diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 0cdc447..2e64090 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -12,6 +12,7 @@
 
 namespace y2016 {
 namespace control_loops {
+namespace drivetrain {
 
 using ::frc971::constants::ShifterHallEffect;
 
@@ -40,5 +41,6 @@
   return kDrivetrainConfig;
 };
 
+}  // namespace drivetrain
 }  // namespace control_loops
 }  // namespace y2016
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.h b/y2016/control_loops/drivetrain/drivetrain_base.h
index 816ed21..c67031c 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.h
+++ b/y2016/control_loops/drivetrain/drivetrain_base.h
@@ -3,13 +3,14 @@
 
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 
-using ::frc971::control_loops::drivetrain::DrivetrainConfig;
-
 namespace y2016 {
 namespace control_loops {
+namespace drivetrain {
 
-const DrivetrainConfig &GetDrivetrainConfig();
+const ::frc971::control_loops::drivetrain::DrivetrainConfig &
+GetDrivetrainConfig();
 
+}  // namespace drivetrain
 }  // namespace control_loops
 }  // namespace y2016
 
diff --git a/y2016/control_loops/drivetrain/drivetrain_main.cc b/y2016/control_loops/drivetrain/drivetrain_main.cc
index 489a36e..deb7ae3 100644
--- a/y2016/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_main.cc
@@ -7,7 +7,8 @@
 
 int main() {
   ::aos::Init();
-  DrivetrainLoop drivetrain(::y2016::control_loops::GetDrivetrainConfig());
+  DrivetrainLoop drivetrain(
+      ::y2016::control_loops::drivetrain::GetDrivetrainConfig());
   drivetrain.Run();
   ::aos::Cleanup();
   return 0;