diff --git a/y2023/control_loops/drivetrain/BUILD b/y2023/control_loops/drivetrain/BUILD
index 8a06d00..ac00e2b 100644
--- a/y2023/control_loops/drivetrain/BUILD
+++ b/y2023/control_loops/drivetrain/BUILD
@@ -1,4 +1,5 @@
 load("//aos:config.bzl", "aos_config")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 
 genrule(
     name = "genrule_drivetrain",
@@ -111,3 +112,12 @@
         "//frc971/control_loops/drivetrain:trajectory_generator",
     ],
 )
+
+flatbuffer_cc_library(
+    name = "drivetrain_can_position_fbs",
+    srcs = [
+        "drivetrain_can_position.fbs",
+    ],
+    gen_reflections = 1,
+    visibility = ["//visibility:public"],
+)
diff --git a/y2023/control_loops/drivetrain/drivetrain_can_position.fbs b/y2023/control_loops/drivetrain/drivetrain_can_position.fbs
new file mode 100644
index 0000000..10d7c9a
--- /dev/null
+++ b/y2023/control_loops/drivetrain/drivetrain_can_position.fbs
@@ -0,0 +1,39 @@
+namespace y2023.control_loops.drivetrain;
+
+table CANFalcon {
+  // The CAN id of the falcon
+  id:int (id: 0);
+
+  // In Amps
+  supply_current:float (id: 1);
+
+  // In Amps
+  // Stator current where positive current means torque is applied in
+  // the motor's forward direction as determined by its Inverted setting.
+  torque_current:float (id: 2);
+
+  // In Volts
+  supply_voltage:float (id: 3);
+
+  // In degrees Celsius
+  device_temp:float (id: 4);
+
+  // In meters traveled on the drivetrain
+  position:float (id: 5);
+}
+
+// CAN readings from the CAN sensor reader loop
+table CANPosition {
+  falcons: [CANFalcon] (id: 0);
+
+  // The timestamp of the measurement on the canivore clock in nanoseconds
+  // This will have less jitter than the
+  // timestamp of the message being sent out.
+  timestamp:int64 (id: 1);
+
+  // The ctre::phoenix::StatusCode of the measurement
+  // Should be OK = 0
+  status:int (id: 2);
+}
+
+root_type CANPosition;
diff --git a/y2023/control_loops/drivetrain/drivetrain_main.cc b/y2023/control_loops/drivetrain/drivetrain_main.cc
index cf8aa8a..0817b3d 100644
--- a/y2023/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2023/control_loops/drivetrain/drivetrain_main.cc
@@ -19,6 +19,9 @@
           std::make_unique<::frc971::control_loops::drivetrain::DeadReckonEkf>(
               &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());
 
   event_loop.Run();