diff --git a/frc971/input/input.gyp b/frc971/input/input.gyp
index c91a8ac..b7204d4 100644
--- a/frc971/input/input.gyp
+++ b/frc971/input/input.gyp
@@ -43,6 +43,7 @@
         '<(AOS)/common/logging/logging.gyp:queue_logging',
         '<(DEPTH)/frc971/control_loops/claw/claw.gyp:claw_loop',
         '<(DEPTH)/frc971/control_loops/shooter/shooter.gyp:shooter_loop',
+        '<(DEPTH)/frc971/queues/queues.gyp:output_check',
       ],
     },
   ],
diff --git a/frc971/input/sensor_receiver.cc b/frc971/input/sensor_receiver.cc
index 2c97508..b83dc4e 100644
--- a/frc971/input/sensor_receiver.cc
+++ b/frc971/input/sensor_receiver.cc
@@ -14,6 +14,7 @@
 #include "frc971/queues/to_log.q.h"
 #include "frc971/control_loops/shooter/shooter.q.h"
 #include "frc971/control_loops/claw/claw.q.h"
+#include "frc971/queues/output_check.q.h"
 
 #ifndef M_PI
 #define M_PI 3.14159265358979323846
@@ -178,6 +179,19 @@
     LOG(WARNING, "%" PRIu8 " analog errors\n", data->analog_errors);
   }
 
+  if (data->main.output_check_pulse_length != 0) {
+    auto message = ::frc971::output_check_received.MakeMessage();
+    message->pulse_length =
+        static_cast<double>(data->main.output_check_pulse_length) / 100.0;
+    if (message->pulse_length > 2.7) {
+      LOG(WARNING, "insane PWM pulse length %fms\n", message->pulse_length);
+    } else {
+      message->pwm_value = (message->pulse_length - 0.5) / 2.0 * 255.0 + 0.5;
+      LOG_STRUCT(DEBUG, "received", *message);
+      message.Send();
+    }
+  }
+
   other_sensors.MakeWithBuilder()
       .sonar_distance(sonar_translate(data->main.ultrasonic_pulse_length))
       .Send();
diff --git a/frc971/output/motor_writer.cc b/frc971/output/motor_writer.cc
index eefd7d6..fa3fe33 100644
--- a/frc971/output/motor_writer.cc
+++ b/frc971/output/motor_writer.cc
@@ -95,11 +95,13 @@
     }
 
     {
-      auto message = ::frc971::output_check_queue.MakeMessage();
+      auto message = ::frc971::output_check_sent.MakeMessage();
       ++output_check_;
       if (output_check_ == 0) output_check_ = 1;
       SetRawPWMOutput(10, output_check_);
-      message->sent_value = output_check_;
+      message->pwm_value = output_check_;
+      message->pulse_length =
+          static_cast<double>(message->pwm_value) / 255.0 * 2.0 + 0.5;
       LOG_STRUCT(DEBUG, "sending", *message);
       message.Send();
     }
diff --git a/frc971/queues/output_check.q b/frc971/queues/output_check.q
index 0573426..11b3497 100644
--- a/frc971/queues/output_check.q
+++ b/frc971/queues/output_check.q
@@ -1,8 +1,14 @@
 package frc971;
 
 message OutputCheck {
-	uint8_t sent_value;
+	// The 1-255 sent to the FPGA.
+	uint8_t pwm_value;
+	// The length of the pulse in milliseconds.
+	double pulse_length;
 };
+
 // Each message here represents a value that was sent to the cRIO.
 // The sent timestamp of the message is when the value was sent.
-queue OutputCheck output_check_queue;
+queue OutputCheck output_check_sent;
+
+queue OutputCheck output_check_received;