diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index a756ad2..a1c60c0 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -68,6 +68,8 @@
     double left_velocity_goal;
     double right_velocity_goal;
 
+    double max_ss_voltage;
+
     // Motion profile parameters.
     // The control loop will profile if these are all non-zero.
     .frc971.ProfileParameters linear;
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.cc b/frc971/control_loops/drivetrain/ssdrivetrain.cc
index 4aeb74b..ed99034 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.cc
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.cc
@@ -1,24 +1,24 @@
 #include "frc971/control_loops/drivetrain/ssdrivetrain.h"
 
-#include "aos/common/controls/polytope.h"
 #include "aos/common/commonmath.h"
+#include "aos/common/controls/polytope.h"
 #include "aos/common/logging/matrix_logging.h"
 
-#include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/control_loops/coerce_goal.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/state_feedback_loop.h"
 
 namespace frc971 {
 namespace control_loops {
 namespace drivetrain {
 
 void DrivetrainMotorsSS::ScaleCapU(Eigen::Matrix<double, 2, 1> *U) {
-  output_was_capped_ =
-      ::std::abs((*U)(0, 0)) > 12.0 || ::std::abs((*U)(1, 0)) > 12.0;
+  output_was_capped_ = ::std::abs((*U)(0, 0)) > max_voltage_ ||
+                       ::std::abs((*U)(1, 0)) > max_voltage_;
 
   if (output_was_capped_) {
-    *U *= 12.0 / kf_->U_uncapped().lpNorm<Eigen::Infinity>();
+    *U *= max_voltage_ / kf_->U_uncapped().lpNorm<Eigen::Infinity>();
   }
 }
 
@@ -27,8 +27,8 @@
 // out-of-range voltages could lead to things like running out of CPU under
 // certain situations, which would be bad.
 void DrivetrainMotorsSS::PolyCapU(Eigen::Matrix<double, 2, 1> *U) {
-  output_was_capped_ =
-      ::std::abs((*U)(0, 0)) > 12.0 || ::std::abs((*U)(1, 0)) > 12.0;
+  output_was_capped_ = ::std::abs((*U)(0, 0)) > max_voltage_ ||
+                       ::std::abs((*U)(1, 0)) > max_voltage_;
 
   const Eigen::Matrix<double, 7, 1> error = kf_->R() - kf_->X_hat();
 
@@ -57,10 +57,10 @@
       U_poly_.static_H() * position_K * T_,
       U_poly_.static_H() *
               (-velocity_K * velocity_error + U_integral - kf_->ff_U()) +
-          U_poly_.static_k(),
+          (U_poly_.static_k() * max_voltage_),
       (position_K * T_).inverse() *
           ::aos::controls::ShiftPoints<2, 4>(
-              U_poly_.StaticVertices(),
+              (U_poly_.StaticVertices() * max_voltage_),
               -velocity_K * velocity_error + U_integral - kf_->ff_U()));
 
   Eigen::Matrix<double, 2, 1> adjusted_pos_error;
@@ -125,12 +125,12 @@
                /*[*/ -1, 0 /*]*/,
                /*[*/ 0, 1 /*]*/,
                /*[*/ 0, -1 /*]]*/).finished(),
-              (Eigen::Matrix<double, 4, 1>() << /*[[*/ 12 /*]*/,
-               /*[*/ 12 /*]*/,
-               /*[*/ 12 /*]*/,
-               /*[*/ 12 /*]]*/).finished(),
-              (Eigen::Matrix<double, 2, 4>() << /*[[*/ 12, 12, -12, -12 /*]*/,
-               /*[*/ -12, 12, 12, -12 /*]*/).finished()),
+              (Eigen::Matrix<double, 4, 1>() << /*[[*/ 1.0 /*]*/,
+               /*[*/ 1.0 /*]*/,
+               /*[*/ 1.0 /*]*/,
+               /*[*/ 1.0 /*]]*/).finished(),
+              (Eigen::Matrix<double, 2, 4>() << /*[[*/ 1.0, 1.0, -1.0, -1.0 /*]*/,
+               /*[*/ -1.0, 1.0, 1.0, -1.0 /*]*/).finished()),
       linear_profile_(::aos::controls::kLoopFrequency),
       angular_profile_(::aos::controls::kLoopFrequency),
       integrated_kf_heading_(integrated_kf_heading) {
@@ -144,6 +144,11 @@
     const ::frc971::control_loops::DrivetrainQueue::Goal &goal) {
   unprofiled_goal_ << goal.left_goal, goal.left_velocity_goal, goal.right_goal,
       goal.right_velocity_goal, 0.0, 0.0, 0.0;
+  if (::std::abs(goal.max_ss_voltage) < 0.01) {
+    max_voltage_ = kMaxVoltage;
+  } else {
+    max_voltage_ = goal.max_ss_voltage;
+  }
 
   use_profile_ =
       !kf_->controller().Kff().isZero(0) &&
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.h b/frc971/control_loops/drivetrain/ssdrivetrain.h
index ce12b19..db255d7 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.h
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.h
@@ -48,6 +48,9 @@
 
   double last_gyro_to_wheel_offset_ = 0;
 
+  constexpr static double kMaxVoltage = 12.0;
+  double max_voltage_ = kMaxVoltage;
+
   // Reprsents +/- full power on each motor in U-space, aka the square from
   // (-12, -12) to (12, 12).
   const ::aos::controls::HVPolytope<2, 4, 4> U_poly_;