diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index c0c7482..6de9883 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -67,6 +67,8 @@
 
   double quickturn_wheel_multiplier;
 
+  double wheel_multiplier;
+
   // Converts the robot state to a linear distance position, velocity.
   static Eigen::Matrix<double, 2, 1> LeftRightToLinear(
       const Eigen::Matrix<double, 7, 1> &left_right) {
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 594d504..5faae63 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -57,6 +57,7 @@
       0,
 
       0.25,
+      1.00,
       1.00};
 
   return kDrivetrainConfig;
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc
index a842f50..97df2cf 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.cc
+++ b/frc971/control_loops/drivetrain/polydrivetrain.cc
@@ -121,8 +121,10 @@
   wheel_ = 2.0 * wheel - wheel_;
   quickturn_ = quickturn;
 
-  if (!quickturn_) {
+  if (quickturn_) {
     wheel_ *= dt_config_.quickturn_wheel_multiplier;
+  } else {
+    wheel_ *= dt_config_.wheel_multiplier;
   }
 
   static const double kThrottleDeadband = 0.05;