diff --git a/y2016/control_loops/drivetrain/BUILD b/y2016/control_loops/drivetrain/BUILD
index 1150426..cfdcf42 100644
--- a/y2016/control_loops/drivetrain/BUILD
+++ b/y2016/control_loops/drivetrain/BUILD
@@ -60,6 +60,7 @@
   deps = [
     ':polydrivetrain_plants',
     '//frc971/control_loops/drivetrain:drivetrain_config',
+    '//frc971:shifter_hall_effect',
     '//y2016:constants',
   ],
 )
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 2e5138c..ae2e62f 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -2,6 +2,7 @@
 
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 
+#include "frc971/control_loops/state_feedback_loop.h"
 #include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 #include "y2016/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
 #include "y2016/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
@@ -12,6 +13,10 @@
 namespace y2016 {
 namespace control_loops {
 
+using ::frc971::constants::ShifterHallEffect;
+
+const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.0, 0.0, 0.5, 0.5};
+
 const DrivetrainConfig &GetDrivetrainConfig() {
   static DrivetrainConfig kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
@@ -33,11 +38,11 @@
       drivetrain::kV,
       drivetrain::kT,
 
-      constants::GetValues().turn_width,
-      constants::GetValues().high_gear_ratio,
-      constants::GetValues().low_gear_ratio,
-      constants::GetValues().left_drive,
-      constants::GetValues().right_drive};
+      constants::Values::kTurnWidth,
+      constants::Values::kHighGearRatio,
+      constants::Values::kLowGearRatio,
+      kThreeStateDriveShifter,
+      kThreeStateDriveShifter};
 
   return kDrivetrainConfig;
 };