diff --git a/y2024/control_loops/drivetrain/BUILD b/y2024/control_loops/drivetrain/BUILD
index a362cb9..e9f93ca 100644
--- a/y2024/control_loops/drivetrain/BUILD
+++ b/y2024/control_loops/drivetrain/BUILD
@@ -1,4 +1,5 @@
 load("//aos:config.bzl", "aos_config")
+load("//tools/build_rules:template.bzl", "jinja2_template")
 load("//frc971/control_loops/drivetrain:drivetrain_config.bzl", "drivetrain_config")
 
 genrule(
@@ -73,7 +74,9 @@
     deps = [
         ":polydrivetrain_plants",
         "//frc971:shifter_hall_effect",
+        "//frc971/constants:constants_sender_lib",
         "//frc971/control_loops/drivetrain:drivetrain_config",
+        "//y2024/constants:constants_fbs",
     ],
 )
 
@@ -117,11 +120,23 @@
         ":drivetrain_base",
         "//aos:init",
         "//aos/events:shm_event_loop",
+        "//frc971/constants:constants_sender_lib",
         "//frc971/control_loops/drivetrain:trajectory_generator",
+        "//y2024/constants:constants_fbs",
     ],
 )
 
 drivetrain_config(
-    name = "drivetrain_config",
-    out = "drivetrain_config.json",
+    name = "drivetrain_loop_config",
+    out = "drivetrain_loop_config.json",
+)
+
+jinja2_template(
+    name = "drivetrain_config.json",
+    src = "drivetrain_config.jinja2.json",
+    includes = [
+        ":drivetrain_loop_config.json",
+    ],
+    parameters = {},
+    visibility = ["//visibility:public"],
 )
diff --git a/y2024/control_loops/drivetrain/drivetrain_base.cc b/y2024/control_loops/drivetrain/drivetrain_base.cc
index ebb61ac..79d35e1 100644
--- a/y2024/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2024/control_loops/drivetrain/drivetrain_base.cc
@@ -2,84 +2,18 @@
 
 #include <chrono>
 
+#include "frc971/constants/constants_sender_lib.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
-#include "frc971/control_loops/state_feedback_loop.h"
-#include "y2024/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2024/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
-#include "y2024/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
-#include "y2024/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
-
-using ::frc971::control_loops::drivetrain::DownEstimatorConfigT;
-using ::frc971::control_loops::drivetrain::DrivetrainConfig;
-using ::frc971::control_loops::drivetrain::LineFollowConfig;
-
-namespace chrono = ::std::chrono;
+#include "y2024/constants/constants_generated.h"
 
 namespace y2024::control_loops::drivetrain {
 
-using ::frc971::constants::ShifterHallEffect;
-
-const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};
-
-const DrivetrainConfig<double> &GetDrivetrainConfig() {
-  // Yaw of the IMU relative to the robot frame.
-  static constexpr double kImuYaw = 0.0;
-  static DrivetrainConfig<double> kDrivetrainConfig{
-      ::frc971::control_loops::drivetrain::ShifterType::kSimpleShifter,
-      ::frc971::control_loops::drivetrain::LoopType::kClosedLoop,
-      ::frc971::control_loops::drivetrain::GyroType::kSpartanGyro,
-      ::frc971::control_loops::drivetrain::ImuType::kImuFlippedX,
-
-      drivetrain::MakeDrivetrainLoop,
-      drivetrain::MakeVelocityDrivetrainLoop,
-      drivetrain::MakeKFDrivetrainLoop,
-      drivetrain::MakeHybridVelocityDrivetrainLoop,
-
-      chrono::duration_cast<chrono::nanoseconds>(
-          chrono::duration<double>(drivetrain::kDt)),
-      drivetrain::kRobotRadius,
-      drivetrain::kWheelRadius,
-      drivetrain::kV,
-
-      drivetrain::kHighGearRatio,
-      drivetrain::kLowGearRatio,
-      drivetrain::kJ,
-      drivetrain::kMass,
-      kThreeStateDriveShifter,
-      kThreeStateDriveShifter,
-      true /* default_high_gear */,
-      0 /* down_offset if using constants use
-     constants::GetValues().down_error */
-      ,
-      0.7 /* wheel_non_linearity */,
-      1.2 /* quickturn_wheel_multiplier */,
-      1.2 /* wheel_multiplier */,
-      true /*pistol_grip_shift_enables_line_follow*/,
-      (Eigen::Matrix<double, 3, 3>() << std::cos(kImuYaw), -std::sin(kImuYaw),
-       0.0, std::sin(kImuYaw), std::cos(kImuYaw), 0.0, 0.0, 0.0, 1.0)
-          .finished(),
-      false /*is_simulated*/,
-      DownEstimatorConfigT{{}, 0.015, 1000},
-      LineFollowConfig{
-          .Q = Eigen::Matrix3d((::Eigen::DiagonalMatrix<double, 3>().diagonal()
-                                    << 1.0 / ::std::pow(0.1, 2),
-                                1.0 / ::std::pow(1.0, 2),
-                                1.0 / ::std::pow(1.0, 2))
-                                   .finished()
-                                   .asDiagonal()),
-          .R = Eigen::Matrix2d((::Eigen::DiagonalMatrix<double, 2>().diagonal()
-                                    << 10.0 / ::std::pow(12.0, 2),
-                                10.0 / ::std::pow(12.0, 2))
-                                   .finished()
-                                   .asDiagonal()),
-          .max_controllable_offset = 0.5},
-      frc971::control_loops::drivetrain::PistolTopButtonUse::kNone,
-      frc971::control_loops::drivetrain::PistolSecondButtonUse::kTurn1,
-      frc971::control_loops::drivetrain::PistolBottomButtonUse::
-          kControlLoopDriving,
-  };
-
-  return kDrivetrainConfig;
+const frc971::control_loops::drivetrain::DrivetrainConfig<double>
+GetDrivetrainConfig(aos::EventLoop *event_loop) {
+  frc971::constants::ConstantsFetcher<Constants> constants_fetcher(event_loop);
+  return frc971::control_loops::drivetrain::DrivetrainConfig<double>::
+      FromFlatbuffer(
+          *CHECK_NOTNULL(constants_fetcher.constants().common()->drivetrain()));
 };
 
