diff --git a/frc971/control_loops/drivetrain/trajectory.h b/frc971/control_loops/drivetrain/trajectory.h
index 049dd33..1fb9062 100644
--- a/frc971/control_loops/drivetrain/trajectory.h
+++ b/frc971/control_loops/drivetrain/trajectory.h
@@ -41,8 +41,8 @@
 class Trajectory {
  public:
   Trajectory(const DistanceSpline *spline,
-             const DrivetrainConfig<double> &config,
-             double vmax = 10.0, int num_distance = 500);
+             const DrivetrainConfig<double> &config, double vmax = 10.0,
+             int num_distance = 0);
   // Sets the plan longitudal acceleration limit
   void set_longitudal_acceleration(double longitudal_acceleration) {
     longitudal_acceleration_ = longitudal_acceleration;
diff --git a/frc971/control_loops/drivetrain/trajectory_test.cc b/frc971/control_loops/drivetrain/trajectory_test.cc
index 8ba9fca..e61c7ff 100644
--- a/frc971/control_loops/drivetrain/trajectory_test.cc
+++ b/frc971/control_loops/drivetrain/trajectory_test.cc
@@ -241,7 +241,7 @@
   }
 
   EXPECT_LT((state - trajectory_->GoalState(trajectory_->length(), 0.0)).norm(),
-            1.1e-2);
+            1.2e-2);
 }
 
 SplineTestParams MakeSplineTestParams(struct SplineTestParams params) {