diff --git a/y2017/control_loops/drivetrain/drivetrain_base.cc b/y2017/control_loops/drivetrain/drivetrain_base.cc
index 9ff357b..bb22c0f 100644
--- a/y2017/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2017/control_loops/drivetrain/drivetrain_base.cc
@@ -37,10 +37,12 @@
       drivetrain::kHighGearRatio,
       kThreeStateDriveShifter,
       kThreeStateDriveShifter,
-      true,
+      true /* default_high_gear */,
       constants::GetValues().down_error,
-      0.4,
-      1.0};
+      0.4 /* wheel_non_linearity */,
+      1.0 /* quickturn_wheel_multiplier */,
+      1.0 /* wheel_multiplier */,
+  };
 
   return kDrivetrainConfig;
 };