diff --git a/frc971/control_loops/profiled_subsystem.h b/frc971/control_loops/profiled_subsystem.h
index 379cdc9..7dbd1a8 100644
--- a/frc971/control_loops/profiled_subsystem.h
+++ b/frc971/control_loops/profiled_subsystem.h
@@ -15,6 +15,7 @@
 #include "frc971/control_loops/simple_capped_state_feedback_loop.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/zeroing/zeroing.h"
+#include "frc971/constants.h"
 
 namespace frc971 {
 namespace control_loops {
@@ -171,6 +172,8 @@
   // Triggers an estimator error.
   void TriggerEstimatorError() { estimators_[0].TriggerError(); }
 
+  const ::frc971::constants::Range &range() const { return range_; }
+
  private:
   // Limits the provided goal to the soft limits.  Prints "name" when it fails
   // to aid debugging.
@@ -235,6 +238,7 @@
 void SingleDOFProfiledSubsystem<ZeroingEstimator>::PopulateStatus(
     ProfiledJointStatus *status) {
   status->zeroed = zeroed();
+  status->state = -1;
   // We don't know, so default to the bad case.
   status->estopped = true;
 
diff --git a/frc971/control_loops/profiled_subsystem.q b/frc971/control_loops/profiled_subsystem.q
new file mode 100644
index 0000000..11d641d
--- /dev/null
+++ b/frc971/control_loops/profiled_subsystem.q
@@ -0,0 +1,41 @@
+package frc971.control_loops;
+
+import "frc971/control_loops/control_loops.q";
+
+struct ProfiledJointStatus {
+  // Is the turret zeroed?
+  bool zeroed;
+
+  // The state of the subsystem, if applicable.  -1 otherwise.
+  int32_t state;
+
+  // If true, we have aborted.
+  bool estopped;
+
+  // Position of the joint.
+  float position;
+  // Velocity of the joint in units/second.
+  float velocity;
+  // Profiled goal position of the joint.
+  float goal_position;
+  // Profiled goal velocity of the joint in units/second.
+  float goal_velocity;
+  // Unprofiled goal position from absoulte zero  of the joint.
+  float unprofiled_goal_position;
+  // Unprofiled goal velocity of the joint in units/second.
+  float unprofiled_goal_velocity;
+
+  // The estimated voltage error.
+  float voltage_error;
+
+  // The calculated velocity with delta x/delta t
+  float calculated_velocity;
+
+  // Components of the control loop output
+  float position_power;
+  float velocity_power;
+  float feedforwards_power;
+
+  // State of the estimator.
+  .frc971.EstimatorState estimator_state;
+};