diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 73fb9a5..72a32cc 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -22,6 +22,7 @@
   ],
   deps = [
     '//aos/common/controls:control_loop_queues',
+    '//frc971/control_loops:queues',
   ],
 )
 
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index 3ef64bf..4723aef 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -1,14 +1,7 @@
 package frc971.control_loops;
 
 import "aos/common/controls/control_loops.q";
-
-// Parameters for the motion profiles.
-struct ProfileParameters {
-  // Maximum velocity for the profile.
-  float max_velocity;
-  // Maximum acceleration for the profile.
-  float max_acceleration;
-};
+import "frc971/control_loops/control_loops.q";
 
 // For logging information about what the code is doing with the shifters.
 struct GearLogging {
@@ -73,8 +66,8 @@
 
     // Motion profile parameters.
     // The control loop will profile if these are all non-zero.
-    ProfileParameters linear;
-    ProfileParameters angular;
+    .frc971.ProfileParameters linear;
+    .frc971.ProfileParameters angular;
   };
 
   message Position {