diff --git a/y2014/control_loops/python/BUILD b/y2014/control_loops/python/BUILD
index 232d128..ee99aa4 100644
--- a/y2014/control_loops/python/BUILD
+++ b/y2014/control_loops/python/BUILD
@@ -7,5 +7,27 @@
   ],
   deps = [
     '//frc971/control_loops/python:controls',
+  ],
+)
+
+py_library(
+  name = 'polydrivetrain',
+  srcs = [
+    'polydrivetrain.py',
+    'drivetrain.py',
+  ],
+  deps = [
+    '//frc971/control_loops/python:controls',
+  ],
+)
+
+py_binary(
+  name = 'claw',
+  srcs = [
+    'claw.py',
+  ],
+  deps = [
+    ':polydrivetrain',
+    '//frc971/control_loops/python:controls',
   ]
 )
diff --git a/y2014/control_loops/python/claw.py b/y2014/control_loops/python/claw.py
index b5ea6a1..f1fcae3 100755
--- a/y2014/control_loops/python/claw.py
+++ b/y2014/control_loops/python/claw.py
@@ -1,9 +1,9 @@
 #!/usr/bin/python
 
-import control_loop
-import controls
-import polytope
-import polydrivetrain
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import controls
+from frc971.control_loops.python import polytope
+from y2014.control_loops.python import polydrivetrain
 import numpy
 import sys
 from matplotlib import pylab
@@ -478,8 +478,10 @@
   if len(argv) != 3:
     print "Expected .h file name and .cc file name for the claw."
   else:
+    namespaces = ['y2014', 'control_loops', 'claw']
     claw = Claw("Claw")
-    loop_writer = control_loop.ControlLoopWriter("Claw", [claw])
+    loop_writer = control_loop.ControlLoopWriter("Claw", [claw],
+                                                 namespaces=namespaces)
     loop_writer.AddConstant(control_loop.Constant("kClawMomentOfInertiaRatio",
       "%f", claw.J_top / claw.J_bottom))
     if argv[1][-3:] == '.cc':
diff --git a/y2014/control_loops/python/drivetrain.py b/y2014/control_loops/python/drivetrain.py
index 14a3ecb..1372c25 100755
--- a/y2014/control_loops/python/drivetrain.py
+++ b/y2014/control_loops/python/drivetrain.py
@@ -28,7 +28,7 @@
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
     # Control loop time step
-    self.dt = 0.005
+    self.dt = 0.010
 
     # State feedback matrices
     self.A_continuous = numpy.matrix(
diff --git a/y2014/control_loops/python/polydrivetrain.py b/y2014/control_loops/python/polydrivetrain.py
index a2c63fa..b066c75 100755
--- a/y2014/control_loops/python/polydrivetrain.py
+++ b/y2014/control_loops/python/polydrivetrain.py
@@ -2,10 +2,10 @@
 
 import numpy
 import sys
-import polytope
-import drivetrain
-import control_loop
-import controls
+from frc971.control_loops.python import polytope
+from y2014.control_loops.python import drivetrain
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import controls
 from matplotlib import pylab
 
 __author__ = 'Austin Schuh (austin.linux@gmail.com)'