diff --git a/y2014/control_loops/drivetrain/drivetrain.cc b/y2014/control_loops/drivetrain/drivetrain.cc
index ecb8ed2..a326125 100644
--- a/y2014/control_loops/drivetrain/drivetrain.cc
+++ b/y2014/control_loops/drivetrain/drivetrain.cc
@@ -154,8 +154,8 @@
         right_goal_(0.0),
         raw_left_(0.0),
         raw_right_(0.0) {
-    // Low gear on both.
-    loop_->set_controller_index(0);
+    // High gear on both.
+    loop_->set_controller_index(3);
   }
 
   void SetGoal(double left, double left_velocity, double right,
@@ -219,8 +219,8 @@
     if (output) {
       output->left_voltage = loop_->U(0, 0);
       output->right_voltage = loop_->U(1, 0);
-      output->left_high = false;
-      output->right_high = false;
+      output->left_high = true;
+      output->right_high = true;
     }
   }
 
diff --git a/y2014/control_loops/python/drivetrain.py b/y2014/control_loops/python/drivetrain.py
index 5a2e478..14a3ecb 100755
--- a/y2014/control_loops/python/drivetrain.py
+++ b/y2014/control_loops/python/drivetrain.py
@@ -90,7 +90,7 @@
       self.Gr = self.G_high
 
     # Control loop time step
-    self.dt = 0.005
+    self.dt = 0.010
 
     # These describe the way that a given side of a robot will be influenced
     # by the other side. Units of 1 / kg.