivetrainParams(
+    J=6.0,
+    mass=58.0,
+    # TODO(austin): Measure radius a bit better.
+    robot_radius=0.39,
+    wheel_radius=2.5 * 0.0254,
+    motor_type=control_loop.Falcon(),
+    num_motors=3,
+    G=(14.0 / 54.0) * (22.0 / 56.0),
+    q_pos=0.24,
+    q_vel=2.5,
+    efficiency=0.80,
+    has_imu=True,
+    force=True,
+    kf_q_voltage=1.0,
+    controller_poles=[0.82, 0.82])
+
+
+def main(argv):
+    argv = FLAGS(argv)
+    glog.init()
+
+    if FLAGS.plot:
+        drivetrain.PlotDrivetrainMotions(kDrivetrain)
+    elif len(argv) != 5:
+        print("Expected .h file name and .cc file name")
+    else:
+        # Write the generated constants out to a file.
+        drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2023', kDrivetrain)
+
+
+if __name__ == '__main__':
+    sys.exit(main(sys.argv))
diff --git a/y2023/control_loops/python/polydrivetrain.py b/y2023/control_loops/python/polydrivetrain.py
new file mode 100644
index 0000000..2f2346d
--- /dev/null
+++ b/y2023/control_loops/python/polydrivetrain.py
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+
+import sys
+from y2023.control_loops.python import drivetrain
+from frc971.control_loops.python import polydrivetrain
+
+import gflags
+import glog
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+FLAGS = gflags.FLAGS
+
+try:
+    gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+    pass
+
+
+def main(argv):
+    if FLAGS.plot:
+        polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
+    elif len(argv) != 7:
+        glog.fatal('Expected .h file name and .cc file name')
+    else:
+        polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7],
+                                           'y2023', drivetrain.kDrivetrain)
+
+
+if __name__ == '__main__':
+    argv = FLAGS(sys.argv)
+    glog.init()
+    sys.exit(main(argv))