diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 78cb378..42f0935 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -54,6 +54,7 @@
       right_high_requested_(dt_config_.default_high_gear) {
   ::aos::controls::HPolytope<0>::Init();
   down_U_.setZero();
+  event_loop->SetRuntimeRealtimePriority(30);
 }
 
 int DrivetrainLoop::ControllerIndexFromGears() {
diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index 91e1704..4246397 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -25,7 +25,9 @@
       elevator_(constants::GetValues().elevator.subsystem_params),
       wrist_(constants::GetValues().wrist.subsystem_params),
       intake_(constants::GetValues().intake),
-      stilts_(constants::GetValues().stilts.subsystem_params) {}
+      stilts_(constants::GetValues().stilts.subsystem_params) {
+  event_loop->SetRuntimeRealtimePriority(30);
+}
 
 void Superstructure::RunIteration(const Goal *unsafe_goal,
                                   const Position *position,