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 {
diff --git a/frc971/control_loops/zeroed_joint.h b/frc971/control_loops/zeroed_joint.h
index e1a256b..f25434f 100644
--- a/frc971/control_loops/zeroed_joint.h
+++ b/frc971/control_loops/zeroed_joint.h
@@ -323,7 +323,7 @@
         // Set the goal to here to make it so it doesn't move when disabled.
         loop_->R = loop_->X_hat;
         // Only progress if we are enabled.
-        if (::aos::robot_state->enabled) {
+        if (::aos::joystick_state->enabled) {
           if (AnySensorsActive(position)) {
             state_ = MOVING_OFF;
           } else {
@@ -336,7 +336,7 @@
       LOG(DEBUG, "MOVING_OFF\n");
       {
         // Move off the hall effect sensor.
-        if (!::aos::robot_state->enabled) {
+        if (!::aos::joystick_state->enabled) {
           // Start over if disabled.
           state_ = UNINITIALIZED;
         } else if (position && !AnySensorsActive(position)) {
@@ -353,7 +353,7 @@
       LOG(DEBUG, "ZEROING\n");
       {
         int active_sensor_index = ActiveSensorIndex(position);
-        if (!::aos::robot_state->enabled) {
+        if (!::aos::joystick_state->enabled) {
           // Start over if disabled.
           state_ = UNINITIALIZED;
         } else if (position && active_sensor_index != -1) {