diff --git a/y2014/control_loops/drivetrain/drivetrain_main.cc b/y2014/control_loops/drivetrain/drivetrain_main.cc
index 8367ec1..19b8e70 100644
--- a/y2014/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,7 @@
-#include "aos/init.h"
+#include <memory>
 
 #include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2014/control_loops/drivetrain/drivetrain_base.h"
 
@@ -15,8 +16,8 @@
   ::aos::ShmEventLoop event_loop(&config.message());
   ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
       &event_loop, ::y2014::control_loops::GetDrivetrainConfig());
-  DrivetrainLoop drivetrain(::y2014::control_loops::GetDrivetrainConfig(),
-                            &event_loop, &localizer);
+  std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
+      ::y2014::control_loops::GetDrivetrainConfig(), &event_loop, &localizer);
 
   event_loop.Run();