diff --git a/y2023_bot3/control_loops/superstructure/BUILD b/y2023_bot3/control_loops/superstructure/BUILD
index 0330182..8630ef9 100644
--- a/y2023_bot3/control_loops/superstructure/BUILD
+++ b/y2023_bot3/control_loops/superstructure/BUILD
@@ -90,6 +90,7 @@
     ],
     deps = [
         ":end_effector",
+        ":pivot_joint",
         ":superstructure_goal_fbs",
         ":superstructure_output_fbs",
         ":superstructure_position_fbs",
@@ -188,3 +189,21 @@
         "//aos/network:team_number",
     ],
 )
+
+cc_library(
+    name = "pivot_joint",
+    srcs = [
+        "pivot_joint.cc",
+    ],
+    hdrs = [
+        "pivot_joint.h",
+    ],
+    deps = [
+        ":superstructure_goal_fbs",
+        ":superstructure_status_fbs",
+        "//aos/events:event_loop",
+        "//aos/time",
+        "//frc971/control_loops:control_loop",
+        "//y2023_bot3:constants",
+    ],
+)
diff --git a/y2023_bot3/control_loops/superstructure/pivot_joint.cc b/y2023_bot3/control_loops/superstructure/pivot_joint.cc
new file mode 100644
index 0000000..7669396
--- /dev/null
+++ b/y2023_bot3/control_loops/superstructure/pivot_joint.cc
@@ -0,0 +1,75 @@
+#include "pivot_joint.h"
+
+#include "aos/events/event_loop.h"
+#include "aos/time/time.h"
+#include "frc971/control_loops/control_loop.h"
+#include "y2023_bot3/constants.h"
+#include "y2023_bot3/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2023_bot3/control_loops/superstructure/superstructure_status_generated.h"
+
+namespace y2023_bot3 {
+namespace control_loops {
+namespace superstructure {
+
+PivotJoint::PivotJoint(std::shared_ptr<const constants::Values> values)
+    : pivot_joint_(values->pivot_joint.subsystem_params) {}
+
+flatbuffers::Offset<
+    frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
+PivotJoint::RunIteration(PivotGoal goal, double *output,
+                         const frc971::PotAndAbsolutePosition *position,
+                         flatbuffers::FlatBufferBuilder *status_fbb) {
+  double pivot_goal = 0;
+  switch (goal) {
+    case PivotGoal::NEUTRAL:
+      pivot_goal = 0;
+      break;
+
+    case PivotGoal::PICKUP_FRONT:
+      pivot_goal = 0.25;
+      break;
+
+    case PivotGoal::PICKUP_BACK:
+      pivot_goal = 0.30;
+      break;
+
+    case PivotGoal::SCORE_LOW_FRONT:
+      pivot_goal = 0.35;
+      break;
+
+    case PivotGoal::SCORE_LOW_BACK:
+      pivot_goal = 0.40;
+      break;
+
+    case PivotGoal::SCORE_MID_FRONT:
+      pivot_goal = 0.45;
+      break;
+
+    case PivotGoal::SCORE_MID_BACK:
+      pivot_goal = 0.5;
+      break;
+  }
+
+  flatbuffers::Offset<
+      frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal>
+      pivot_joint_offset = frc971::control_loops::
+          CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+              *status_fbb, pivot_goal,
+              frc971::CreateProfileParameters(*status_fbb, 12.0, 90.0));
+
+  status_fbb->Finish(pivot_joint_offset);
+
+  flatbuffers::Offset<
+      frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
+      pivot_joint_status_offset = pivot_joint_.Iterate(
+          flatbuffers::GetRoot<frc971::control_loops::
+                                   StaticZeroingSingleDOFProfiledSubsystemGoal>(
+              status_fbb->GetBufferPointer()),
+          position, output, status_fbb);
+
+  return pivot_joint_status_offset;
+}
+
+}  // namespace superstructure
+}  // namespace control_loops
+}  // namespace y2023_bot3
diff --git a/y2023_bot3/control_loops/superstructure/pivot_joint.h b/y2023_bot3/control_loops/superstructure/pivot_joint.h
new file mode 100644
index 0000000..1eff122
--- /dev/null
+++ b/y2023_bot3/control_loops/superstructure/pivot_joint.h
@@ -0,0 +1,45 @@
+#ifndef Y2023_BOT3_CONTROL_LOOPS_SUPERSTRUCTURE_PIVOT_JOINT_PIVOT_JOINT_H_
+#define Y2023_BOT3_CONTROL_LOOPS_SUPERSTRUCTURE_PIVOT_JOINT_PIVOT_JOINT_H_
+
+#include "aos/events/event_loop.h"
+#include "aos/time/time.h"
+#include "frc971/control_loops/control_loop.h"
+#include "y2023_bot3/constants.h"
+#include "y2023_bot3/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2023_bot3/control_loops/superstructure/superstructure_status_generated.h"
+
+namespace y2023_bot3 {
+namespace control_loops {
+namespace superstructure {
+
+class PivotJoint {
+  using PotAndAbsoluteEncoderSubsystem =
+      ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
+          ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
+          ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;
+
+ public:
+  PivotJoint(std::shared_ptr<const constants::Values> values);
+
+  flatbuffers::Offset<
+      frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
+  RunIteration(PivotGoal goal, double *output,
+               const frc971::PotAndAbsolutePosition *position,
+               flatbuffers::FlatBufferBuilder *status_fbb);
+
+  bool zeroed() const { return pivot_joint_.zeroed(); }
+
+  bool estopped() const { return pivot_joint_.estopped(); }
+
+  // variable which records the last time at which "intake" button was pressed
+  aos::monotonic_clock::time_point timer_;
+
+ private:
+  PotAndAbsoluteEncoderSubsystem pivot_joint_;
+};
+
+}  // namespace superstructure
+}  // namespace control_loops
+}  // namespace y2023_bot3
+
+#endif  // Y2023_BOT3_CONTROL_LOOPS_SUPERSTRUCTURE_PIVOT_JOINT_PIVOT_JOINT_H_
diff --git a/y2023_bot3/control_loops/superstructure/superstructure.cc b/y2023_bot3/control_loops/superstructure/superstructure.cc
index 3e88a6c..3b4835c 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure.cc
+++ b/y2023_bot3/control_loops/superstructure/superstructure.cc
@@ -23,7 +23,9 @@
                                const ::std::string &name)
     : frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
                                                                     name),
-      values_(values) {
+      values_(values),
+      end_effector_(),
+      pivot_joint_(values) {
   event_loop->SetRuntimeRealtimePriority(30);
 }
 
