diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 297b6dd..b9b7908 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -296,12 +296,10 @@
   dt_closedloop.Update(!bad_pos, bad_pos || bad_output);
   dt_openloop.SetGoal(wheel, throttle, quickturn, highgear);
   dt_openloop.Update();
-  if (!bad_output) {
-    if (control_loop_driving) {
-      dt_closedloop.SendMotors(output);
-    } else {
-      dt_openloop.SendMotors(output);
-    }
+  if (control_loop_driving) {
+    dt_closedloop.SendMotors(output);
+  } else {
+    dt_openloop.SendMotors(output);
   }
 }
 
diff --git a/frc971/control_loops/drivetrain/drivetrain.gyp b/frc971/control_loops/drivetrain/drivetrain.gyp
index e7e4e16..8e98e4b 100644
--- a/frc971/control_loops/drivetrain/drivetrain.gyp
+++ b/frc971/control_loops/drivetrain/drivetrain.gyp
@@ -8,12 +8,10 @@
         'header_path': 'frc971/control_loops/drivetrain',
       },
       'dependencies': [
-        '<(AOS)/build/aos.gyp:libaos',
         '<(AOS)/common/common.gyp:control_loop_queues',
         '<(AOS)/common/common.gyp:queues',
       ],
       'export_dependent_settings': [
-        '<(AOS)/build/aos.gyp:libaos',
         '<(AOS)/common/common.gyp:control_loop_queues',
         '<(AOS)/common/common.gyp:queues',
       ],
@@ -27,7 +25,6 @@
         'drivetrain_motor_plant.cc',
       ],
       'dependencies': [
-        '<(AOS)/build/aos.gyp:libaos',
         'drivetrain_loop',
         '<(AOS)/common/common.gyp:controls',
         '<(DEPTH)/frc971/frc971.gyp:common',