diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index efa6ccb..faf1c9a 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -38,11 +38,10 @@
                  output != nullptr ? &(output->wrist_voltage) : nullptr,
                  &(status->wrist));
 
-  intake_.Iterate(
-      unsafe_goal != nullptr ? &(unsafe_goal->intake) : nullptr,
-      &(position->intake_joint),
-      output != nullptr ? &(output->intake_joint_voltage) : nullptr,
-      &(status->intake));
+  intake_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->intake) : nullptr,
+                  &(position->intake_joint),
+                  output != nullptr ? &(output->intake_joint_voltage) : nullptr,
+                  &(status->intake));
 
   stilts_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->stilts) : nullptr,
                   &(position->stilts),
@@ -55,6 +54,16 @@
   status->estopped = status->elevator.estopped || status->wrist.estopped ||
                      status->intake.estopped || status->stilts.estopped;
 
+  if (output) {
+    if (status->intake.position > kMinIntakeAngleForRollers) {
+      output->intake_roller_voltage =
+          (unsafe_goal != nullptr) ? unsafe_goal->roller_voltage : 0.0;
+
+    } else {
+      output->intake_roller_voltage = 0.0;
+    }
+  }
+
   // TODO(theo) move these up when Iterate() is split
   // update the goals
   collision_avoidance_.UpdateGoal(status, unsafe_goal);
diff --git a/y2019/control_loops/superstructure/superstructure.h b/y2019/control_loops/superstructure/superstructure.h
index 22dbcd6..c3e53f2 100644
--- a/y2019/control_loops/superstructure/superstructure.h
+++ b/y2019/control_loops/superstructure/superstructure.h
@@ -28,18 +28,10 @@
           ::frc971::zeroing::AbsoluteEncoderZeroingEstimator,
           ::frc971::control_loops::AbsoluteEncoderProfiledJointStatus>;
 
-  const PotAndAbsoluteEncoderSubsystem &elevator() const {
-    return elevator_;
-  }
-  const PotAndAbsoluteEncoderSubsystem &wrist() const {
-    return wrist_;
-  }
-  const AbsoluteEncoderSubsystem &intake() const {
-    return intake_;
-  }
-  const PotAndAbsoluteEncoderSubsystem &stilts() const {
-    return stilts_;
-  }
+  const PotAndAbsoluteEncoderSubsystem &elevator() const { return elevator_; }
+  const PotAndAbsoluteEncoderSubsystem &wrist() const { return wrist_; }
+  const AbsoluteEncoderSubsystem &intake() const { return intake_; }
+  const PotAndAbsoluteEncoderSubsystem &stilts() const { return stilts_; }
 
  protected:
   virtual void RunIteration(const SuperstructureQueue::Goal *unsafe_goal,
@@ -55,6 +47,8 @@
 
   CollisionAvoidance collision_avoidance_;
 
+  static constexpr double kMinIntakeAngleForRollers = -0.7;
+
   DISALLOW_COPY_AND_ASSIGN(Superstructure);
 };
 
diff --git a/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index de973c0..bd18b60 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -342,9 +342,9 @@
         CheckCollisions();
       }
 
-      const double loop_time = chrono::duration_cast<chrono::duration<double>>(
-                                   monotonic_clock::now() - loop_start_time)
-                                   .count();
+      const double loop_time =
+          chrono::duration_cast<chrono::duration<double>>(
+              monotonic_clock::now() - loop_start_time).count();
 
       const double elevator_acceleration =
           (superstructure_plant_.elevator_velocity() -
@@ -657,6 +657,52 @@
   VerifyNearGoal();
 }
 
+// Tests that the rollers spin when allowed
+TEST_F(SuperstructureTest, IntakeRollerTest) {
+  WaitUntilZeroed();
+
+  // Get the elevator and wrist out of the way and set the Intake to where
+  // we should be able to spin and verify that they do
+  {
+    auto goal = superstructure_queue_.goal.MakeMessage();
+    goal->elevator.unsafe_goal = constants::Values::kElevatorRange().upper;
+    goal->wrist.unsafe_goal = 0.0;
+    goal->intake.unsafe_goal = constants::Values::kIntakeRange().upper;
+    goal->roller_voltage = 6.0;
+
+    ASSERT_TRUE(goal.Send());
+  }
+
+  RunForTime(chrono::seconds(5), true, true);
+  superstructure_queue_.goal.FetchLatest();
+  superstructure_queue_.output.FetchLatest();
+  EXPECT_EQ(superstructure_queue_.output->intake_roller_voltage,
+            superstructure_queue_.goal->roller_voltage);
+  VerifyNearGoal();
+
+  // Move the intake where we oughtn't to spin the rollers and verify they don't
+  {
+    auto goal = superstructure_queue_.goal.MakeMessage();
+    goal->elevator.unsafe_goal = constants::Values::kElevatorRange().upper;
+    goal->wrist.unsafe_goal = 0.0;
+    goal->intake.unsafe_goal = constants::Values::kIntakeRange().lower;
+    goal->roller_voltage = 6.0;
+
+    ASSERT_TRUE(goal.Send());
+  }
+
+  RunForTime(chrono::seconds(5), true, true);
+  superstructure_queue_.goal.FetchLatest();
+  superstructure_queue_.output.FetchLatest();
+  EXPECT_EQ(superstructure_queue_.output->intake_roller_voltage, 0.0);
+  VerifyNearGoal();
+}
+
+// Tests that running disabled, ya know, works
+TEST_F(SuperstructureTest, DiasableTest) {
+  RunForTime(chrono::seconds(2), false, false);
+}
+
 }  // namespace testing
 }  // namespace superstructure
 }  // namespace control_loops