@@ -47,15 +49,25 @@
       position->end_effector_cube_beam_break(), &output_struct.roller_voltage,
       unsafe_goal != nullptr ? unsafe_goal->preloaded_with_cube() : false);
 
-  if (output) {
-    output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
-  }
+  flatbuffers::Offset<
+      frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
+      pivot_joint_offset = pivot_joint_.RunIteration(
+          unsafe_goal != nullptr ? unsafe_goal->pivot_goal()
+                                 : PivotGoal::NEUTRAL,
+          &(output_struct.pivot_joint_voltage),
+          position->pivot_joint_position(), status->fbb());
 
   Status::Builder status_builder = status->MakeBuilder<Status>();
 
-  status_builder.add_zeroed(true);
+  status_builder.add_zeroed(pivot_joint_.zeroed());
+  status_builder.add_estopped(pivot_joint_.estopped());
+  status_builder.add_pivot_joint(pivot_joint_offset);
   status_builder.add_end_effector_state(end_effector_.state());
 
+  if (output) {
+    output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
+  }
+
   (void)status->Send(status_builder.Finish());
 }
 
diff --git a/y2023_bot3/control_loops/superstructure/superstructure.h b/y2023_bot3/control_loops/superstructure/superstructure.h
index 212ced8..efc95a8 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure.h
+++ b/y2023_bot3/control_loops/superstructure/superstructure.h
@@ -10,6 +10,7 @@
 #include "y2023_bot3/constants.h"
 #include "y2023_bot3/constants/constants_generated.h"
 #include "y2023_bot3/control_loops/superstructure/end_effector.h"
+#include "y2023_bot3/control_loops/superstructure/pivot_joint.h"
 #include "y2023_bot3/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2023_bot3/control_loops/superstructure/superstructure_output_generated.h"
 #include "y2023_bot3/control_loops/superstructure/superstructure_position_generated.h"
@@ -49,6 +50,8 @@
 
   aos::Alliance alliance_ = aos::Alliance::kInvalid;
 
