diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index 4894a51..96b27a6 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -13,6 +13,7 @@
 namespace control_loops {
 
 const DrivetrainConfig &GetDrivetrainConfig() {
+  // TODO(austin): Switch over to using the profile.
   static DrivetrainConfig kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
@@ -31,8 +32,7 @@
       constants::GetValues().left_drive,
       constants::GetValues().right_drive,
       true,
-      // TODO(austin): Switch over to using the profle.
-      false};
+      0};
 
   return kDrivetrainConfig;
 };
diff --git a/y2014/control_loops/drivetrain/drivetrain_main.cc b/y2014/control_loops/drivetrain/drivetrain_main.cc
index 52dafcc..883bdd2 100644
--- a/y2014/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_main.cc
@@ -7,8 +7,7 @@
 
 int main() {
   ::aos::Init();
-  DrivetrainLoop drivetrain =
-      DrivetrainLoop(::y2014::control_loops::GetDrivetrainConfig());
+  DrivetrainLoop drivetrain(::y2014::control_loops::GetDrivetrainConfig());
   drivetrain.Run();
   ::aos::Cleanup();
   return 0;