diff --git a/y2019/control_loops/drivetrain/drivetrain_base.cc b/y2019/control_loops/drivetrain/drivetrain_base.cc
index 26ca861..02bd805 100644
--- a/y2019/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_base.cc
@@ -40,8 +40,8 @@
       drivetrain::kMass, kThreeStateDriveShifter, kThreeStateDriveShifter,
       true /* default_high_gear */, 0 /* down_offset if using constants use
                                    constants::GetValues().down_error */,
-      0.8 /* wheel_non_linearity */, 1.2 /* quickturn_wheel_multiplier */,
-      1.5 /* wheel_multiplier */,
+      0.7 /* wheel_non_linearity */, 1.2 /* quickturn_wheel_multiplier */,
+      1.2 /* wheel_multiplier */,
   };
 
   return kDrivetrainConfig;