diff --git a/frc971/control_loops/state_feedback_loop_test.cc b/frc971/control_loops/state_feedback_loop_test.cc
index 23040e5..6f97bc7 100644
--- a/frc971/control_loops/state_feedback_loop_test.cc
+++ b/frc971/control_loops/state_feedback_loop_test.cc
@@ -2,6 +2,8 @@
 
 #include "gtest/gtest.h"
 
+namespace frc971 {
+namespace control_loops {
 namespace testing {
 
 // Tests that everything compiles and nothing crashes even if
@@ -48,3 +50,5 @@
 }
 
 }  // namespace testing
+}  // namespace control_loops
+}  // namespace frc971
diff --git a/y2016/control_loops/superstructure/superstructure_controls.cc b/y2016/control_loops/superstructure/superstructure_controls.cc
index eb6432d..7d4dea5 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.cc
+++ b/y2016/control_loops/superstructure/superstructure_controls.cc
@@ -23,16 +23,22 @@
     return default_value;
   }
 }
+
+enum ArmIndices { kShoulderIndex = 0, kWristIndex = 1 };
+
 }  // namespace
 
 // Intake
 Intake::Intake()
-    : loop_(new ::frc971::control_loops::SimpleCappedStateFeedbackLoop<3, 1, 1>(
-          ::y2016::control_loops::superstructure::MakeIntegralIntakeLoop())),
+    : ProfiledSubsystem(
+          ::std::unique_ptr<
+              ::frc971::control_loops::SimpleCappedStateFeedbackLoop<3, 1, 1>>(
+              new ::frc971::control_loops::SimpleCappedStateFeedbackLoop<
+                  3, 1, 1>(::y2016::control_loops::superstructure::
+                               MakeIntegralIntakeLoop()))),
       estimator_(constants::GetValues().intake.zeroing),
       profile_(::aos::controls::kLoopFrequency) {
   Y_.setZero();
-  unprofiled_goal_.setZero();
   offset_.setZero();
   AdjustProfile(0.0, 0.0);
 }
@@ -66,9 +72,9 @@
     }
   }
 
-  if (!zeroed_ && estimator_.zeroed()) {
+  if (!zeroed(0) && estimator_.zeroed()) {
     UpdateIntakeOffset(estimator_.offset());
-    zeroed_ = true;
+    set_zeroed(0, true);
   }
 
   Y_ << position.encoder;
@@ -148,10 +154,8 @@
       UseUnlessZero(max_angular_acceleration, 10.0));
 }
 
-void Intake::Reset() {
+void Intake::DoReset() {
   estimator_.Reset();
-  initialized_ = false;
-  zeroed_ = false;
 }
 
 EstimatorState Intake::IntakeEstimatorState() {
@@ -162,15 +166,14 @@
 }
 
 Arm::Arm()
-    : loop_(new ArmControlLoop(
-          ::y2016::control_loops::superstructure::MakeIntegralArmLoop())),
+    : ProfiledSubsystem(::std::unique_ptr<ArmControlLoop>(new ArmControlLoop(
+          ::y2016::control_loops::superstructure::MakeIntegralArmLoop()))),
       shoulder_profile_(::aos::controls::kLoopFrequency),
       wrist_profile_(::aos::controls::kLoopFrequency),
       shoulder_estimator_(constants::GetValues().shoulder.zeroing),
       wrist_estimator_(constants::GetValues().wrist.zeroing) {
   Y_.setZero();
   offset_.setZero();
-  unprofiled_goal_.setZero();
   AdjustProfile(0.0, 0.0, 0.0, 0.0);
 }
 
@@ -238,13 +241,13 @@
     }
   }
 
-  if (!shoulder_zeroed_ && shoulder_estimator_.zeroed()) {
+  if (!zeroed(kShoulderIndex) && shoulder_estimator_.zeroed()) {
     UpdateShoulderOffset(shoulder_estimator_.offset());
-    shoulder_zeroed_ = true;
+    set_zeroed(kShoulderIndex, true);
   }
-  if (!wrist_zeroed_ && wrist_estimator_.zeroed()) {
+  if (!zeroed(kWristIndex) && wrist_estimator_.zeroed()) {
     UpdateWristOffset(wrist_estimator_.offset());
-    wrist_zeroed_ = true;
+    set_zeroed(kWristIndex, true);
   }
 
