diff --git a/y2017/control_loops/drivetrain/drivetrain_base.cc b/y2017/control_loops/drivetrain/drivetrain_base.cc
index 03e180b..0eb506e 100644
--- a/y2017/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2017/control_loops/drivetrain/drivetrain_base.cc
@@ -20,7 +20,7 @@
 
 const DrivetrainConfig &GetDrivetrainConfig() {
   static DrivetrainConfig kDrivetrainConfig{
-      ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
+      ::frc971::control_loops::drivetrain::ShifterType::NO_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
 
       ::y2017::control_loops::drivetrain::MakeDrivetrainLoop,
@@ -38,7 +38,7 @@
       kThreeStateDriveShifter,
       true,
       constants::GetValues().down_error,
-      0.25,
+      0.4,
       1.0};
 
   return kDrivetrainConfig;
diff --git a/y2017/control_loops/drivetrain/drivetrain_base.h b/y2017/control_loops/drivetrain/drivetrain_base.h
index 6ef519b..4dea38b 100644
--- a/y2017/control_loops/drivetrain/drivetrain_base.h
+++ b/y2017/control_loops/drivetrain/drivetrain_base.h
@@ -4,9 +4,13 @@
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 
 namespace y2017 {
+namespace constants {
+// The ratio from the encoder shaft to the drivetrain wheels.
+static constexpr double kDrivetrainEncoderRatio = 1.0;
+
+}  // namespace constants
 namespace control_loops {
 namespace drivetrain {
-
 const ::frc971::control_loops::drivetrain::DrivetrainConfig &
 GetDrivetrainConfig();