diff --git a/y2017/control_loops/drivetrain/BUILD b/y2017/control_loops/drivetrain/BUILD
index 409fc93..46af643 100644
--- a/y2017/control_loops/drivetrain/BUILD
+++ b/y2017/control_loops/drivetrain/BUILD
@@ -1,7 +1,5 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
-
 genrule(
     name = "genrule_drivetrain",
     outs = [
@@ -78,7 +76,7 @@
     deps = [
         ":drivetrain_base",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
     ],
 )
diff --git a/y2017/control_loops/drivetrain/drivetrain_main.cc b/y2017/control_loops/drivetrain/drivetrain_main.cc
index a78d97f..c9da772 100644
--- a/y2017/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2017/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 "y2017/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, ::y2017::control_loops::drivetrain::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(