diff --git a/y2012/control_loops/drivetrain/drivetrain_base.cc b/y2012/control_loops/drivetrain/drivetrain_base.cc
index aa8f9e4..6f817f8 100644
--- a/y2012/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2012/control_loops/drivetrain/drivetrain_base.cc
@@ -36,10 +36,11 @@
       drivetrain::kLowGearRatio,
       kThreeStateDriveShifter,
       kThreeStateDriveShifter,
-      true,
+      true /* default_high_gear */,
       0.0,
-      0.4,
-      1.0};
+      0.4 /* wheel_non_linearity */,
+      1.0 /* quickturn_wheel_multiplier */,
+      1.0 /* wheel_multiplier */};
 
   return kDrivetrainConfig;
 };