diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 6a0edf0..bb966d7 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -152,8 +152,8 @@
 
     if (data.PosEdge(kTurn1) || data.PosEdge(kTurn2)) {
       if (drivetrain_queue.status.get()) {
-        left_goal = drivetrain_queue.status->estimated_left_position;
-        right_goal = drivetrain_queue.status->estimated_right_position;
+        left_goal_ = drivetrain_queue.status->estimated_left_position;
+        right_goal_ = drivetrain_queue.status->estimated_right_position;
       }
     }
     if (data.IsPressed(kTurn1) || data.IsPressed(kTurn2)) {
@@ -165,8 +165,8 @@
              .highgear(is_high_gear_)
              .quickturn(data.IsPressed(kQuickTurn))
              .control_loop_driving(is_control_loop_driving)
-             .left_goal(left_goal - wheel * 0.5 + throttle * 0.3)
-             .right_goal(right_goal + wheel * 0.5 + throttle * 0.3)
+             .left_goal(left_goal_ - wheel * 0.5 + throttle * 0.3)
+             .right_goal(right_goal_ + wheel * 0.5 + throttle * 0.3)
              .left_velocity_goal(0)
              .right_velocity_goal(0)
              .Send()) {
@@ -454,8 +454,8 @@
   double shooter_velocity_ = 0.0;
 
   // Turning goals
-  double left_goal;
-  double right_goal;
+  double left_goal_;
+  double right_goal_;
 
   bool was_running_ = false;
   bool auto_running_ = false;