diff --git a/y2014/control_loops/drivetrain/drivetrain.cc b/y2014/control_loops/drivetrain/drivetrain.cc
index 23b03f3..98974a5 100644
--- a/y2014/control_loops/drivetrain/drivetrain.cc
+++ b/y2014/control_loops/drivetrain/drivetrain.cc
@@ -30,18 +30,18 @@
 namespace drivetrain {
 
 DrivetrainLoop::DrivetrainLoop(
-    ::frc971::control_loops::DrivetrainQueue *my_drivetrain)
-    : aos::controls::ControlLoop<::frc971::control_loops::DrivetrainQueue>(
+    ::y2014::control_loops::DrivetrainQueue *my_drivetrain)
+    : aos::controls::ControlLoop<::y2014::control_loops::DrivetrainQueue>(
           my_drivetrain),
       kf_(::y2014::control_loops::drivetrain::MakeKFDrivetrainLoop()) {
   ::aos::controls::HPolytope<0>::Init();
 }
 
 void DrivetrainLoop::RunIteration(
-    const ::frc971::control_loops::DrivetrainQueue::Goal *goal,
-    const ::frc971::control_loops::DrivetrainQueue::Position *position,
-    ::frc971::control_loops::DrivetrainQueue::Output *output,
-    ::frc971::control_loops::DrivetrainQueue::Status *status) {
+    const ::y2014::control_loops::DrivetrainQueue::Goal *goal,
+    const ::y2014::control_loops::DrivetrainQueue::Position *position,
+    ::y2014::control_loops::DrivetrainQueue::Output *output,
+    ::y2014::control_loops::DrivetrainQueue::Status *status) {
   bool bad_pos = false;
   if (position == nullptr) {
     LOG_INTERVAL(no_position_);
diff --git a/y2014/control_loops/drivetrain/drivetrain.h b/y2014/control_loops/drivetrain/drivetrain.h
index 5b8da12..7ecc09f 100644
--- a/y2014/control_loops/drivetrain/drivetrain.h
+++ b/y2014/control_loops/drivetrain/drivetrain.h
@@ -15,22 +15,22 @@
 namespace control_loops {
 namespace drivetrain {
 
-class DrivetrainLoop
-    : public aos::controls::ControlLoop<::frc971::control_loops::DrivetrainQueue> {
+class DrivetrainLoop : public aos::controls::ControlLoop<
+                           ::y2014::control_loops::DrivetrainQueue> {
  public:
   // Constructs a control loop which can take a Drivetrain or defaults to the
-  // drivetrain at frc971::control_loops::drivetrain
+  // drivetrain at y2014::control_loops::drivetrain
   explicit DrivetrainLoop(
-      ::frc971::control_loops::DrivetrainQueue *my_drivetrain =
-          &::frc971::control_loops::drivetrain_queue);
+      ::y2014::control_loops::DrivetrainQueue *my_drivetrain =
+          &::y2014::control_loops::drivetrain_queue);
 
  protected:
   // Executes one cycle of the control loop.
   virtual void RunIteration(
-      const ::frc971::control_loops::DrivetrainQueue::Goal *goal,
-      const ::frc971::control_loops::DrivetrainQueue::Position *position,
-      ::frc971::control_loops::DrivetrainQueue::Output *output,
-      ::frc971::control_loops::DrivetrainQueue::Status *status);
+      const ::y2014::control_loops::DrivetrainQueue::Goal *goal,
+      const ::y2014::control_loops::DrivetrainQueue::Position *position,
+      ::y2014::control_loops::DrivetrainQueue::Output *output,
+      ::y2014::control_loops::DrivetrainQueue::Status *status);
 
   typedef ::aos::util::SimpleLogInterval SimpleLogInterval;
   SimpleLogInterval no_position_ = SimpleLogInterval(
diff --git a/y2014/control_loops/drivetrain/drivetrain.q b/y2014/control_loops/drivetrain/drivetrain.q
index 585b8ed..86b8b04 100644
--- a/y2014/control_loops/drivetrain/drivetrain.q
+++ b/y2014/control_loops/drivetrain/drivetrain.q
@@ -1,4 +1,4 @@
-package frc971.control_loops;
+package y2014.control_loops;
 
 import "aos/common/controls/control_loops.q";
 
diff --git a/y2014/control_loops/drivetrain/drivetrain_lib_test.cc b/y2014/control_loops/drivetrain/drivetrain_lib_test.cc
index f455b57..9fdfbd8 100644
--- a/y2014/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -79,7 +79,7 @@
     const double left_encoder = GetLeftPosition();
     const double right_encoder = GetRightPosition();
 
-    ::aos::ScopedMessagePtr<::frc971::control_loops::DrivetrainQueue::Position>
+    ::aos::ScopedMessagePtr<::y2014::control_loops::DrivetrainQueue::Position>
         position = my_drivetrain_queue_.position.MakeMessage();
     position->left_encoder = left_encoder;
     position->right_encoder = right_encoder;
@@ -98,7 +98,7 @@
 
   ::std::unique_ptr<StateFeedbackPlant<4, 2, 2>> drivetrain_plant_;
  private:
-  ::frc971::control_loops::DrivetrainQueue my_drivetrain_queue_;
+  ::y2014::control_loops::DrivetrainQueue my_drivetrain_queue_;
   double last_left_position_;
   double last_right_position_;
 };
@@ -108,7 +108,7 @@
   // Create a new instance of the test queue so that it invalidates the queue
   // that it points to.  Otherwise, we will have a pointer to shared memory that
   // is no longer valid.
-  ::frc971::control_loops::DrivetrainQueue my_drivetrain_queue_;
+  ::y2014::control_loops::DrivetrainQueue my_drivetrain_queue_;
 
