diff --git a/y2012/control_loops/drivetrain/drivetrain_base.cc b/y2012/control_loops/drivetrain/drivetrain_base.cc
index 8ca87bc..4e5a87f 100644
--- a/y2012/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2012/control_loops/drivetrain/drivetrain_base.cc
@@ -7,6 +7,7 @@
 #include "y2012/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 #include "y2012/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
 #include "y2012/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "y2012/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainConfig;
 
@@ -27,9 +28,10 @@
       ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
       ::frc971::control_loops::drivetrain::IMUType::IMU_X,
 
-      ::y2012::control_loops::drivetrain::MakeDrivetrainLoop,
-      ::y2012::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
-      ::y2012::control_loops::drivetrain::MakeKFDrivetrainLoop,
+      drivetrain::MakeDrivetrainLoop,
+      drivetrain::MakeVelocityDrivetrainLoop,
+      drivetrain::MakeKFDrivetrainLoop,
+      drivetrain::MakeHybridVelocityDrivetrainLoop,
 
       chrono::duration_cast<chrono::nanoseconds>(
           chrono::duration<double>(drivetrain::kDt)),