 }  // namespace y2024::control_loops::drivetrain
diff --git a/y2024/control_loops/drivetrain/drivetrain_base.h b/y2024/control_loops/drivetrain/drivetrain_base.h
index e7eb581..fbe85f4 100644
--- a/y2024/control_loops/drivetrain/drivetrain_base.h
+++ b/y2024/control_loops/drivetrain/drivetrain_base.h
@@ -1,12 +1,13 @@
 #ifndef Y2024_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
 #define Y2024_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
 
+#include "aos/events/event_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 
 namespace y2024::control_loops::drivetrain {
 
-const ::frc971::control_loops::drivetrain::DrivetrainConfig<double> &
-GetDrivetrainConfig();
+const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>
+GetDrivetrainConfig(aos::EventLoop *event_loop);
 
 }  // namespace y2024::control_loops::drivetrain
 
diff --git a/y2024/control_loops/drivetrain/drivetrain_config.jinja2.json b/y2024/control_loops/drivetrain/drivetrain_config.jinja2.json
new file mode 100644
index 0000000..194b123
--- /dev/null
+++ b/y2024/control_loops/drivetrain/drivetrain_config.jinja2.json
@@ -0,0 +1,26 @@
+{
+  "shifter_type": "kSimpleShifter",
+  "loop_type": "kClosedLoop",
+  "gyro_type": "kSpartanGyro",
+  "imu_type" : "kImuX",
+  "loop_config": {% include 'y2024/control_loops/drivetrain/drivetrain_loop_config.json' %},
+  "default_high_gear": false,
+  "down_offset": 0.0,
+  "wheel_non_linearity": 0.7,
+  "quickturn_wheel_multiplier": 1.2,
+  "wheel_multiplier": 1.2,
+  "pistol_grip_shift_enables_line_follow": false,
+  "imu_transform":{
+    "rows": 3,
+    "cols": 3,
+    "data": [1, 0, 0, 0, 1, 0, 0, 0, 1]
+  },
+  "is_simulated": true,
+  "down_estimator_config": {
+    "gravity_threshold": 0.015,
+    "do_accel_corrections": 1000
+  },
+  "top_button_use": "kNone",
+  "second_button_use": "kTurn1",
+  "bottom_button_use": "kControlLoopDriving"
+}
diff --git a/y2024/control_loops/drivetrain/drivetrain_main.cc b/y2024/control_loops/drivetrain/drivetrain_main.cc
index 196fbb7..e0b2eb7 100644
--- a/y2024/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2024/control_loops/drivetrain/drivetrain_main.cc
@@ -22,10 +22,10 @@
       localizer = std::make_unique<
           ::frc971::control_loops::drivetrain::PuppetLocalizer>(
           &event_loop,
-          ::y2024::control_loops::drivetrain::GetDrivetrainConfig());
+          ::y2024::control_loops::drivetrain::GetDrivetrainConfig(&event_loop));
   std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
-      y2024::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
-      localizer.get());
+      y2024::control_loops::drivetrain::GetDrivetrainConfig(&event_loop),
+      &event_loop, localizer.get());
 
   event_loop.Run();
 
diff --git a/y2024/control_loops/drivetrain/trajectory_generator_main.cc b/y2024/control_loops/drivetrain/trajectory_generator_main.cc
index 260f4a3..f53f79a 100644
--- a/y2024/control_loops/drivetrain/trajectory_generator_main.cc
+++ b/y2024/control_loops/drivetrain/trajectory_generator_main.cc
@@ -3,7 +3,9 @@
 
 #include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
+#include "frc971/constants/constants_sender_lib.h"
 #include "frc971/control_loops/drivetrain/trajectory_generator.h"
+#include "y2024/constants/constants_generated.h"
 #include "y2024/control_loops/drivetrain/drivetrain_base.h"
 
 using ::frc971::control_loops::drivetrain::TrajectoryGenerator;
@@ -17,9 +19,12 @@
   aos::FlatbufferDetachedBuffer<aos::Configuration> config =
       aos::configuration::ReadConfig("aos_config.json");
 
+  frc971::constants::WaitForConstants<y2024::Constants>(&config.message());
+
   ::aos::ShmEventLoop event_loop(&config.message());
   TrajectoryGenerator generator(
-      &event_loop, ::y2024::control_loops::drivetrain::GetDrivetrainConfig());
+      &event_loop,
+      ::y2024::control_loops::drivetrain::GetDrivetrainConfig(&event_loop));
 
   event_loop.OnRun([]() {
     if (FLAGS_skip_renicing) {