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;
+}
diff --git a/y2018/control_loops/python/BUILD b/y2018/control_loops/python/BUILD
new file mode 100644
index 0000000..04a244e
--- /dev/null
+++ b/y2018/control_loops/python/BUILD
@@ -0,0 +1,58 @@
+package(default_visibility = ['//y2018:__subpackages__'])
+
+py_binary(
+  name = 'drivetrain',
+  srcs = [
+    'drivetrain.py',
+  ],
+  deps = [
+    '//external:python-gflags',
+    '//external:python-glog',
+    '//frc971/control_loops/python:drivetrain',
+  ],
+  restricted_to = ['//tools:k8'],
+)
+
+py_binary(
+  name = 'polydrivetrain',
+  srcs = [
+    'polydrivetrain.py',
+    'drivetrain.py',
+  ],
+  deps = [
+    '//external:python-gflags',
+    '//external:python-glog',
+    '//frc971/control_loops/python:polydrivetrain',
+  ],
+  restricted_to = ['//tools:k8'],
+)
+
+py_library(
+  name = 'polydrivetrain_lib',
+  srcs = [
+    'polydrivetrain.py',
+    'drivetrain.py',
+  ],
+  deps = [
+    '//external:python-gflags',
+    '//external:python-glog',
+    '//frc971/control_loops/python:controls',
+    '//frc971/control_loops/python:drivetrain',
+  ],
+  restricted_to = ['//tools:k8'],
+)
+
+py_test(
+  name = 'polydrivetrain_test',
+  srcs = [
+    'polydrivetrain_test.py',
+  ],
+  deps = [
+    '//external:python-gflags',
+    '//external:python-glog',
+    '//frc971/control_loops/python:polydrivetrain',
+    '//frc971/control_loops/python:controls',
+    ':polydrivetrain_lib',
+  ],
+  restricted_to = ['//tools:k8'],
+)
diff --git a/y2018/control_loops/python/drivetrain.py b/y2018/control_loops/python/drivetrain.py
new file mode 100644
index 0000000..b630601
--- /dev/null
+++ b/y2018/control_loops/python/drivetrain.py
@@ -0,0 +1,41 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import drivetrain
+import sys
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+
+#update mass (120lbs right now)
+#robot radius needs confirming(set as distance of center wheels from each other)
+#J needs updating
+
+kDrivetrain = drivetrain.DrivetrainParams(J = 2.0,
+                                          mass = 54.4311,
+                                          robot_radius = 0.675 / 2.0,
+                                          wheel_radius = 0.127 / 2.0,
+                                          G_low = 46.0 / 60.0 * 20.0 / 48.0 * 14.0 / 62.0 ,
+                                          G_high = 62.0 / 44.0 * 20.0 / 48.0 * 14.0 / 62.0,
+                                          q_pos_low = 0.12,
+                                          q_pos_high = 0.14,
+                                          q_vel_low = 1.0,
+                                          q_vel_high = 0.95)
+
+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], 'y2018', kDrivetrain)
+
+if __name__ == '__main__':
+  sys.exit(main(sys.argv))
diff --git a/y2018/control_loops/python/polydrivetrain.py b/y2018/control_loops/python/polydrivetrain.py
new file mode 100644
index 0000000..e08d3b6
--- /dev/null
+++ b/y2018/control_loops/python/polydrivetrain.py
@@ -0,0 +1,31 @@
+#!/usr/bin/python
+
+import sys
+from y2018.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) != 5:
+    glog.fatal('Expected .h file name and .cc file name')
+  else:
+    polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], 'y2018',
+                                       drivetrain.kDrivetrain)
+
+if __name__ == '__main__':
+  argv = FLAGS(sys.argv)
+  glog.init()
+  sys.exit(main(argv))
diff --git a/y2018/control_loops/python/polydrivetrain_test.py b/y2018/control_loops/python/polydrivetrain_test.py
new file mode 100644
index 0000000..02018d3
--- /dev/null
+++ b/y2018/control_loops/python/polydrivetrain_test.py
@@ -0,0 +1,82 @@
+#!/usr/bin/python
+
+from frc971.control_loops.python import polydrivetrain
+import numpy
+import unittest
+from numpy.testing import *
+from frc971.control_loops.python import polytope
+
+__author__ = 'Austin Schuh (austin.linux@gmail.com)'
+
+
+class TestVelocityDrivetrain(unittest.TestCase):
+  def MakeBox(self, x1_min, x1_max, x2_min, x2_max):
+    H = numpy.matrix([[1, 0],
+                      [-1, 0],
+                      [0, 1],
+                      [0, -1]])
+    K = numpy.matrix([[x1_max],
+                      [-x1_min],
+                      [x2_max],
+                      [-x2_min]])
+    return polytope.HPolytope(H, K)
+
+  def test_coerce_inside(self):
+    """Tests coercion when the point is inside the box."""
+    box = self.MakeBox(1, 2, 1, 2)
+
+    # x1 = x2
+    K = numpy.matrix([[1, -1]])
+    w = 0
+
+    assert_array_equal(polydrivetrain.CoerceGoal(box, K, w,
+                                                 numpy.matrix([[1.5], [1.5]])),
+                       numpy.matrix([[1.5], [1.5]]))
+
+  def test_coerce_outside_intersect(self):
+    """Tests coercion when the line intersects the box."""
+    box = self.MakeBox(1, 2, 1, 2)
+
+    # x1 = x2
+    K = numpy.matrix([[1, -1]])
+    w = 0
+
+    assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+                       numpy.matrix([[2.0], [2.0]]))
+
+  def test_coerce_outside_no_intersect(self):
+    """Tests coercion when the line does not intersect the box."""
+    box = self.MakeBox(3, 4, 1, 2)
+
+    # x1 = x2
+    K = numpy.matrix([[1, -1]])
+    w = 0
+
+    assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+                       numpy.matrix([[3.0], [2.0]]))
+
+  def test_coerce_middle_of_edge(self):
+    """Tests coercion when the line intersects the middle of an edge."""
+    box = self.MakeBox(0, 4, 1, 2)
+
+    # x1 = x2
+    K = numpy.matrix([[-1, 1]])
+    w = 0
+
+    assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+                       numpy.matrix([[2.0], [2.0]]))
+
+  def test_coerce_perpendicular_line(self):
+    """Tests coercion when the line does not intersect and is in quadrant 2."""
+    box = self.MakeBox(1, 2, 1, 2)
+
+    # x1 = -x2
+    K = numpy.matrix([[1, 1]])
+    w = 0
+
+    assert_array_equal(polydrivetrain.CoerceGoal(box, K, w, numpy.matrix([[5], [5]])),
+                       numpy.matrix([[1.0], [1.0]]))
+
+
+if __name__ == '__main__':
+  unittest.main()