   {
@@ -373,12 +376,9 @@
   loop_->set_max_voltage(1, wrist_max_voltage);
 }
 
-void Arm::Reset() {
+void Arm::DoReset() {
   shoulder_estimator_.Reset();
   wrist_estimator_.Reset();
-  initialized_ = false;
-  shoulder_zeroed_ = false;
-  wrist_zeroed_ = false;
 }
 
 EstimatorState Arm::ShoulderEstimatorState() {
diff --git a/y2016/control_loops/superstructure/superstructure_controls.h b/y2016/control_loops/superstructure/superstructure_controls.h
index 2934011..adb40e0 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.h
+++ b/y2016/control_loops/superstructure/superstructure_controls.h
@@ -19,93 +19,6 @@
 class SuperstructureTest_DisabledGoalTest_Test;
 }  // namespace testing
 
-class Intake {
- public:
-  Intake();
-  // Returns whether the estimators have been initialized and zeroed.
-  bool initialized() const { return initialized_; }
-  bool zeroed() const { return zeroed_; }
-  // Returns whether an error has occured
-  bool error() const { return estimator_.error(); }
-
-  // Updates our estimator with the latest position.
-  void Correct(::frc971::PotAndIndexPosition position);
-  // Runs the controller and profile generator for a cycle.
-  void Update(bool disabled);
-  // Sets the maximum voltage that will be commanded by the loop.
-  void set_max_voltage(double voltage);
-
-  // Forces the current goal to the provided goal, bypassing the profiler.
-  void ForceGoal(double goal);
-  // Sets the unprofiled goal.  The profiler will generate a profile to go to
-  // this goal.
-  void set_unprofiled_goal(double unprofiled_goal);
-  // Limits our profiles to a max velocity and acceleration for proper motion.
-  void AdjustProfile(double max_angular_velocity,
-                     double max_angular_acceleration);
-
-  // Returns true if we have exceeded any hard limits.
-  bool CheckHardLimits();
-  // Resets the internal state.
-  void Reset();
-
-  // Returns the current internal estimator state for logging.
-  ::frc971::EstimatorState IntakeEstimatorState();
-
-  // Returns the requested intake voltage.
-  double intake_voltage() const { return loop_->U(0, 0); }
-
-  // Returns the current position.
-  double angle() const { return Y_(0, 0); }
-
-  // Returns the controller error.
-  const StateFeedbackLoop<3, 1, 1> &controller() const { return *loop_; }
-
-  // Returns the filtered goal.
-  const Eigen::Matrix<double, 3, 1> &goal() const { return loop_->R(); }
-  double goal(int row, int col) const { return loop_->R(row, col); }
-
-  // Returns the unprofiled goal.
-  const Eigen::Matrix<double, 3, 1> &unprofiled_goal() const {
-    return unprofiled_goal_;
-  }
-  double unprofiled_goal(int row, int col) const {
-    return unprofiled_goal_(row, col);
-  }
-
-  // Returns the current state estimate.
-  const Eigen::Matrix<double, 3, 1> &X_hat() const { return loop_->X_hat(); }
-  double X_hat(int row, int col) const { return loop_->X_hat(row, col); }
-
-  // For testing:
-  // Triggers an estimator error.
-  void TriggerEstimatorError() { estimator_.TriggerError(); }
-
- private:
-  // Limits the provided goal to the soft limits.  Prints "name" when it fails
-  // to aid debugging.
-  void CapGoal(const char *name, Eigen::Matrix<double, 3, 1> *goal);
-
-  void UpdateIntakeOffset(double offset);
-
-  ::std::unique_ptr<
-      ::frc971::control_loops::SimpleCappedStateFeedbackLoop<3, 1, 1>> loop_;
-
-  ::frc971::zeroing::ZeroingEstimator estimator_;
-  aos::util::TrapezoidProfile profile_;
-
-  // Current measurement.
-  Eigen::Matrix<double, 1, 1> Y_;
-  // Current offset.  Y_ = offset_ + raw_sensor;
-  Eigen::Matrix<double, 1, 1> offset_;
-
-  // The goal that the profile tries to reach.
-  Eigen::Matrix<double, 3, 1> unprofiled_goal_;
-
-  bool initialized_ = false;
-  bool zeroed_ = false;
-};
-
 class ArmControlLoop
     : public ::frc971::control_loops::SimpleCappedStateFeedbackLoop<6, 2, 2> {
  public:
@@ -183,14 +96,145 @@
   }
 };
 
