diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index cd0462b..0065199 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -26,20 +26,12 @@
       ::y2016::control_loops::drivetrain::MakeKFDrivetrainLoop,
 
       drivetrain::kDt,
-      drivetrain::kStallTorque,
-      drivetrain::kStallCurrent,
-      drivetrain::kFreeSpeedRPM,
-      drivetrain::kFreeCurrent,
-      drivetrain::kJ,
-      drivetrain::kMass,
       drivetrain::kRobotRadius,
       drivetrain::kWheelRadius,
-      drivetrain::kR,
       drivetrain::kV,
-      drivetrain::kT,
+
       drivetrain::kHighGearRatio,
       drivetrain::kLowGearRatio,
-
       kThreeStateDriveShifter,
       kThreeStateDriveShifter};