diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index c88169a..395f8b9 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -630,7 +630,7 @@
       loop_->mutable_U(1, 0) = ::aos::Clip(
           (R_right / Kv)(0, 0) + (IsInGear(right_gear_) ? 0 : wiggle),
           -12.0, 12.0);
-      loop_->mutable_U() *= 12.0 / position_.battery_voltage;
+      loop_->mutable_U() *= 12.0 / ::aos::robot_state->voltage_battery;
 #endif
     }
   }
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index ea1324d..5f34e92 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -39,7 +39,6 @@
     double right_encoder;
     //double left_shifter_position;
     //double right_shifter_position;
-    double battery_voltage;
   };
 
   message Output {