diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index 490b1e7..a74b18e 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -139,6 +139,7 @@
         "//aos/events:simulated_event_loop",
         "//aos/events/logging:logger",
         "//aos/network:team_number",
+        "//aos/network:testing_time_converter",
         "//frc971/control_loops:team_number_test_environment",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
         "//frc971/control_loops/drivetrain:drivetrain_test_lib",
diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index da3ef17..3798c34 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -6,6 +6,7 @@
 #include "aos/events/logging/logger.h"
 #include "aos/network/message_bridge_server_generated.h"
 #include "aos/network/team_number.h"
+#include "aos/network/testing_time_converter.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
 #include "frc971/control_loops/team_number_test_environment.h"
@@ -103,6 +104,7 @@
             aos::configuration::ReadConfig(
                 "y2020/control_loops/drivetrain/simulation_config.json"),
             GetTest2020DrivetrainConfig().dt),
+        time_converter_(aos::configuration::NodesCount(configuration())),
         roborio_(aos::configuration::GetNode(configuration(), "roborio")),
         pi1_(aos::configuration::GetNode(configuration(), "pi1")),
         test_event_loop_(MakeEventLoop("test", roborio_)),
@@ -128,9 +130,15 @@
         drivetrain_plant_event_loop_(MakeEventLoop("plant", roborio_)),
         drivetrain_plant_(drivetrain_plant_event_loop_.get(), dt_config_),
         last_frame_(monotonic_now()) {
-    event_loop_factory()->GetNodeEventLoopFactory(pi1_)->SetDistributedOffset(
-        kPiTimeOffset, 1.0);
-
+    event_loop_factory()->SetTimeConverter(&time_converter_);
+    CHECK_EQ(aos::configuration::GetNodeIndex(configuration(), roborio_), 5);
+    CHECK_EQ(aos::configuration::GetNodeIndex(configuration(), pi1_), 1);
+    time_converter_.AddMonotonic({monotonic_clock::epoch() + kPiTimeOffset,
+                                  monotonic_clock::epoch() + kPiTimeOffset,
+                                  monotonic_clock::epoch() + kPiTimeOffset,
+                                  monotonic_clock::epoch() + kPiTimeOffset,
+                                  monotonic_clock::epoch() + kPiTimeOffset,
+                                  monotonic_clock::epoch()});
     set_team_id(frc971::control_loops::testing::kTeamNumber);
     set_battery_voltage(12.0);
 
@@ -326,6 +334,8 @@
     }
   }
 
+  aos::message_bridge::TestingTimeConverter time_converter_;
+
   const aos::Node *const roborio_;
   const aos::Node *const pi1_;