diff --git a/y2019/control_loops/drivetrain/drivetrain_main.cc b/y2019/control_loops/drivetrain/drivetrain_main.cc
index 4e23987..50fd030 100644
--- a/y2019/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_main.cc
@@ -9,8 +9,11 @@
 int main() {
   ::aos::Init();
   ::aos::ShmEventLoop event_loop;
+  ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
+      ::y2019::control_loops::drivetrain::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(
-      ::y2019::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop);
+      ::y2019::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
+      &localizer);
   drivetrain.Run();
   ::aos::Cleanup();
   return 0;