diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc
index cefb1dd..9dad2a8 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.cc
+++ b/frc971/control_loops/drivetrain/polydrivetrain.cc
@@ -68,6 +68,7 @@
       return high_gear_speed;
     case LOW:
     case SHIFTING_DOWN:
+    default:
       return low_gear_speed;
       break;
   }
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.h b/frc971/control_loops/drivetrain/polydrivetrain.h
index 1ba7eee..c482f77 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.h
+++ b/frc971/control_loops/drivetrain/polydrivetrain.h
@@ -24,7 +24,7 @@
   // Computes the speed of the motor given the hall effect position and the
   // speed of the robot.
   double MotorSpeed(const constants::ShifterHallEffect &hall_effect,
-                    double shifter_position, double velocity);
+                    double shifter_position, double velocity, Gear gear);
 
   // Computes the states of the shifters for the left and right drivetrain sides
   // given a requested state.