diff --git a/y2023/control_loops/superstructure/superstructure_position.fbs b/y2023/control_loops/superstructure/superstructure_position.fbs
index 1c8c0e9..8549943 100644
--- a/y2023/control_loops/superstructure/superstructure_position.fbs
+++ b/y2023/control_loops/superstructure/superstructure_position.fbs
@@ -5,10 +5,12 @@
 table ArmPosition {
   // Values of the encoder and potentiometer at the base of the proximal
   // (connected to drivebase) arm in radians.
+  // Zero is upwards, positive is a forwards rotation
   proximal:frc971.PotAndAbsolutePosition (id: 0);
 
   // Values of the encoder and potentiometer at the base of the distal
   // (connected to proximal) arm in radians.
+  // Zero is straight up, positive is a forwards rotation
   distal:frc971.PotAndAbsolutePosition (id: 1);
 }
 
@@ -21,7 +23,7 @@
 
     // Zero for wrist is facing staright outward.
     // Positive position would be upwards
-    wrist:frc971.PotAndAbsolutePosition (id: 2);
+    wrist:frc971.AbsolutePosition (id: 2);
 }
 
 root_type Position;
diff --git a/y2023/control_loops/superstructure/superstructure_status.fbs b/y2023/control_loops/superstructure/superstructure_status.fbs
index b2cad0c..9b21cc3 100644
--- a/y2023/control_loops/superstructure/superstructure_status.fbs
+++ b/y2023/control_loops/superstructure/superstructure_status.fbs
@@ -62,7 +62,7 @@
 
   roll_joint:frc971.PotAndAbsoluteEncoderEstimatorState (id: 3);
 
-  wrist:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 4);
+  wrist:frc971.control_loops.AbsoluteEncoderProfiledJointStatus (id: 4);
 }
 
 root_type Status;