   // Create a loop and simulation plant.
   DrivetrainLoop drivetrain_motor_;
diff --git a/y2014/control_loops/drivetrain/polydrivetrain.cc b/y2014/control_loops/drivetrain/polydrivetrain.cc
index 795ad04..a49fa22 100644
--- a/y2014/control_loops/drivetrain/polydrivetrain.cc
+++ b/y2014/control_loops/drivetrain/polydrivetrain.cc
@@ -19,8 +19,8 @@
 namespace control_loops {
 namespace drivetrain {
 
-using ::frc971::control_loops::GearLogging;
-using ::frc971::control_loops::CIMLogging;
+using ::y2014::control_loops::GearLogging;
+using ::y2014::control_loops::CIMLogging;
 using ::frc971::control_loops::CoerceGoal;
 
 PolyDrivetrain::PolyDrivetrain()
@@ -158,7 +158,7 @@
   }
 }
 void PolyDrivetrain::SetPosition(
-    const ::frc971::control_loops::DrivetrainQueue::Position *position) {
+    const ::y2014::control_loops::DrivetrainQueue::Position *position) {
   const auto &values = constants::GetValues();
   if (position == NULL) {
     ++stale_count_;
@@ -402,7 +402,7 @@
 }
 
 void PolyDrivetrain::SendMotors(
-    ::frc971::control_loops::DrivetrainQueue::Output *output) {
+    ::y2014::control_loops::DrivetrainQueue::Output *output) {
   if (output != NULL) {
     output->left_voltage = loop_->U(0, 0);
     output->right_voltage = loop_->U(1, 0);
diff --git a/y2014/control_loops/drivetrain/polydrivetrain.h b/y2014/control_loops/drivetrain/polydrivetrain.h
index 999509e..864eec8 100644
--- a/y2014/control_loops/drivetrain/polydrivetrain.h
+++ b/y2014/control_loops/drivetrain/polydrivetrain.h
@@ -47,7 +47,7 @@
   void SetGoal(double wheel, double throttle, bool quickturn, bool highgear);
 
   void SetPosition(
-      const ::frc971::control_loops::DrivetrainQueue::Position *position);
+      const ::y2014::control_loops::DrivetrainQueue::Position *position);
 
   double FilterVelocity(double throttle);
 
@@ -55,7 +55,7 @@
 
   void Update();
 
-  void SendMotors(::frc971::control_loops::DrivetrainQueue::Output *output);
+  void SendMotors(::y2014::control_loops::DrivetrainQueue::Output *output);
 
  private:
   const ::aos::controls::HPolytope<2> U_Poly_;
@@ -70,8 +70,8 @@
   double position_time_delta_;
   Gear left_gear_;
   Gear right_gear_;
-  ::frc971::control_loops::DrivetrainQueue::Position last_position_;
-  ::frc971::control_loops::DrivetrainQueue::Position position_;
+  ::y2014::control_loops::DrivetrainQueue::Position last_position_;
+  ::y2014::control_loops::DrivetrainQueue::Position position_;
   int counter_;
 };
 
diff --git a/y2014/control_loops/drivetrain/replay_drivetrain.cc b/y2014/control_loops/drivetrain/replay_drivetrain.cc
index 091d992..346ca69 100644
--- a/y2014/control_loops/drivetrain/replay_drivetrain.cc
+++ b/y2014/control_loops/drivetrain/replay_drivetrain.cc
@@ -15,8 +15,8 @@
 
   ::aos::InitNRT();
 
-  ::aos::controls::ControlLoopReplayer<::frc971::control_loops::DrivetrainQueue>
-      replayer(&::frc971::control_loops::drivetrain_queue, "drivetrain");
+  ::aos::controls::ControlLoopReplayer<::y2014::control_loops::DrivetrainQueue>
+      replayer(&::y2014::control_loops::drivetrain_queue, "drivetrain");
 
   replayer.AddDirectQueueSender("wpilib_interface.Gyro", "sending",
                                 ::frc971::sensors::gyro_reading);
diff --git a/y2014/control_loops/drivetrain/ssdrivetrain.cc b/y2014/control_loops/drivetrain/ssdrivetrain.cc
index 3c2a962..9576bcd 100644
--- a/y2014/control_loops/drivetrain/ssdrivetrain.cc
+++ b/y2014/control_loops/drivetrain/ssdrivetrain.cc
@@ -172,7 +172,7 @@
 }
 
 void DrivetrainMotorsSS::SendMotors(
-    ::frc971::control_loops::DrivetrainQueue::Output *output) const {
+    ::y2014::control_loops::DrivetrainQueue::Output *output) const {
   if (output) {
     output->left_voltage = loop_->U(0, 0);
     output->right_voltage = loop_->U(1, 0);
diff --git a/y2014/control_loops/drivetrain/ssdrivetrain.h b/y2014/control_loops/drivetrain/ssdrivetrain.h
index 5945f96..1964ac5 100644
--- a/y2014/control_loops/drivetrain/ssdrivetrain.h
+++ b/y2014/control_loops/drivetrain/ssdrivetrain.h
@@ -63,7 +63,7 @@
   }
 
   void SendMotors(
-      ::frc971::control_loops::DrivetrainQueue::Output *output) const;
+      ::y2014::control_loops::DrivetrainQueue::Output *output) const;
 
   const LimitedDrivetrainLoop &loop() const { return *loop_; }