diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index 7c4f99f..edec5c2 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -200,6 +200,7 @@
         "//aos/events/logging:log_writer",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
         "//frc971/control_loops/drivetrain:trajectory_generator",
+        "//y2020:constants",
         "//y2020/control_loops/superstructure:superstructure_lib",
         "@com_github_gflags_gflags//:gflags",
         "@com_github_google_glog//:glog",
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay.cc b/y2020/control_loops/drivetrain/drivetrain_replay.cc
index 913fbda..40b50ed 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay.cc
@@ -14,6 +14,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "frc971/control_loops/drivetrain/trajectory_generator.h"
 #include "gflags/gflags.h"
+#include "y2020/constants.h"
 #include "y2020/control_loops/drivetrain/drivetrain_base.h"
 #include "y2020/control_loops/drivetrain/localizer.h"
 #include "y2020/control_loops/superstructure/superstructure.h"
@@ -37,9 +38,7 @@
         logger_(std::make_unique<aos::logger::Logger>(event_loop_.get())) {
     event_loop_->SkipTimingReport();
     event_loop_->SkipAosLog();
-    event_loop_->OnRun([this]() {
-      logger_->StartLogging(std::move(namer_));
-    });
+    event_loop_->OnRun([this]() { logger_->StartLogging(std::move(namer_)); });
   }
 
  private:
@@ -109,6 +108,8 @@
       reader.event_loop_factory()->MakeEventLoop("trajectory_generator", node);
   trajectory_generator_event_loop->SkipTimingReport();
 
+  y2020::constants::InitValues();
+
   frc971::control_loops::drivetrain::TrajectoryGenerator trajectory_generator(
       trajectory_generator_event_loop.get(),
       y2020::control_loops::drivetrain::GetDrivetrainConfig());