diff --git a/y2018/control_loops/drivetrain/BUILD b/y2018/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..e446b22
--- /dev/null
+++ b/y2018/control_loops/drivetrain/BUILD
@@ -0,0 +1,76 @@
+load('//aos/build:queues.bzl', 'queue_library')
+
+genrule(
+  name = 'genrule_drivetrain',
+  cmd = '$(location //y2018/control_loops/python:drivetrain) $(OUTS)',
+  tools = [
+    '//y2018/control_loops/python:drivetrain',
+  ],
+  outs = [
+    'drivetrain_dog_motor_plant.h',
+    'drivetrain_dog_motor_plant.cc',
+    'kalman_drivetrain_motor_plant.h',
+    'kalman_drivetrain_motor_plant.cc',
+  ],
+)
+
+genrule(
+  name = 'genrule_polydrivetrain',
+  cmd = '$(location //y2018/control_loops/python:polydrivetrain) $(OUTS)',
+  tools = [
+    '//y2018/control_loops/python:polydrivetrain',
+  ],
+  outs = [
+    'polydrivetrain_dog_motor_plant.h',
+    'polydrivetrain_dog_motor_plant.cc',
+    'polydrivetrain_cim_plant.h',
+    'polydrivetrain_cim_plant.cc',
+  ],
+)
+
+cc_library(
+  name = 'polydrivetrain_plants',
+  visibility = ['//visibility:public'],
+  srcs = [
+    'polydrivetrain_dog_motor_plant.cc',
+    'drivetrain_dog_motor_plant.cc',
+    'kalman_drivetrain_motor_plant.cc',
+  ],
+  hdrs = [
+    'polydrivetrain_dog_motor_plant.h',
+    'drivetrain_dog_motor_plant.h',
+    'kalman_drivetrain_motor_plant.h',
+  ],
+  deps = [
+    '//frc971/control_loops:state_feedback_loop',
+  ],
+)
+
+cc_library(
+  name = 'drivetrain_base',
+  visibility = ['//visibility:public'],
+  srcs = [
+    'drivetrain_base.cc',
+  ],
+  hdrs = [
+    'drivetrain_base.h',
+  ],
+  deps = [
+    ':polydrivetrain_plants',
+    '//frc971/control_loops/drivetrain:drivetrain_config',
+    '//frc971:shifter_hall_effect',
+  ],
+)
+
+cc_binary(
+  name = 'drivetrain',
+  visibility = ['//visibility:public'],
+  srcs = [
+    'drivetrain_main.cc',
+  ],
+  deps = [
+    ':drivetrain_base',
+    '//aos/linux_code:init',
+    '//frc971/control_loops/drivetrain:drivetrain_lib',
+  ],
+)
diff --git a/y2018/control_loops/drivetrain/drivetrain_base.cc b/y2018/control_loops/drivetrain/drivetrain_base.cc
new file mode 100644
index 0000000..6b6f48d
--- /dev/null
+++ b/y2018/control_loops/drivetrain/drivetrain_base.cc
@@ -0,0 +1,45 @@
+#include "y2018/control_loops/drivetrain/drivetrain_base.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2018/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2018/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2018/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+
+namespace y2018 {
+namespace control_loops {
+namespace drivetrain {
+
+using ::frc971::constants::ShifterHallEffect;
+
+const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};
+
+const DrivetrainConfig &GetDrivetrainConfig() {
+  static DrivetrainConfig kDrivetrainConfig{
+      ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
+      ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+      ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+
+      ::y2018::control_loops::drivetrain::MakeDrivetrainLoop,
+      ::y2018::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
+      ::y2018::control_loops::drivetrain::MakeKFDrivetrainLoop,
+
+      drivetrain::kDt, drivetrain::kRobotRadius, drivetrain::kWheelRadius,
+      drivetrain::kV,
+
+      drivetrain::kHighGearRatio, drivetrain::kLowGearRatio,
+      kThreeStateDriveShifter, kThreeStateDriveShifter,
+      true /* default_high_gear */, 0 /* down_offset if using constants use
+                                   constants::GetValues().down_error */,
+      0.4 /* wheel_non_linearity */, 1.0 /* quickturn_wheel_multiplier */,
+  };
+
+  return kDrivetrainConfig;
+};
+
+}  // namespace drivetrain
+}  // namespace control_loops
+}  // namespace y2018
diff --git a/y2018/control_loops/drivetrain/drivetrain_base.h b/y2018/control_loops/drivetrain/drivetrain_base.h
new file mode 100644
index 0000000..a7f40d8
--- /dev/null
+++ b/y2018/control_loops/drivetrain/drivetrain_base.h
@@ -0,0 +1,17 @@
+#ifndef Y2018_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+#define Y2018_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
+
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+
+namespace y2018 {
+namespace control_loops {
+namespace drivetrain {
+
+const ::frc971::control_loops::drivetrain::DrivetrainConfig &
+GetDrivetrainConfig();
+
+}  // namespace drivetrain
+}  // namespace control_loops
+}  // namespace y2018
+
+#endif  // Y2018_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2018/control_loops/drivetrain/drivetrain_main.cc b/y2018/control_loops/drivetrain/drivetrain_main.cc
new file mode 100644
index 0000000..26d300b
--- /dev/null
+++ b/y2018/control_loops/drivetrain/drivetrain_main.cc
@@ -0,0 +1,15 @@
+#include "aos/linux_code/init.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "y2018/control_loops/drivetrain/drivetrain_base.h"
+
+using ::frc971::control_loops::drivetrain::DrivetrainLoop;
+
+int main() {
+  ::aos::Init();
+  DrivetrainLoop drivetrain(
+      ::y2018::control_loops::drivetrain::GetDrivetrainConfig());
+  drivetrain.Run();
+  ::aos::Cleanup();
+  return 0;
+}