diff --git a/y2023/control_loops/python/drivetrain.py b/y2023/control_loops/python/drivetrain.py
index 863684c..05739fc 100644
--- a/y2023/control_loops/python/drivetrain.py
+++ b/y2023/control_loops/python/drivetrain.py
@@ -13,7 +13,7 @@
 gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
 
 kDrivetrain = drivetrain.DrivetrainParams(
-    J=6.0,
+    J=6.5,
     mass=58.0,
     # TODO(austin): Measure radius a bit better.
     robot_radius=0.39,
@@ -23,7 +23,7 @@
     G=(14.0 / 54.0) * (22.0 / 56.0),
     q_pos=0.24,
     q_vel=2.5,
-    efficiency=0.80,
+    efficiency=0.75,
     has_imu=True,
     force=True,
     kf_q_voltage=1.0,