diff --git a/y2016/control_loops/drivetrain/BUILD b/y2016/control_loops/drivetrain/BUILD
index 629c957..e706f25 100644
--- a/y2016/control_loops/drivetrain/BUILD
+++ b/y2016/control_loops/drivetrain/BUILD
@@ -1,5 +1,3 @@
-load("//aos/build:queues.bzl", "queue_library")
-
 genrule(
     name = "genrule_drivetrain",
     outs = [
diff --git a/y2016/control_loops/drivetrain/drivetrain_main.cc b/y2016/control_loops/drivetrain/drivetrain_main.cc
index 58ba7ce..b4fd9d8 100644
--- a/y2016/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,6 @@
 #include "aos/init.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2016/control_loops/drivetrain/drivetrain_base.h"
 
@@ -9,7 +9,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
       &event_loop, ::y2016::control_loops::drivetrain::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(