diff --git a/quadPlot.py b/quadPlot.py
index 1bf19f1..ef58ce6 100644
--- a/quadPlot.py
+++ b/quadPlot.py
@@ -35,7 +35,7 @@ def plot_quad_3d(waypoints, get_world_frame):
                                  frames=400, interval=10, blit=False)
 
     if len(sys.argv) > 1 and sys.argv[1] == 'save':
-        print "saving"
+        print("saving")
         an.save('sim.gif', dpi=80, writer='imagemagick', fps=60)
     else:
         plt.show()
diff --git a/runsim.py b/runsim.py
index e7f0e48..a0ae74f 100644
--- a/runsim.py
+++ b/runsim.py
@@ -14,7 +14,7 @@
 
 animation_frequency = 50
 control_frequency = 200 # Hz for attitude control loop
-control_iterations = control_frequency / animation_frequency
+control_iterations = (int)(control_frequency / animation_frequency)
 dt = 1.0 / control_frequency
 time = [0.0]
 
diff --git a/test/test_controller.py b/test/test_controller.py
index 97647b2..e2bbac0 100644
--- a/test/test_controller.py
+++ b/test/test_controller.py
@@ -13,9 +13,9 @@ def test_run(self):
         time = 0.0
         des_state = trajGen.genLine(time)
         F, M = controller.run(quad, des_state)
-        print "des_state", des_state
-        print "F", F
-        print "M", M
+        print("des_state", des_state)
+        print("F", F)
+        print("M", M)
 
 if __name__ == '__main__':
     unittest.main()
diff --git a/test/test_quadcopter.py b/test/test_quadcopter.py
index 02794dd..6881908 100644
--- a/test/test_quadcopter.py
+++ b/test/test_quadcopter.py
@@ -25,7 +25,7 @@ def test_state_dot(self):
         dt = 0.01
 
         s_dot = quadcopter.state_dot(quadcopter.state,dt,F,M)
-        print "s_dot", s_dot
+        print("s_dot", s_dot)
 
     def test_update(self):
         pos = (0,0,0)
@@ -41,7 +41,7 @@ def test_attitude(self):
         attitude = [0,0,np.pi/2]
         quadcopter = Quadcopter(pos, attitude)
         attitude = quadcopter.attitude()
-        print "attitude", attitude
+        print("attitude", attitude)
 
 if __name__ == '__main__':
     unittest.main()
diff --git a/test/test_quaternion.py b/test/test_quaternion.py
index 0429ff6..1be3a93 100644
--- a/test/test_quaternion.py
+++ b/test/test_quaternion.py
@@ -16,7 +16,7 @@ def test_as_v_thta(self):
         expected_v = np.array(x)
         expected_theta = np.pi/2
         actual_v, actual_theta = q.as_v_theta()
-        print actual_v, actual_theta, expected_v
+        print(actual_v, actual_theta, expected_v)
         self.assertTrue(np.array_equal(expected_v, actual_v))
         self.assertEqual(expected_theta, actual_theta)
 
diff --git a/test/test_trajGen3D.py b/test/test_trajGen3D.py
index 8691e8a..ef6d320 100644
--- a/test/test_trajGen3D.py
+++ b/test/test_trajGen3D.py
@@ -94,7 +94,7 @@ def test_desired_state_size(self):
         self.assertEqual(desired_state.vel.shape, (3,))
         self.assertEqual(desired_state.acc.shape, (3,))
         des_x_dot, des_y_dot, des_z_dot = desired_state.vel
-        print "desired_state", desired_state
+        print("desired_state", desired_state)
 
 if __name__ == '__main__':
     unittest.main()
diff --git a/test/test_waypoints.py b/test/test_waypoints.py
index 4e0bfb8..a093a35 100644
--- a/test/test_waypoints.py
+++ b/test/test_waypoints.py
@@ -6,8 +6,8 @@
 def get_full_trajectory():
     T = np.linspace(0, 100, 1000)
     waypoints = trajGen3D.get_helix_waypoints(0, 9)
-    print "T", T
-    print "waypoints", waypoints
+    print("T", T)
+    print("waypoints", waypoints)
 
     full_traj = np.zeros((T.size,3))
     for i, t in enumerate(T):
diff --git a/trajGen3D.py b/trajGen3D.py
index 05f4b78..faf34d3 100644
--- a/trajGen3D.py
+++ b/trajGen3D.py
@@ -98,7 +98,7 @@ def generate_trajectory(t, v, waypoints, coeff_x, coeff_y, coeff_z):
         if yaw > np.pi:
             yaw = yaw - 2*np.pi
 
-        # print next_heading, current_heading, "yaw", yaw*180/np.pi, 'pos', pos
+        # print(next_heading, current_heading, "yaw", yaw*180/np.pi, 'pos', pos
         current_heading = next_heading
         yawdot = delta_psi / 0.005 # dt is control period
     return DesiredState(pos, vel, acc, yaw, yawdot)