diff --git a/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc
index 8fd6d94..a97e0dd 100644
--- a/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -27,7 +27,7 @@
   static constexpr double kImuYaw = 0.0;
   static DrivetrainConfig<double> kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
-      ::frc971::control_loops::drivetrain::LoopType::OPEN_LOOP,
+      ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
       ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
       ::frc971::control_loops::drivetrain::IMUType::IMU_FLIPPED_X,
 
diff --git a/y2022_bot3/control_loops/python/drivetrain.py b/y2022_bot3/control_loops/python/drivetrain.py
index 638b3f3..7db0a05 100644
--- a/y2022_bot3/control_loops/python/drivetrain.py
+++ b/y2022_bot3/control_loops/python/drivetrain.py
@@ -24,7 +24,7 @@
     q_pos=0.24,
     q_vel=2.5,
     efficiency=0.80,
-    has_imu=True,
+    has_imu=False,
     force=True,
     kf_q_voltage=1.0,
     controller_poles=[0.82, 0.82])