diff --git a/y2012/control_loops/drivetrain/drivetrain_base.cc b/y2012/control_loops/drivetrain/drivetrain_base.cc
index 321962e..8748d4d 100644
--- a/y2012/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2012/control_loops/drivetrain/drivetrain_base.cc
@@ -21,6 +21,7 @@
   static DrivetrainConfig kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::NO_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+      ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
 
       ::y2012::control_loops::drivetrain::MakeDrivetrainLoop,
       ::y2012::control_loops::drivetrain::MakeVelocityDrivetrainLoop,