diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index c9422cd..7d7b19e 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -11,6 +11,7 @@
 #include "aos/controls/polytope.h"
 #include "aos/common/commonmath.h"
 #include "aos/common/logging/queue_logging.h"
+#include "aos/common/logging/matrix_logging.h"
 
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/control_loops/drivetrain/polydrivetrain_cim_plant.h"
@@ -123,7 +124,7 @@
   }
   void PrintMotors() const {
     ::Eigen::Matrix<double, 4, 1> E = loop_->R - loop_->X_hat;
-    LOG(DEBUG, "E[0, 0]: %f E[1, 0] %f E[2, 0] %f E[3, 0] %f\n", E(0, 0), E(1, 0), E(2, 0), E(3, 0));
+    LOG_MATRIX(DEBUG, "E", E);
   }
 
  private:
diff --git a/frc971/control_loops/drivetrain/drivetrain.gyp b/frc971/control_loops/drivetrain/drivetrain.gyp
index adb9f94..ccabc30 100644
--- a/frc971/control_loops/drivetrain/drivetrain.gyp
+++ b/frc971/control_loops/drivetrain/drivetrain.gyp
@@ -49,6 +49,7 @@
         '<(DEPTH)/frc971/queues/queues.gyp:queues',
         '<(AOS)/common/util/util.gyp:log_interval',
         '<(AOS)/common/logging/logging.gyp:queue_logging',
+        '<(AOS)/common/logging/logging.gyp:matrix_logging',
       ],
       'export_dependent_settings': [
         '<(DEPTH)/aos/build/externals.gyp:libcdd',