diff --git a/frc971/control_loops/python/index.py b/frc971/control_loops/python/index.py
new file mode 100755
index 0000000..5ce7613
--- /dev/null
+++ b/frc971/control_loops/python/index.py
@@ -0,0 +1,91 @@
+#!/usr/bin/python
+
+import control_loop
+import numpy
+import sys
+from matplotlib import pylab
+
+class Index(control_loop.ControlLoop):
+  def __init__(self):
+    super(Index, self).__init__("Index")
+    # Stall Torque in N m
+    self.stall_torque = 0.4862
+    # Stall Current in Amps
+    self.stall_current = 85
+    # Free Speed in RPM
+    self.free_speed = 19300.0
+    # Free Current in Amps
+    self.free_current = 1.5
+    # Moment of inertia of the index in kg m^2
+    self.J = 0.00013
+    # Resistance of the motor
+    self.R = 12.0 / self.stall_current + 0.024 + .003
+    # Motor velocity constant
+    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+               (13.5 - self.R * self.free_current))
+    # Torque constant
+    self.Kt = self.stall_torque / self.stall_current
+    # Gear ratio
+    self.G = 1.0 / ((40.0 / 11.0) * (34.0 / 30.0))
+    # Control loop time step
+    self.dt = 0.01
+
+    # State feedback matrices
+    self.A_continuous = numpy.matrix(
+        [[0, 1],
+         [0, -self.Kt / self.Kv / (self.J * self.G * self.G * self.R)]])
+    self.B_continuous = numpy.matrix(
+        [[0],
+         [self.Kt / (self.J * self.G * self.R)]])
+    self.C = numpy.matrix([[1, 0]])
+    self.D = numpy.matrix([[0]])
+
+    self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
+                              self.dt, self.C)
+
+    self.PlaceControllerPoles([.75, .6])
+
+    self.rpl = .05
+    self.ipl = 0.008
+    self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
+                             self.rpl - 1j * self.ipl])
+
+    self.U_max = numpy.matrix([[12.0]])
+    self.U_min = numpy.matrix([[-12.0]])
+
+
+def main(argv):
+  # Simulate the response of the system to a step input.
+  index = Index()
+  simulated_x = []
+  simulated_v = []
+  for _ in xrange(100):
+    index.Update(numpy.matrix([[12.0]]))
+    simulated_x.append(index.X[0, 0])
+    simulated_v.append(index.X[1, 0])
+
+  pylab.plot(range(100), simulated_v)
+  pylab.show()
+
+  # Simulate the closed loop response of the system to a step input.
+  index = Index()
+  close_loop_x = []
+  R = numpy.matrix([[1.0], [0.0]])
+  for _ in xrange(100):
+    U = numpy.clip(index.K * (R - index.X_hat), index.U_min, index.U_max)
+    index.UpdateObserver(U)
+    index.Update(U)
+    close_loop_x.append(index.X[0, 0])
+
+  pylab.plot(range(100), close_loop_x)
+  pylab.show()
+
+  # Write the generated constants out to a file.
+  if len(argv) != 3:
+    print "Expected .cc file name and .h file name"
+  else:
+    index.DumpHeaderFile(argv[1])
+    index.DumpCppFile(argv[2], argv[1])
+
+if __name__ == '__main__':
+  sys.exit(main(sys.argv))
diff --git a/frc971/control_loops/python/transfer.py b/frc971/control_loops/python/transfer.py
new file mode 100755
index 0000000..2ec7926
--- /dev/null
+++ b/frc971/control_loops/python/transfer.py
@@ -0,0 +1,91 @@
+#!/usr/bin/python
+
+import control_loop
+import numpy
+import sys
+from matplotlib import pylab
+
+class Transfer(control_loop.ControlLoop):
+  def __init__(self):
+    super(Transfer, self).__init__("Transfer")
+    # Stall Torque in N m
+    self.stall_torque = 0.4862
+    # Stall Current in Amps
+    self.stall_current = 85
+    # Free Speed in RPM
+    self.free_speed = 19300.0
+    # Free Current in Amps
+    self.free_current = 1.5
+    # Moment of inertia of the transfer in kg m^2
+    self.J = 0.00013
+    # Resistance of the motor
+    self.R = 12.0 / self.stall_current + 0.024 + .003
+    # Motor velocity constant
+    self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
+               (13.5 - self.R * self.free_current))
+    # Torque constant
+    self.Kt = self.stall_torque / self.stall_current
+    # Gear ratio
+    self.G = 1.0 / ((40.0 / 11.0) * (34.0 / 30.0))
+    # Control loop time step
+    self.dt = 0.01
+
+    # State feedback matrices
+    self.A_continuous = numpy.matrix(
+        [[0, 1],
+         [0, -self.Kt / self.Kv / (self.J * self.G * self.G * self.R)]])
+    self.B_continuous = numpy.matrix(
+        [[0],
+         [self.Kt / (self.J * self.G * self.R)]])
+    self.C = numpy.matrix([[1, 0]])
+    self.D = numpy.matrix([[0]])
+
+    self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
+                              self.dt, self.C)
+
+    self.PlaceControllerPoles([.75, .6])
+
+    self.rpl = .05
+    self.ipl = 0.008
+    self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
+                             self.rpl - 1j * self.ipl])
+
+    self.U_max = numpy.matrix([[12.0]])
+    self.U_min = numpy.matrix([[-12.0]])
+
+
+def main(argv):
+  # Simulate the response of the system to a step input.
+  transfer = Transfer()
+  simulated_x = []
+  simulated_v = []
+  for _ in xrange(100):
+    transfer.Update(numpy.matrix([[12.0]]))
+    simulated_x.append(transfer.X[0, 0])
+    simulated_v.append(transfer.X[1, 0])
+
+  pylab.plot(range(100), simulated_v)
+  pylab.show()
+
+  # Simulate the closed loop response of the system to a step input.
+  transfer = Transfer()
+  close_loop_x = []
+  R = numpy.matrix([[1.0], [0.0]])
+  for _ in xrange(100):
+    U = numpy.clip(transfer.K * (R - transfer.X_hat), transfer.U_min, transfer.U_max)
+    transfer.UpdateObserver(U)
+    transfer.Update(U)
+    close_loop_x.append(transfer.X[0, 0])
+
+  #pylab.plot(range(100), close_loop_x)
+  #pylab.show()
+
+  # Write the generated constants out to a file.
+  if len(argv) != 3:
+    print "Expected .cc file name and .h file name"
+  else:
+    transfer.DumpHeaderFile(argv[1])
+    transfer.DumpCppFile(argv[2], argv[1])
+
+if __name__ == '__main__':
+  sys.exit(main(sys.argv))