diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index e755f3d..ca9c3c7 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -136,8 +136,7 @@
         left_goal_(0.0),
         right_goal_(0.0),
         raw_left_(0.0),
-        raw_right_(0.0),
-        control_loop_driving_(false) {
+        raw_right_(0.0) {
     // Low gear on both.
     loop_->set_controller_index(0);
   }
@@ -155,14 +154,12 @@
     Y << left + filtered_offset_, right - filtered_offset_;
     loop_->Correct(Y);
   }
-  void SetPosition(
-      double left, double right, double gyro, bool control_loop_driving) {
+  void SetPosition(double left, double right, double gyro) {
     // Decay the offset quickly because this gyro is great.
     const double offset =
         (right - left - gyro * constants::GetValues().turn_width) / 2.0;
     filtered_offset_ = 0.25 * offset + 0.75 * filtered_offset_;
     gyro_ = gyro;
-    control_loop_driving_ = control_loop_driving;
     SetRawPosition(left, right);
   }
 
@@ -170,8 +167,8 @@
     loop_->U << left_voltage, right_voltage;
   }
 
-  void Update(bool stop_motors) {
-    if (control_loop_driving_) {
+  void Update(bool stop_motors, bool enable_control_loop) {
+    if (enable_control_loop) {
       loop_->Update(stop_motors);
     } else {
       if (stop_motors) {
@@ -221,7 +218,6 @@
   double right_goal_;
   double raw_left_;
   double raw_right_;
-  bool control_loop_driving_;
 };
 
 class PolyDrivetrain {
@@ -685,7 +681,7 @@
     if (gyro_reading.FetchLatest()) {
       LOG_STRUCT(DEBUG, "using", *gyro_reading.get());
       dt_closedloop.SetPosition(left_encoder, right_encoder,
-                                gyro_reading->angle, control_loop_driving);
+                                gyro_reading->angle);
     } else {
       dt_closedloop.SetRawPosition(left_encoder, right_encoder);
     }
@@ -695,7 +691,7 @@
   dt_openloop.Update();
 
   if (control_loop_driving) {
-    dt_closedloop.Update(output == NULL);
+    dt_closedloop.Update(output == NULL, true);
     dt_closedloop.SendMotors(output);
   } else {
     dt_openloop.SendMotors(output);
@@ -703,10 +699,10 @@
       dt_closedloop.SetExternalMotors(output->left_voltage,
                                       output->right_voltage);
     }
-    dt_closedloop.Update(output == NULL);
+    dt_closedloop.Update(output == NULL, false);
   }
   
-  // set the output status of the controll loop state
+  // set the output status of the control loop state
   if (status) {
     bool done = false;
     if (goal) {
diff --git a/frc971/control_loops/drivetrain/drivetrain.gyp b/frc971/control_loops/drivetrain/drivetrain.gyp
index bc52ab4..3854fe1 100644
--- a/frc971/control_loops/drivetrain/drivetrain.gyp
+++ b/frc971/control_loops/drivetrain/drivetrain.gyp
@@ -66,7 +66,7 @@
         '<(EXTERNALS):gtest',
         'drivetrain_loop',
         'drivetrain_lib',
-        '<(AOS)/common/common.gyp:queue_testutils',
+        '<(AOS)/common/controls/controls.gyp:control_loop_test',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
         '<(DEPTH)/frc971/queues/queues.gyp:queues',
         '<(AOS)/common/common.gyp:queues',
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 2d510f6..1983caa 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -4,9 +4,9 @@
 
 #include "gtest/gtest.h"
 #include "aos/common/network/team_number.h"
-#include "aos/common/queue.h"
 #include "aos/common/queue_testutils.h"
 #include "aos/common/controls/polytope.h"
+#include "aos/common/controls/control_loop_test.h"
 
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
@@ -16,8 +16,6 @@
 #include "frc971/queues/other_sensors.q.h"
 
 
-using ::aos::time::Time;
-
 namespace frc971 {
 namespace control_loops {
 namespace testing {
@@ -105,10 +103,8 @@
   double last_right_position_;
 };
 
-class DrivetrainTest : public ::testing::Test {
+class DrivetrainTest : public ::aos::testing::ControlLoopTest {
  protected:
-  ::aos::common::testing::GlobalCoreInstance my_core;
-
   // 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.
@@ -126,23 +122,7 @@
                                ".frc971.control_loops.drivetrain.status"),
                 drivetrain_motor_(&my_drivetrain_loop_),
                 drivetrain_motor_plant_() {
-    // Flush the robot state queue so we can use clean shared memory for this
-    // test, also for the gyro.
-    ::aos::robot_state.Clear();
-    ::aos::controls::sensor_generation.Clear();
-    ::aos::controls::sensor_generation.MakeWithBuilder()
-        .reader_pid(254)
-        .cape_resets(5)
-        .Send();
     ::frc971::sensors::gyro_reading.Clear();
-    SendDSPacket(true);
-  }
-
-  void SendDSPacket(bool enabled) {
-    ::aos::robot_state.MakeWithBuilder().enabled(enabled)
-                                        .autonomous(false)
-                                        .team_id(971).Send();
-    ::aos::robot_state.FetchLatest();
   }
 
   void VerifyNearGoal() {
@@ -157,9 +137,7 @@
   }
 
   virtual ~DrivetrainTest() {
-    ::aos::robot_state.Clear();
     ::frc971::sensors::gyro_reading.Clear();
-    ::aos::controls::sensor_generation.Clear();
   }
 };
 
@@ -172,7 +150,7 @@
     drivetrain_motor_plant_.SendPositionMessage();
     drivetrain_motor_.Iterate();
     drivetrain_motor_plant_.Simulate();
-    SendDSPacket(true);
+    SimulateTimestep(true);
   }
   VerifyNearGoal();
 }
@@ -187,9 +165,9 @@
     drivetrain_motor_.Iterate();
     drivetrain_motor_plant_.Simulate();
     if (i > 20 && i < 200) {
-      SendDSPacket(false);
+      SimulateTimestep(false);
     } else {
-      SendDSPacket(true);
+      SimulateTimestep(true);
     }
   }
   VerifyNearGoal();
@@ -207,7 +185,7 @@
     }
     drivetrain_motor_.Iterate();
     drivetrain_motor_plant_.Simulate();
-    SendDSPacket(true);
+    SimulateTimestep(true);
   }
   VerifyNearGoal();
 }