+  PivotJoint pivot_joint_;
+
   DISALLOW_COPY_AND_ASSIGN(Superstructure);
 };
 
diff --git a/y2023_bot3/control_loops/superstructure/superstructure_lib_test.cc b/y2023_bot3/control_loops/superstructure/superstructure_lib_test.cc
index 7387ca7..1150e06 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023_bot3/control_loops/superstructure/superstructure_lib_test.cc
@@ -31,6 +31,11 @@
 using ::frc971::control_loops::PositionSensorSimulator;
 using ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
 using DrivetrainStatus = ::frc971::control_loops::drivetrain::Status;
+using PotAndAbsoluteEncoderSimulator =
+    frc971::control_loops::SubsystemSimulator<
+        frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus,
+        Superstructure::PotAndAbsoluteEncoderSubsystem::State,
+        constants::Values::PotAndAbsEncoderConstants>;
 
 // Class which simulates the superstructure and sends out queue messages with
 // the position.
@@ -45,7 +50,15 @@
         superstructure_status_fetcher_(
             event_loop_->MakeFetcher<Status>("/superstructure")),
         superstructure_output_fetcher_(
-            event_loop_->MakeFetcher<Output>("/superstructure")) {
+            event_loop_->MakeFetcher<Output>("/superstructure")),
+        pivot_joint_(new CappedTestPlant(pivot_joint::MakePivotJointPlant()),
+                     PositionSensorSimulator(
+                         values->pivot_joint.subsystem_params.zeroing_constants
+                             .one_revolution_distance),
+                     values->pivot_joint, constants::Values::kPivotJointRange(),
+                     values->pivot_joint.subsystem_params.zeroing_constants
+                         .measured_absolute_position,
+                     dt) {
     (void)values;
     phased_loop_handle_ = event_loop_->AddPhasedLoop(
         [this](int) {
@@ -53,6 +66,10 @@
           if (!first_) {
             EXPECT_TRUE(superstructure_output_fetcher_.Fetch());
             EXPECT_TRUE(superstructure_status_fetcher_.Fetch());
+
+            pivot_joint_.Simulate(
+                superstructure_output_fetcher_->pivot_joint_voltage(),
+                superstructure_status_fetcher_->pivot_joint());
           }
           first_ = false;
           SendPositionMessage();
@@ -65,9 +82,16 @@
     ::aos::Sender<Position>::Builder builder =
         superstructure_position_sender_.MakeBuilder();
 
+    frc971::PotAndAbsolutePosition::Builder pivot_joint_builder =
+        builder.MakeBuilder<frc971::PotAndAbsolutePosition>();
+    flatbuffers::Offset<frc971::PotAndAbsolutePosition> pivot_joint_offset =
+        pivot_joint_.encoder()->GetSensorValues(&pivot_joint_builder);
+
     Position::Builder position_builder = builder.MakeBuilder<Position>();
     position_builder.add_end_effector_cube_beam_break(
         end_effector_cube_beam_break_);
+    position_builder.add_pivot_joint_position(pivot_joint_offset);
+
     CHECK_EQ(builder.Send(position_builder.Finish()),
              aos::RawSender::Error::kOk);
   }
@@ -76,6 +100,8 @@
     end_effector_cube_beam_break_ = triggered;
   }
 
+  PotAndAbsoluteEncoderSimulator *pivot_joint() { return &pivot_joint_; }
+
  private:
   ::aos::EventLoop *event_loop_;
   ::aos::PhasedLoopHandler *phased_loop_handle_ = nullptr;
@@ -86,6 +112,8 @@
   ::aos::Fetcher<Status> superstructure_status_fetcher_;
   ::aos::Fetcher<Output> superstructure_output_fetcher_;
 
+  PotAndAbsoluteEncoderSimulator pivot_joint_;
+
   bool first_ = true;
 };
 
