diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 177c0a5..523c9b3 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -227,9 +227,9 @@
     Y << position->left_encoder, position->right_encoder, last_gyro_rate_,
         last_accel_;
     kf_.Correct(Y);
-    integrated_kf_heading_ += dt_config_.dt *
-                              (kf_.X_hat(3, 0) - kf_.X_hat(1, 0)) /
-                              (dt_config_.robot_radius * 2.0);
+    integrated_kf_heading_ +=
+        chrono::duration_cast<chrono::duration<double>>(dt_config_.dt).count() *
+        (kf_.X_hat(3, 0) - kf_.X_hat(1, 0)) / (dt_config_.robot_radius * 2.0);
 
     // gyro_heading = (real_right - real_left) / width
     // wheel_heading = (wheel_right - wheel_left) / width
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index 92d15b0..476128d 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -54,10 +54,10 @@
   ::std::function<StateFeedbackLoop<2, 2, 2, Scalar>()> make_v_drivetrain_loop;
   ::std::function<StateFeedbackLoop<7, 2, 4, Scalar>()> make_kf_drivetrain_loop;
 
-  Scalar dt;            // Control loop time step.
-  Scalar robot_radius;  // Robot radius, in meters.
-  Scalar wheel_radius;  // Wheel radius, in meters.
-  Scalar v;             // Motor velocity constant.
+  ::std::chrono::nanoseconds dt;  // Control loop time step.
+  Scalar robot_radius;            // Robot radius, in meters.
+  Scalar wheel_radius;            // Wheel radius, in meters.
+  Scalar v;                       // Motor velocity constant.
 
   // Gear ratios, from wheel to motor shaft.
   Scalar high_gear_ratio;
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 1c11ae2..383059f 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -44,7 +44,8 @@
       ::y2016::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
       ::y2016::control_loops::drivetrain::MakeKFDrivetrainLoop,
 
-      ::y2016::control_loops::drivetrain::kDt,
+      chrono::duration_cast<chrono::nanoseconds>(
+          chrono::duration<double>(::y2016::control_loops::drivetrain::kDt)),
       ::y2016::control_loops::drivetrain::kRobotRadius,
       ::y2016::control_loops::drivetrain::kWheelRadius,
       ::y2016::control_loops::drivetrain::kV,
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.h b/frc971/control_loops/drivetrain/polydrivetrain.h
index c09c527..64b1aff 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.h
+++ b/frc971/control_loops/drivetrain/polydrivetrain.h
@@ -372,11 +372,14 @@
     current_left_velocity_ = kZero;
     current_right_velocity_ = kZero;
   } else {
+    const Scalar dt =
+        ::std::chrono::duration_cast<::std::chrono::duration<Scalar>>(
+            dt_config_.dt)
+            .count();
     current_left_velocity_ =
-        (position_.left_encoder - last_position_.left_encoder) / dt_config_.dt;
+        (position_.left_encoder - last_position_.left_encoder) / dt;
     current_right_velocity_ =
-        (position_.right_encoder - last_position_.right_encoder) /
-        dt_config_.dt;
+        (position_.right_encoder - last_position_.right_encoder) / dt;
     left_motor_speed_ =
         MotorSpeed(dt_config_.left_drive, position_.left_shifter_position,
                    current_left_velocity_, left_gear_);