diff --git a/y2018/control_loops/python/drivetrain.py b/y2018/control_loops/python/drivetrain.py
index b630601..988ac74 100644
--- a/y2018/control_loops/python/drivetrain.py
+++ b/y2018/control_loops/python/drivetrain.py
@@ -14,28 +14,32 @@
 #robot radius needs confirming(set as distance of center wheels from each other)
 #J needs updating
 
-kDrivetrain = drivetrain.DrivetrainParams(J = 2.0,
-                                          mass = 54.4311,
-                                          robot_radius = 0.675 / 2.0,
-                                          wheel_radius = 0.127 / 2.0,
-                                          G_low = 46.0 / 60.0 * 20.0 / 48.0 * 14.0 / 62.0 ,
-                                          G_high = 62.0 / 44.0 * 20.0 / 48.0 * 14.0 / 62.0,
-                                          q_pos_low = 0.12,
-                                          q_pos_high = 0.14,
-                                          q_vel_low = 1.0,
-                                          q_vel_high = 0.95)
+kDrivetrain = drivetrain.DrivetrainParams(
+    J=2.5,
+    mass=68.0,
+    robot_radius=0.616 / 2.0,
+    wheel_radius=0.127 / 2.0,
+    G_low=46.0 / 60.0 * 20.0 / 48.0 * 14.0 / 62.0,
+    G_high=62.0 / 44.0 * 20.0 / 48.0 * 14.0 / 62.0,
+    q_pos_low=0.12,
+    q_pos_high=0.14,
+    q_vel_low=1.0,
+    q_vel_high=0.95,
+    controller_poles=[0.82, 0.82],
+)
+
 
 def main(argv):
-  argv = FLAGS(argv)
-  glog.init()
+    argv = FLAGS(argv)
+    glog.init()
 
-  if FLAGS.plot:
-    drivetrain.PlotDrivetrainMotions(kDrivetrain)
-  elif len(argv) != 5:
-    print "Expected .h file name and .cc file name"
-  else:
-    # Write the generated constants out to a file.
-    drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2018', kDrivetrain)
+    if FLAGS.plot:
+        drivetrain.PlotDrivetrainMotions(kDrivetrain)
+    elif len(argv) != 5:
+        print "Expected .h file name and .cc file name"
+    else:
+        # Write the generated constants out to a file.
+        drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2018', kDrivetrain)
 
 if __name__ == '__main__':
-  sys.exit(main(sys.argv))
+    sys.exit(main(sys.argv))