diff --git a/frc971/wpilib/drivetrain_writer.cc b/frc971/wpilib/drivetrain_writer.cc
index 5c6feb8..0afbe20 100644
--- a/frc971/wpilib/drivetrain_writer.cc
+++ b/frc971/wpilib/drivetrain_writer.cc
@@ -2,8 +2,7 @@
 
 #include "aos/commonmath.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
 #include "frc971/wpilib/ahal/PWM.h"
 #include "frc971/wpilib/loop_output_handler.h"
 
@@ -11,19 +10,19 @@
 namespace wpilib {
 
 void DrivetrainWriter::Write(
-    const ::frc971::control_loops::DrivetrainQueue::Output &output) {
-  AOS_LOG_STRUCT(DEBUG, "will output", output);
-  left_controller0_->SetSpeed(SafeSpeed(reversed_left0_, output.left_voltage));
+    const ::frc971::control_loops::drivetrain::Output &output) {
+  left_controller0_->SetSpeed(
+      SafeSpeed(reversed_left0_, output.left_voltage()));
   right_controller0_->SetSpeed(
-      SafeSpeed(reversed_right0_, output.right_voltage));
+      SafeSpeed(reversed_right0_, output.right_voltage()));
 
   if (left_controller1_) {
     left_controller1_->SetSpeed(
-        SafeSpeed(reversed_left1_, output.left_voltage));
+        SafeSpeed(reversed_left1_, output.left_voltage()));
   }
   if (right_controller1_) {
     right_controller1_->SetSpeed(
-        SafeSpeed(reversed_right1_, output.right_voltage));
+        SafeSpeed(reversed_right1_, output.right_voltage()));
   }
 }