-class Arm {
+template <int number_of_states, int number_of_axes>
+class ProfiledSubsystem {
  public:
-  Arm();
+  ProfiledSubsystem(
+      ::std::unique_ptr<::frc971::control_loops::SimpleCappedStateFeedbackLoop<
+          number_of_states, number_of_axes, number_of_axes>>
+          loop)
+      : loop_(::std::move(loop)) {
+    zeroed_.fill(false);
+    unprofiled_goal_.setZero();
+  }
+
+  void Reset() {
+    zeroed_.fill(false);
+    DoReset();
+  }
+
+  // Returns the controller.
+  const StateFeedbackLoop<number_of_states, number_of_axes, number_of_axes>
+      &controller() const {
+    return *loop_;
+  }
+
+  int controller_index() const { return loop_->controller_index(); }
+
   // Returns whether the estimators have been initialized and zeroed.
   bool initialized() const { return initialized_; }
-  bool zeroed() const { return shoulder_zeroed_ && wrist_zeroed_; }
-  bool shoulder_zeroed() const { return shoulder_zeroed_; }
-  bool wrist_zeroed() const { return wrist_zeroed_; }
+
+  bool zeroed() const {
+    for (int i = 0; i < number_of_axes; ++i) {
+      if (!zeroed_[i]) {
+        return false;
+      }
+    }
+    return true;
+  }
+
+  bool zeroed(int index) const { return zeroed_[index]; };
+
+  // Returns the filtered goal.
+  const Eigen::Matrix<double, number_of_states, 1> &goal() const {
+    return loop_->R();
+  }
+  double goal(int row, int col) const { return loop_->R(row, col); }
+
+  // Returns the unprofiled goal.
+  const Eigen::Matrix<double, number_of_states, 1> &unprofiled_goal() const {
+    return unprofiled_goal_;
+  }
+  double unprofiled_goal(int row, int col) const {
+    return unprofiled_goal_(row, col);
+  }
+
+  // Returns the current state estimate.
+  const Eigen::Matrix<double, number_of_states, 1> &X_hat() const {
+    return loop_->X_hat();
+  }
+  double X_hat(int row, int col) const { return loop_->X_hat(row, col); }
+
+ protected:
+  void set_zeroed(int index, bool val) { zeroed_[index] = val; }
+
+  // TODO(austin): It's a bold assumption to assume that we will have the same
+  // number of sensors as axes.  So far, that's been fine.
+  ::std::unique_ptr<::frc971::control_loops::SimpleCappedStateFeedbackLoop<
+      number_of_states, number_of_axes, number_of_axes>>
+      loop_;
+
+  // The goal that the profile tries to reach.
+  Eigen::Matrix<double, number_of_states, 1> unprofiled_goal_;
+
+  bool initialized_ = false;
+
+ private:
+  ::std::array<bool, number_of_axes> zeroed_;
+
+  virtual void DoReset() = 0;
+};
+
+class Intake : public ProfiledSubsystem<3, 1> {
+ public:
+  Intake();
+  // Returns whether an error has occured
+  bool error() const { return estimator_.error(); }
+
+  // Updates our estimator with the latest position.
+  void Correct(::frc971::PotAndIndexPosition position);
+  // Runs the controller and profile generator for a cycle.
+  void Update(bool disabled);
+  // Sets the maximum voltage that will be commanded by the loop.
+  void set_max_voltage(double voltage);
+
+  // Forces the current goal to the provided goal, bypassing the profiler.
+  void ForceGoal(double goal);
+  // Sets the unprofiled goal.  The profiler will generate a profile to go to
+  // this goal.
+  void set_unprofiled_goal(double unprofiled_goal);
+  // Limits our profiles to a max velocity and acceleration for proper motion.
+  void AdjustProfile(double max_angular_velocity,
+                     double max_angular_acceleration);
+
+  // Returns true if we have exceeded any hard limits.
+  bool CheckHardLimits();
+
+  // Returns the current internal estimator state for logging.
+  ::frc971::EstimatorState IntakeEstimatorState();
+
+  // Returns the requested intake voltage.
+  double intake_voltage() const { return loop_->U(0, 0); }
+
+  // Returns the current position.
+  double angle() const { return Y_(0, 0); }
+
+  // For testing:
+  // Triggers an estimator error.
+  void TriggerEstimatorError() { estimator_.TriggerError(); }
+
+ private:
+  // Limits the provided goal to the soft limits.  Prints "name" when it fails
+  // to aid debugging.
+  void CapGoal(const char *name, Eigen::Matrix<double, 3, 1> *goal);
+
+  // Resets the internal state.
+  void DoReset() override;
+
+  void UpdateIntakeOffset(double offset);
+
+  ::frc971::zeroing::ZeroingEstimator estimator_;
+  aos::util::TrapezoidProfile profile_;
+
+  // Current measurement.
+  Eigen::Matrix<double, 1, 1> Y_;
+  // Current offset.  Y_ = offset_ + raw_sensor;
+  Eigen::Matrix<double, 1, 1> offset_;
+};
+
+class Arm : public ProfiledSubsystem<6, 2> {
+ public:
+  Arm();
   // Returns whether an error has occured
   bool error() const {
     return shoulder_estimator_.error() || wrist_estimator_.error();
@@ -207,8 +251,6 @@
   void set_unprofiled_goal(double unprofiled_goal_shoulder,
                            double unprofiled_goal_wrist);
 
