diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index d3ef652..bdcb8a3 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -237,7 +237,7 @@
   Time now = Time::Now();
   // Make goal easy to work with and sanity check it.
   Goal goal_enum = static_cast<Goal>(goal->goal_state);
-  if (goal->goal_state < 0 || goal->goal_state > 4) {
+  if (goal->goal_state < 0 || goal->goal_state > 5) {
     LOG(ERROR, "Goal state is %"PRId32" which is out of range.  Going to HOLD.\n",
         goal->goal_state);
     goal_enum = Goal::HOLD;
@@ -638,6 +638,9 @@
       }
       LOG(DEBUG, "INTAKE\n");
       break;
+    case Goal::REINITIALIZE:
+      LOG(WARNING, "Reinitializing the indexer\n");
+      break;
     case Goal::READY_SHOOTER:
     case Goal::SHOOT:
       // Don't let us leave the shoot or preload state if there are 4 discs in
@@ -799,6 +802,7 @@
         break;
       case Goal::READY_SHOOTER:
       case Goal::SHOOT:
+      case Goal::REINITIALIZE:
         break;
     }
   }
@@ -949,6 +953,26 @@
     last_top_disc_negedge_count_ = position->top_disc_negedge_count;
   }
 
+  // Clear everything if we are supposed to re-initialize.
+  if (goal_enum == Goal::REINITIALIZE) {
+    safe_goal_ = Goal::REINITIALIZE;
+    no_prior_position_ = true;
+    hopper_disc_count_ = 0;
+    total_disc_count_ = 0;
+    shot_disc_count_ = 0;
+    loader_state_ = LoaderState::READY;
+    loader_goal_ = LoaderGoal::READY;
+    loader_countdown_ = 0;
+    loader_up_ = false;
+    disc_clamped_ = false;
+    disc_ejected_ = false;
+
+    intake_voltage = 0.0;
+    transfer_voltage = 0.0;
+    wrist_loop_->U(0, 0) = 0.0;
+    frisbees_.clear();
+  }
+
   status->hopper_disc_count = hopper_disc_count_;
   status->total_disc_count = total_disc_count_;
   status->shot_disc_count = shot_disc_count_;
diff --git a/frc971/control_loops/index/index.h b/frc971/control_loops/index/index.h
index 62a582c..a18d4c9 100644
--- a/frc971/control_loops/index/index.h
+++ b/frc971/control_loops/index/index.h
@@ -262,7 +262,9 @@
     // Get ready to shoot, and place a disc in the loader.
     READY_SHOOTER = 3,
     // Shoot at will.
-    SHOOT = 4
+    SHOOT = 4,
+    // Reinitialize.
+    REINITIALIZE = 5
   };
 
   // These two enums command and track the loader loading discs into the
diff --git a/frc971/control_loops/index/index_motor.q b/frc971/control_loops/index/index_motor.q
index 61e7a61..b125e38 100644
--- a/frc971/control_loops/index/index_motor.q
+++ b/frc971/control_loops/index/index_motor.q
@@ -12,6 +12,7 @@
     // 2 means ready the discs, spin up the transfer roller, and accept discs.
     // 3 means get ready to shoot, and place a disc grabbed in the loader.
     // 4 means shoot at will.
+    // 5 means re-initialize
     int32_t goal_state;
   };