diff --git a/y2018/control_loops/drivetrain/drivetrain_base.cc b/y2018/control_loops/drivetrain/drivetrain_base.cc
index 6b6f48d..67df3be 100644
--- a/y2018/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_base.cc
@@ -19,8 +19,8 @@
 
 const DrivetrainConfig &GetDrivetrainConfig() {
   static DrivetrainConfig kDrivetrainConfig{
-      ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
-      ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+      ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
+      ::frc971::control_loops::drivetrain::LoopType::OPEN_LOOP,
       ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
 
       ::y2018::control_loops::drivetrain::MakeDrivetrainLoop,
diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index 25cc500..f53a6db 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -48,13 +48,6 @@
                         output != nullptr ? &(output->intake.right) : nullptr,
                         &(status->right_intake));
 
-  intake_right_.Iterate(unsafe_goal != nullptr
-                            ? &(unsafe_goal->intake.right_intake_angle)
-                            : nullptr,
-                        &(position->intake.right),
-                        output != nullptr ? &(output->intake.right) : nullptr,
-                        &(status->left_intake));
-
   arm_.Iterate(
       unsafe_goal != nullptr ? &(unsafe_goal->arm_goal_position) : nullptr,
       &(position->arm),