-  int controller_index() const { return loop_->controller_index(); }
-
   // Runs the controller and profile generator for a cycle.
   void Update(bool disabled);
 
@@ -226,8 +268,6 @@
 
   // Returns true if we have exceeded any hard limits.
   bool CheckHardLimits();
-  // Resets the internal state.
-  void Reset();
 
   // Returns the current internal estimator state for logging.
   ::frc971::EstimatorState ShoulderEstimatorState();
@@ -241,30 +281,14 @@
   double shoulder_angle() const { return Y_(0, 0); }
   double wrist_angle() const { return Y_(1, 0) + Y_(0, 0); }
 
-  // Returns the controller error.
-  const StateFeedbackLoop<6, 2, 2> &controller() const { return *loop_; }
-
-  // Returns the unprofiled goal.
-  const Eigen::Matrix<double, 6, 1> &unprofiled_goal() const {
-    return unprofiled_goal_;
-  }
-  double unprofiled_goal(int row, int col) const {
-    return unprofiled_goal_(row, col);
-  }
-
-  // Returns the filtered goal.
-  const Eigen::Matrix<double, 6, 1> &goal() const { return loop_->R(); }
-  double goal(int row, int col) const { return loop_->R(row, col); }
-
-  // Returns the current state estimate.
-  const Eigen::Matrix<double, 6, 1> &X_hat() const { return loop_->X_hat(); }
-  double X_hat(int row, int col) const { return loop_->X_hat(row, col); }
-
   // For testing:
   // Triggers an estimator error.
   void TriggerEstimatorError() { shoulder_estimator_.TriggerError(); }
 
  private:
+  // Resets the internal state.
+  void DoReset() override;
+
   // Limits the provided goal to the soft limits.  Prints "name" when it fails
   // to aid debugging.
   void CapGoal(const char *name, Eigen::Matrix<double, 6, 1> *goal);
@@ -274,8 +298,6 @@
   void UpdateShoulderOffset(double offset);
 
   friend class testing::SuperstructureTest_DisabledGoalTest_Test;
-  ::std::unique_ptr<
-      ArmControlLoop> loop_;
 
   aos::util::TrapezoidProfile shoulder_profile_, wrist_profile_;
   ::frc971::zeroing::ZeroingEstimator shoulder_estimator_, wrist_estimator_;
@@ -284,13 +306,6 @@
   Eigen::Matrix<double, 2, 1> Y_;
   // Current offset.  Y_ = offset_ + raw_sensor;
   Eigen::Matrix<double, 2, 1> offset_;
-
-  // The goal that the profile tries to reach.
-  Eigen::Matrix<double, 6, 1> unprofiled_goal_;
-
-  bool initialized_ = false;
-  bool shoulder_zeroed_ = false;
-  bool wrist_zeroed_ = false;
 };
 
 }  // namespace superstructure