@@ -139,6 +167,44 @@
     ASSERT_TRUE(superstructure_goal_fetcher_.get() != nullptr) << ": No goal";
     ASSERT_TRUE(superstructure_status_fetcher_.get() != nullptr)
         << ": No status";
+
+    if (superstructure_goal_fetcher_->has_pivot_goal()) {
+      double pivot_goal = 0.0;
+
+      switch (superstructure_goal_fetcher_->pivot_goal()) {
+        case PivotGoal::NEUTRAL:
+          pivot_goal = 0;
+          break;
+
+        case PivotGoal::PICKUP_FRONT:
+          pivot_goal = 0.25;
+          break;
+
+        case PivotGoal::PICKUP_BACK:
+          pivot_goal = 0.30;
+          break;
+
+        case PivotGoal::SCORE_LOW_FRONT:
+          pivot_goal = 0.35;
+          break;
+
+        case PivotGoal::SCORE_LOW_BACK:
+          pivot_goal = 0.40;
+          break;
+
+        case PivotGoal::SCORE_MID_FRONT:
+          pivot_goal = 0.45;
+          break;
+
+        case PivotGoal::SCORE_MID_BACK:
+          pivot_goal = 0.5;
+          break;
+      }
+
+      EXPECT_NEAR(pivot_goal,
+                  superstructure_status_fetcher_->pivot_joint()->position(),
+                  0.001);
+    }
   }
 
   void CheckIfZeroed() {
@@ -250,6 +316,137 @@
   CheckIfZeroed();
 }
 
+TEST_F(SuperstructureTest, PivotGoal) {
+  SetEnabled(true);
+  WaitUntilZeroed();
+
+  PivotGoal pivot_goal = PivotGoal::PICKUP_FRONT;
+
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_pivot_goal(pivot_goal);
+
+    builder.CheckOk(builder.Send(goal_builder.Finish()));
+  }
+
+  RunFor(dt() * 30);
+
+  ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+  ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+
+  VerifyNearGoal();
+
+  pivot_goal = PivotGoal::PICKUP_BACK;
+
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_pivot_goal(pivot_goal);
+
+    builder.CheckOk(builder.Send(goal_builder.Finish()));
+  }
+
+  RunFor(dt() * 30);
+
+  ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+  ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+
+  VerifyNearGoal();
+
+  pivot_goal = PivotGoal::SCORE_LOW_FRONT;
+
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_pivot_goal(pivot_goal);
+
+    builder.CheckOk(builder.Send(goal_builder.Finish()));
+  }
+
+  RunFor(dt() * 30);
+
+  ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+  ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+
+  VerifyNearGoal();
+
+  pivot_goal = PivotGoal::SCORE_LOW_BACK;
+
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_pivot_goal(pivot_goal);
+
+    builder.CheckOk(builder.Send(goal_builder.Finish()));
+  }
+
+  RunFor(dt() * 30);
+
+  ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+  ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+
+  VerifyNearGoal();
+
+  pivot_goal = PivotGoal::SCORE_MID_FRONT;
+
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_pivot_goal(pivot_goal);
+
+    builder.CheckOk(builder.Send(goal_builder.Finish()));
+  }
+
+  RunFor(dt() * 30);
+
+  ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+  ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+
+  VerifyNearGoal();
+
+  pivot_goal = PivotGoal::SCORE_MID_BACK;
+
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_pivot_goal(pivot_goal);
+
+    builder.CheckOk(builder.Send(goal_builder.Finish()));
+  }
+
+  RunFor(dt() * 30);
+
+  ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+  ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+
+  VerifyNearGoal();
+
+  pivot_goal = PivotGoal::NEUTRAL;
+
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_pivot_goal(pivot_goal);
+
+    builder.CheckOk(builder.Send(goal_builder.Finish()));
+  }
+
+  RunFor(dt() * 30);
+
+  ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+  ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+
+  VerifyNearGoal();
+}
+
 TEST_F(SuperstructureTest, EndEffectorGoal) {
   SetEnabled(true);
   WaitUntilZeroed();
diff --git a/y2023_bot3/control_loops/superstructure/superstructure_status.fbs b/y2023_bot3/control_loops/superstructure/superstructure_status.fbs
index f3df83c..3d4947a 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure_status.fbs
+++ b/y2023_bot3/control_loops/superstructure/superstructure_status.fbs
@@ -25,8 +25,8 @@
   // If true, we have aborted. This is the or of all subsystem estops.
   estopped:bool (id: 1);
 
-  // The current state of the arm.
-  pivot_joint_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 2);
+  // The current state of the pivot.
+  pivot_joint:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 2);
 
   end_effector_state:EndEffectorState (id: 3);
 }