diff --git a/y2023/control_loops/drivetrain/BUILD b/y2023/control_loops/drivetrain/BUILD
index ac00e2b..09e5137 100644
--- a/y2023/control_loops/drivetrain/BUILD
+++ b/y2023/control_loops/drivetrain/BUILD
@@ -84,6 +84,7 @@
         "//aos:init",
         "//aos/events:shm_event_loop",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
+        "//frc971/control_loops/drivetrain/localization:puppet_localizer",
     ],
 )
 
diff --git a/y2023/control_loops/drivetrain/drivetrain_main.cc b/y2023/control_loops/drivetrain/drivetrain_main.cc
index 0817b3d..32b2455 100644
--- a/y2023/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2023/control_loops/drivetrain/drivetrain_main.cc
@@ -3,6 +3,7 @@
 #include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "frc971/control_loops/drivetrain/localization/puppet_localizer.h"
 #include "y2023/control_loops/drivetrain/drivetrain_base.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainLoop;
@@ -14,11 +15,11 @@
       aos::configuration::ReadConfig("aos_config.json");
 
   aos::ShmEventLoop event_loop(&config.message());
-  std::unique_ptr<::frc971::control_loops::drivetrain::DeadReckonEkf>
-      localizer =
-          std::make_unique<::frc971::control_loops::drivetrain::DeadReckonEkf>(
-              &event_loop,
-              ::y2023::control_loops::drivetrain::GetDrivetrainConfig());
+  std::unique_ptr<::frc971::control_loops::drivetrain::PuppetLocalizer>
+      localizer = std::make_unique<
+          ::frc971::control_loops::drivetrain::PuppetLocalizer>(
+          &event_loop,
+          ::y2023::control_loops::drivetrain::GetDrivetrainConfig());
   std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
       y2023::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
       localizer.get());