diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index d3ed728..1480e4e 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -499,7 +499,7 @@
         "//aos/network:team_number",
         "//third_party/eigen",
         "//third_party/matplotlib-cpp",
-        "//y2016/control_loops/drivetrain:drivetrain_base",
+        "//y2019/control_loops/drivetrain:drivetrain_base",
         "@com_github_gflags_gflags//:gflags",
     ],
 )
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 839f1b8..d4c765f 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -111,8 +111,8 @@
     double expected_x = my_drivetrain_queue_.status->trajectory_logging.x;
     double expected_y = my_drivetrain_queue_.status->trajectory_logging.y;
     auto actual = drivetrain_motor_plant_.GetPosition();
-    EXPECT_NEAR(actual(0), expected_x, 3e-3);
-    EXPECT_NEAR(actual(1), expected_y, 3e-3);
+    EXPECT_NEAR(actual(0), expected_x, 1e-2);
+    EXPECT_NEAR(actual(1), expected_y, 1e-2);
   }
 
   void WaitForTrajectoryPlan() {
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.h b/frc971/control_loops/drivetrain/splinedrivetrain.h
index c165693..3e47f5a 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.h
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.h
@@ -104,9 +104,9 @@
   // TODO(alex): pull this out of dt_config.
   const ::Eigen::DiagonalMatrix<double, 5> Q =
       (::Eigen::DiagonalMatrix<double, 5>().diagonal()
-           << 1.0 / ::std::pow(0.05, 2),
-       1.0 / ::std::pow(0.05, 2), 1.0 / ::std::pow(0.2, 2),
-       1.0 / ::std::pow(0.5, 2), 1.0 / ::std::pow(0.5, 2))
+           << 1.0 / ::std::pow(0.07, 2),
+       1.0 / ::std::pow(0.07, 2), 1.0 / ::std::pow(0.2, 2),
+       1.0 / ::std::pow(1.5, 2), 1.0 / ::std::pow(1.5, 2))
           .finished()
           .asDiagonal();
   const ::Eigen::DiagonalMatrix<double, 2> R =
diff --git a/frc971/control_loops/drivetrain/trajectory_plot.cc b/frc971/control_loops/drivetrain/trajectory_plot.cc
index fec90f1..8508099 100644
--- a/frc971/control_loops/drivetrain/trajectory_plot.cc
+++ b/frc971/control_loops/drivetrain/trajectory_plot.cc
@@ -9,7 +9,7 @@
 #include "frc971/control_loops/dlqr.h"
 #include "gflags/gflags.h"
 #include "third_party/matplotlib-cpp/matplotlibcpp.h"
-#include "y2016/control_loops/drivetrain/drivetrain_base.h"
+#include "y2019/control_loops/drivetrain/drivetrain_base.h"
 
 // Notes:
 //   Basic ideas from spline following are from Jared Russell and
@@ -55,7 +55,7 @@
                      .finished())));
   Trajectory trajectory(
       &distance_spline,
-      ::y2016::control_loops::drivetrain::GetDrivetrainConfig());
+      ::y2019::control_loops::drivetrain::GetDrivetrainConfig());
   trajectory.set_lateral_acceleration(2.0);
   trajectory.set_longitudal_acceleration(1.0);