diff --git a/y2020/control_loops/superstructure/shooter/flywheel_controller.h b/y2020/control_loops/superstructure/shooter/flywheel_controller.h
index 5fdac39..4eafe47 100644
--- a/y2020/control_loops/superstructure/shooter/flywheel_controller.h
+++ b/y2020/control_loops/superstructure/shooter/flywheel_controller.h
@@ -29,6 +29,7 @@
 
   // Sets the velocity goal in radians/sec
   void set_goal(double angular_velocity_goal);
+  double goal() const { return last_goal_; }
   // Sets the current encoder position in radians
   void set_position(double current_position,
                     const aos::monotonic_clock::time_point position_timestamp);
diff --git a/y2020/control_loops/superstructure/shooter/shooter.h b/y2020/control_loops/superstructure/shooter/shooter.h
index f72eeeb..1a46949 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.h
+++ b/y2020/control_loops/superstructure/shooter/shooter.h
@@ -26,6 +26,9 @@
 
   bool ready() { return ready_; }
 
+  float finisher_goal() const { return finisher_.goal(); }
+  float accelerator_goal() const { return accelerator_left_.goal(); }
+
  private:
   FlywheelController finisher_, accelerator_left_, accelerator_right_;
 
diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 91e782e..9a48095 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -204,9 +204,8 @@
     if (unsafe_goal) {
       output_struct.washing_machine_spinner_voltage = 0.0;
       if (unsafe_goal->shooting()) {
-        if (shooter_.ready() &&
-            unsafe_goal->shooter()->velocity_accelerator() > 10.0 &&
-            unsafe_goal->shooter()->velocity_finisher() > 10.0) {
+        if (shooter_.ready() && shooter_.finisher_goal() > 10.0 &&
+            shooter_.accelerator_goal() > 10.0) {
           output_struct.feeder_voltage = 12.0;
         } else {
           output_struct.feeder_voltage = 0.0;