diff --git a/y2021_bot3/control_loops/superstructure/superstructure_goal.fbs b/y2021_bot3/control_loops/superstructure/superstructure_goal.fbs
index c016cad..718edca 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2021_bot3/control_loops/superstructure/superstructure_goal.fbs
@@ -3,6 +3,13 @@
 namespace y2021_bot3.control_loops.superstructure;
 
 table Goal {
+  // Intake speed for the intake, positive number pulls balls into the robot
+  intake_speed:double (id:0);
+
+  // Outtake speed for the outtake roller, positive number means it is outtaking balls
+  outtake_speed:double (id:1);
+
+  // TODO: Add climber
 
 }
 
diff --git a/y2021_bot3/control_loops/superstructure/superstructure_output.fbs b/y2021_bot3/control_loops/superstructure/superstructure_output.fbs
index 88bdf2f..47b9476 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure_output.fbs
+++ b/y2021_bot3/control_loops/superstructure/superstructure_output.fbs
@@ -1,6 +1,13 @@
 namespace y2021_bot3.control_loops.superstructure;
 
 table Output {
+  // Voltage for intake motor, positive number is intaking balls
+  intake_volts:double (id:0);
+
+  // Voltage for outtake motor, positive number is outtaking balls
+  outtake_volts:double (id:1);
+
+  // TODO: Add climber
 
 }
 
diff --git a/y2021_bot3/control_loops/superstructure/superstructure_status.fbs b/y2021_bot3/control_loops/superstructure/superstructure_status.fbs
index e615c62..4f94e76 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure_status.fbs
+++ b/y2021_bot3/control_loops/superstructure/superstructure_status.fbs
@@ -10,6 +10,13 @@
   // If true, we have aborted. This is the or of all subsystem estops.
   estopped:bool (id: 1);
 
+  // Intake speed for the intake, positive number means it is intaking balls
+  intake_speed:double (id:2);
+
+  // Outtake speed for the outtake roller, positive number outtakes balls
+  outtake_speed:double (id:3);
+
+  // TODO: Add climber
 }
 
 root_type Status;