diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index 1bd760f..0e06057 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -110,6 +110,15 @@
     ],
 )
 
+aos_config(
+    name = "replay_config",
+    src = "drivetrain_replay_config.json",
+    visibility = ["//visibility:public"],
+    deps = [
+        "//y2020:config",
+    ],
+)
+
 cc_test(
     name = "localizer_test",
     srcs = ["localizer_test.cc"],
@@ -131,7 +140,7 @@
     name = "drivetrain_replay_test",
     srcs = ["drivetrain_replay_test.cc"],
     data = [
-        "//y2020:config.json",
+        ":replay_config.json",
         "@drivetrain_replay//file:spinning_wheels_while_still.bfbs",
     ],
     deps = [
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay_config.json b/y2020/control_loops/drivetrain/drivetrain_replay_config.json
new file mode 100644
index 0000000..987e55b
--- /dev/null
+++ b/y2020/control_loops/drivetrain/drivetrain_replay_config.json
@@ -0,0 +1,13 @@
+{
+  "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 6033184..4b02923 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
@@ -23,7 +23,7 @@
 DEFINE_string(
     logfile, "external/drivetrain_replay/file/spinning_wheels_while_still.bfbs",
     "Name of the logfile to read from.");
-DEFINE_string(config, "y2020/config.json",
+DEFINE_string(config, "y2020/control_loops/drivetrain/replay_config.json",
               "Name of the config file to replay using.");
 
 namespace y2020 {
@@ -67,7 +67,27 @@
             config, drivetrain_event_loop_.get(), localizer_.get());
 
     test_event_loop_ =
-        reader_.event_loop_factory()->MakeEventLoop("drivetrain", roborio_);
+        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");
   }
@@ -81,6 +101,7 @@
   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_;
 };