diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 982c6e9..a074c22 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -581,7 +581,7 @@
 
   bool bad_pos = false;
   if (position == nullptr) {
-    LOG(WARNING, "no position\n");
+    LOG_INTERVAL(no_position_);
     bad_pos = true;
   }
 
diff --git a/frc971/control_loops/drivetrain/drivetrain.gyp b/frc971/control_loops/drivetrain/drivetrain.gyp
index 7821c39..d7bce50 100644
--- a/frc971/control_loops/drivetrain/drivetrain.gyp
+++ b/frc971/control_loops/drivetrain/drivetrain.gyp
@@ -47,6 +47,7 @@
         '<(DEPTH)/aos/build/externals.gyp:libcdd',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
         '<(DEPTH)/frc971/queues/queues.gyp:queues',
+        '<(AOS)/common/util/util.gyp:log_interval',
       ],
       'export_dependent_settings': [
         '<(DEPTH)/aos/build/externals.gyp:libcdd',
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index 249de70..9ee7a27 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -7,6 +7,7 @@
 #include "aos/common/control_loop/ControlLoop.h"
 #include "aos/controls/polytope.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "aos/common/util/log_interval.h"
 
 namespace frc971 {
 namespace control_loops {
@@ -35,6 +36,10 @@
       const control_loops::Drivetrain::Position *position,
       control_loops::Drivetrain::Output *output,
       control_loops::Drivetrain::Status *status);
+
+  typedef ::aos::util::SimpleLogInterval SimpleLogInterval;
+  SimpleLogInterval no_position_ = SimpleLogInterval(
+      ::aos::time::Time::InSeconds(0.25), WARNING, "no position");
 };
 
 }  // namespace control_loops