diff --git a/y2014/control_loops/drivetrain/kfplot.gnuplot b/y2014/control_loops/drivetrain/kfplot.gnuplot
new file mode 100644
index 0000000..ebcee6c
--- /dev/null
+++ b/y2014/control_loops/drivetrain/kfplot.gnuplot
@@ -0,0 +1,11 @@
+set term x11
+
+plot '/tmp/dump' using 1:2 title 'left voltage' with lines,\
+     '/tmp/dump' using 1:3 title 'right voltage' with lines,\
+     '/tmp/dump' using 1:6 title 'gyro' with lines,\
+     '/tmp/dump' using 1:7 title 'rate' with lines,\
+     '/tmp/dump' using 1:8 title 'battery' with lines,\
+     '/tmp/dump' using 1:9 title 'left_vel' with lines,\
+     '/tmp/dump' using 1:10 title 'right_vel' with lines
+
+pause -1
diff --git a/y2014/control_loops/drivetrain/kfplot2.gnuplot b/y2014/control_loops/drivetrain/kfplot2.gnuplot
new file mode 100644
index 0000000..3d506d9
--- /dev/null
+++ b/y2014/control_loops/drivetrain/kfplot2.gnuplot
@@ -0,0 +1,18 @@
+#set yrange [-13:2]
+#set xrange [431.5:435.5]
+
+set term x11
+
+plot '/tmp/dump' using 1:9 title 'left_vel' with lines,\
+     '/tmp/dump' using 1:10 title 'right_vel' with lines,\
+     '/tmp/dump' using 1:(($9 + $10)/2) title 'avg_vel' with lines,\
+     '/tmp/dump' using 1:20 title 'left_ss_vel' with lines,\
+     '/tmp/dump' using 1:21 title 'right_ss_vel' with lines,\
+     '/tmp/dump' using 1:11 title 'left_encoder_vel' with lines,\
+     '/tmp/dump' using 1:12 title 'right_encoder_vel' with lines, \
+     '/tmp/dump' using 1:(($11 + $12)/2) title 'avg_encoder_vel' with lines,\
+     '/tmp/dump' using 1:($13 - 10) title 'left_voltage_error' with lines,\
+     '/tmp/dump' using 1:($14 - 10) title 'right_voltage_error' with lines,\
+     '/tmp/dump' using 1:(12 + $19 * 5) title 'browned_out' with lines
+
+pause -1
diff --git a/y2014/control_loops/drivetrain/kfplot3.gnuplot b/y2014/control_loops/drivetrain/kfplot3.gnuplot
new file mode 100644
index 0000000..b0446d8
--- /dev/null
+++ b/y2014/control_loops/drivetrain/kfplot3.gnuplot
@@ -0,0 +1,8 @@
+#set yrange [-15:15]
+
+set term x11
+
+plot '/tmp/dump' using 1:($13 - $14) title 'dpower' with lines,\
+     '/tmp/dump' using 1:($9 - $10 - ($11 - $12)) title 'turn_vel_error' with lines,\
+     '/tmp/dump' using 1:($9 - $10) title 'turn_vel' with lines,\
+     '/tmp/dump' using 1:(($9 - $10) * ($13 - $14)) title 'correlation' with lines
diff --git a/y2014/control_loops/drivetrain/kfplot4.gnuplot b/y2014/control_loops/drivetrain/kfplot4.gnuplot
new file mode 100644
index 0000000..d401cc6
--- /dev/null
+++ b/y2014/control_loops/drivetrain/kfplot4.gnuplot
@@ -0,0 +1,11 @@
+set term x11
+
+plot '/tmp/dump' using 1:4 title 'left_encoder',\
+     '/tmp/dump' using 1:5 title 'right_encoder',\
+     '/tmp/dump' using 1:15 title 'left_x',\
+     '/tmp/dump' using 1:16 title 'right_x',\
+     '/tmp/dump' using 1:6 title 'heading',\
+     '/tmp/dump' using 1:18 title 'kf_heading',\
+     '/tmp/dump' using 1:(($18 - $6) * 100) title 'kf_heading_error',\
+
+pause -1
diff --git a/y2014/control_loops/drivetrain/kfplot5.gnuplot b/y2014/control_loops/drivetrain/kfplot5.gnuplot
new file mode 100644
index 0000000..17c0416
--- /dev/null
+++ b/y2014/control_loops/drivetrain/kfplot5.gnuplot
@@ -0,0 +1,6 @@
+set term x11
+
+plot '/tmp/dump' using 1:($13 + $14 + 20) title 'dpower',\
+     '/tmp/dump' using 1:(($9 + $10 - $11 - $12) * 10.0) title 'avg_velocity_error' with lines
+
+pause -1