diff --git a/motors/peripheral/adc.cc b/motors/peripheral/adc.cc
index 756e166..6325f9f 100644
--- a/motors/peripheral/adc.cc
+++ b/motors/peripheral/adc.cc
@@ -22,12 +22,14 @@
     ADC##n##_##PM##G = variable;      \
   } while (0);
 
-#define ADC_INIT_SINGLE(n)                                                   \
+#define ADC_INIT_SINGLE(n, maybe_muxsel)                                     \
   do {                                                                       \
-    ADC##n##_CFG1 = ADC_CFG1_ADIV(2) /* Divide clock by 4 to get 15MHz. */ | \
-                    ADC_CFG1_MODE(1) /* 12 bit mode. */ |                    \
-                    ADC_CFG1_ADICLK(0) /* Use the bus clock (60MHz). */;     \
-    ADC##n##_CFG2 = ADC_CFG2_MUXSEL /* Use the b channels. */ |              \
+    ADC##n##_CFG1 =                                                          \
+        ADC_CFG1_ADIV(2) /* Divide clock by 4 to get 15MHz. */ |             \
+        0 /* !ADLSMP to sample faster */ |                                   \
+        ADC_CFG1_MODE(1) /* 12 bit single-ended or 13-bit differential. */ | \
+        ADC_CFG1_ADICLK(0) /* Use the bus clock (60MHz). */;                 \
+    ADC##n##_CFG2 = (maybe_muxsel) |                                         \
                     ADC_CFG2_ADHSC /* Support higher ADC clock speeds. */;   \
     ADC##n##_SC1A = 0; /* Clear SC1A's COCO flag. */                         \
     ADC##n##_SC2 = ADC_SC2_BASE;                                             \
@@ -46,12 +48,12 @@
 
 }  // namespace
 
-void AdcInitCommon() {
+void AdcInitCommon(AdcChannels adc0_channels, AdcChannels adc1_channels) {
   SIM_SCGC3 |= SIM_SCGC3_ADC1;
   SIM_SCGC6 |= SIM_SCGC6_ADC0;
   // TODO(Brian): Mess with SIM_SOPT7 to reconfigure ADC trigger input source?
-  ADC_INIT_SINGLE(0);
-  ADC_INIT_SINGLE(1);
+  ADC_INIT_SINGLE(0, (adc0_channels == AdcChannels::kB) ? ADC_CFG2_MUXSEL : 0);
+  ADC_INIT_SINGLE(1, (adc1_channels == AdcChannels::kB) ? ADC_CFG2_MUXSEL : 0);
 }
 
 }  // namespace motors
diff --git a/motors/peripheral/adc.h b/motors/peripheral/adc.h
index 9ca5506..c22a856 100644
--- a/motors/peripheral/adc.h
+++ b/motors/peripheral/adc.h
@@ -8,7 +8,12 @@
 namespace frc971 {
 namespace motors {
 
-void AdcInitCommon();
+enum class AdcChannels {
+  kA,
+  kB,
+};
+void AdcInitCommon(AdcChannels adc0_channels = AdcChannels::kB,
+                   AdcChannels adc1_channels = AdcChannels::kB);
 
 }  // namespace motors
 }  // namespace frc971