diff --git a/y2014/control_loops/drivetrain/drivetrain_base.cc b/y2014/control_loops/drivetrain/drivetrain_base.cc
index 2c3a6f8..b43323b 100644
--- a/y2014/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_base.cc
@@ -32,10 +32,12 @@
       constants::GetValues().low_gear_ratio,
       constants::GetValues().left_drive.shifter_hall_effect,
       constants::GetValues().right_drive.shifter_hall_effect,
-      true,
+      true /* default_high_gear */,
       0,
-      0.25,
-      1.0};
+      0.25 /* wheel_non_linearity */,
+      1.0 /* quickturn_wheel_multiplier */,
+      1.0 /* wheel_multiplier */,
+  };
 
   return kDrivetrainConfig;
 };