diff --git a/y2020/control_loops/drivetrain/drivetrain_main.cc b/y2020/control_loops/drivetrain/drivetrain_main.cc
index e73c023..dec9118 100644
--- a/y2020/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_main.cc
@@ -1,3 +1,5 @@
+#include <memory>
+
 #include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
@@ -15,7 +17,7 @@
   ::aos::ShmEventLoop event_loop(&config.message());
   ::y2020::control_loops::drivetrain::Localizer localizer(
       &event_loop, ::y2020::control_loops::drivetrain::GetDrivetrainConfig());
-  DrivetrainLoop drivetrain(
+  std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
       ::y2020::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
       &localizer);