diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index 1b98592..75a8475 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -117,16 +117,6 @@
     ],
 )
 
-aos_config(
-    name = "replay_config",
-    src = "drivetrain_replay_config.json",
-    target_compatible_with = ["@platforms//os:linux"],
-    visibility = ["//visibility:public"],
-    deps = [
-        "//y2020:config",
-    ],
-)
-
 cc_test(
     name = "localizer_test",
     srcs = ["localizer_test.cc"],
@@ -150,8 +140,8 @@
     name = "drivetrain_replay_test",
     srcs = ["drivetrain_replay_test.cc"],
     data = [
-        ":replay_config",
-        "@drivetrain_replay//file:spinning_wheels_while_still.bfbs",
+        "//y2020:config",
+        "@drivetrain_replay",
     ],
     target_compatible_with = ["@platforms//os:linux"],
     deps = [
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay_config.json b/y2020/control_loops/drivetrain/drivetrain_replay_config.json
deleted file mode 100644
index 987e55b..0000000
--- a/y2020/control_loops/drivetrain/drivetrain_replay_config.json
+++ /dev/null
@@ -1,13 +0,0 @@
-{
-  "channels": [
-    {
-      "name": "/drivetrain",
-      "type": "frc971.IMUValues",
-      "frequency": 2000,
-      "source_node": "roborio"
-    }
-  ],
-  "imports": [
-    "../../y2020.json"
-  ]
-}
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay_test.cc b/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
index 2e6b327..e6a3f6e 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
@@ -22,9 +22,10 @@
 #include "y2020/control_loops/drivetrain/drivetrain_base.h"
 
 DEFINE_string(
-    logfile, "external/drivetrain_replay/file/spinning_wheels_while_still.bfbs",
+    logfile,
+    "external/drivetrain_replay/",
     "Name of the logfile to read from.");
-DEFINE_string(config, "y2020/control_loops/drivetrain/replay_config.json",
+DEFINE_string(config, "y2020/config.json",
               "Name of the config file to replay using.");
 
 namespace y2020 {
@@ -36,7 +37,8 @@
  public:
   DrivetrainReplayTest()
       : config_(aos::configuration::ReadConfig(FLAGS_config)),
-        reader_(FLAGS_logfile, &config_.message()) {
+        reader_(aos::logger::SortParts(aos::logger::FindLogs(FLAGS_logfile)),
+                &config_.message()) {
     aos::network::OverrideTeamNumber(971);
 
     // TODO(james): Actually enforce not sending on the same buses as the
@@ -55,10 +57,6 @@
 
     frc971::control_loops::drivetrain::DrivetrainConfig<double> config =
         GetDrivetrainConfig();
-    // Make the modification required to the imu transform to work with the 2016
-    // logs...
-    config.imu_transform << 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0;
-    config.gyro_type = frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO;
 
     localizer_ =
         std::make_unique<frc971::control_loops::drivetrain::DeadReckonEkf>(
@@ -70,25 +68,6 @@
     test_event_loop_ =
         reader_.event_loop_factory()->MakeEventLoop("drivetrain_test", roborio_);
 
-    // IMU readings used to be published out one at a time, but we now expect
-    // batches.  Batch them up to upgrade the data.
-    imu_sender_ =
-        test_event_loop_->MakeSender<frc971::IMUValuesBatch>("/drivetrain");
-    test_event_loop_->MakeWatcher(
-        "/drivetrain", [this](const frc971::IMUValues &values) {
-          aos::Sender<frc971::IMUValuesBatch>::Builder builder =
-              imu_sender_.MakeBuilder();
-          flatbuffers::Offset<frc971::IMUValues> values_offsets =
-              aos::CopyFlatBuffer(&values, builder.fbb());
-          flatbuffers::Offset<
-              flatbuffers::Vector<flatbuffers::Offset<frc971::IMUValues>>>
-              values_offset = builder.fbb()->CreateVector(&values_offsets, 1);
-          frc971::IMUValuesBatch::Builder imu_values_batch_builder =
-              builder.MakeBuilder<frc971::IMUValuesBatch>();
-          imu_values_batch_builder.add_readings(values_offset);
-          builder.Send(imu_values_batch_builder.Finish());
-        });
-
     status_fetcher_ = test_event_loop_->MakeFetcher<
         frc971::control_loops::drivetrain::Status>("/drivetrain");
   }
@@ -102,7 +81,6 @@
   std::unique_ptr<frc971::control_loops::drivetrain::DrivetrainLoop>
       drivetrain_;
   std::unique_ptr<aos::EventLoop> test_event_loop_;
-  aos::Sender<frc971::IMUValuesBatch> imu_sender_;
 
   aos::Fetcher<frc971::control_loops::drivetrain::Status> status_fetcher_;
 };
@@ -116,7 +94,10 @@
   ASSERT_TRUE(status_fetcher_->has_x());
   ASSERT_TRUE(status_fetcher_->has_y());
   ASSERT_TRUE(status_fetcher_->has_theta());
-  EXPECT_LT(std::abs(status_fetcher_->x()), 0.25);
+  EXPECT_NEAR(status_fetcher_->estimated_left_position(),
+              status_fetcher_->estimated_right_position(), 0.1);
+  EXPECT_LT(std::abs(status_fetcher_->x()),
+            std::abs(status_fetcher_->estimated_left_position()) / 2.0);
   // Because the encoders should not be affecting the y or yaw axes, expect a
   // reasonably precise result (although, since this is a real worl dtest, the
   // robot probably did actually move be some non-zero amount).
diff --git a/y2020/control_loops/drivetrain/localizer.cc b/y2020/control_loops/drivetrain/localizer.cc
index 3059bf1..32c8834 100644
--- a/y2020/control_loops/drivetrain/localizer.cc
+++ b/y2020/control_loops/drivetrain/localizer.cc
@@ -24,7 +24,7 @@
 }
 
 // Indices of the pis to use.
-const std::array<std::string, 3> kPisToUse{"pi1", "pi2", "pi3"};
+const std::array<std::string, 5> kPisToUse{"pi1", "pi2", "pi3", "pi4", "pi5"};
 
 // Calculates the pose implied by the camera target, just based on
 // distance/heading components.
diff --git a/y2020/control_loops/drivetrain/localizer.h b/y2020/control_loops/drivetrain/localizer.h
index 5dbad02..c3b6464 100644
--- a/y2020/control_loops/drivetrain/localizer.h
+++ b/y2020/control_loops/drivetrain/localizer.h
@@ -65,7 +65,7 @@
                             right_encoder, 0, 0, 0, 0, 0, 0)
                                .finished(),
                            ekf_.P());
-  };
+  }
 
  private:
   // Storage for a single turret position data point.
diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index d195b5d..a3e26b5 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -131,13 +131,14 @@
         drivetrain_plant_(drivetrain_plant_event_loop_.get(), dt_config_),
         last_frame_(monotonic_now()) {
     event_loop_factory()->SetTimeConverter(&time_converter_);
-    CHECK_EQ(aos::configuration::GetNodeIndex(configuration(), roborio_), 5);
+    CHECK_EQ(aos::configuration::GetNodeIndex(configuration(), roborio_), 6);
     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() + kPiTimeOffset,
                                   monotonic_clock::epoch()});
     set_team_id(frc971::control_loops::testing::kTeamNumber);
     set_battery_voltage(12.0);