diff --git a/frc971/codelab/basic.cc b/frc971/codelab/basic.cc
index d06e285..29ffcf5 100644
--- a/frc971/codelab/basic.cc
+++ b/frc971/codelab/basic.cc
@@ -4,12 +4,12 @@
 namespace codelab {
 
 Basic::Basic(::aos::EventLoop *event_loop, const ::std::string &name)
-    : aos::controls::ControlLoop<BasicQueue>(event_loop, name) {}
+    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                 name) {}
 
-void Basic::RunIteration(const BasicQueue::Goal *goal,
-                         const BasicQueue::Position *position,
-                         BasicQueue::Output *output,
-                         BasicQueue::Status *status) {
+void Basic::RunIteration(const Goal *goal, const Position *position,
+                         aos::Sender<Output>::Builder *output,
+                         aos::Sender<Status>::Builder *status) {
   // TODO(you): Set the intake_voltage to 12 Volts when
   // intake is requested (via intake in goal). Make sure not to set
   // the motor to anything but 0 V when the limit_sensor is pressed.