diff --git a/y2024/control_loops/drivetrain/drivetrain_main.cc b/y2024/control_loops/drivetrain/drivetrain_main.cc
index e0b2eb7..82629de 100644
--- a/y2024/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2024/control_loops/drivetrain/drivetrain_main.cc
@@ -18,14 +18,15 @@
   frc971::constants::WaitForConstants<y2024::Constants>(&config.message());
 
   aos::ShmEventLoop event_loop(&config.message());
+  const auto drivetrain_config =
+      ::y2024::control_loops::drivetrain::GetDrivetrainConfig(&event_loop);
+
   std::unique_ptr<::frc971::control_loops::drivetrain::PuppetLocalizer>
       localizer = std::make_unique<
           ::frc971::control_loops::drivetrain::PuppetLocalizer>(
-          &event_loop,
-          ::y2024::control_loops::drivetrain::GetDrivetrainConfig(&event_loop));
+          &event_loop, drivetrain_config);
   std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
-      y2024::control_loops::drivetrain::GetDrivetrainConfig(&event_loop),
-      &event_loop, localizer.get());
+      drivetrain_config, &event_loop, localizer.get());
 
   event_loop.Run();