diff --git a/y2018/control_loops/superstructure/arm/BUILD b/y2018/control_loops/superstructure/arm/BUILD
index 6961dd3..6104568 100644
--- a/y2018/control_loops/superstructure/arm/BUILD
+++ b/y2018/control_loops/superstructure/arm/BUILD
@@ -6,6 +6,7 @@
     hdrs = [
         "trajectory.h",
     ],
+    visibility = ["//visibility:public"],
     deps = [
         ":dynamics",
         "//frc971/control_loops:dlqr",
@@ -37,6 +38,7 @@
     hdrs = [
         "dynamics.h",
     ],
+    visibility = ["//visibility:public"],
     deps = [
         "//frc971/control_loops:runge_kutta",
         "//third_party/eigen",
@@ -86,6 +88,7 @@
     hdrs = [
         "ekf.h",
     ],
+    visibility = ["//visibility:public"],
     deps = [
         ":dynamics",
         "//frc971/control_loops:jacobian",
diff --git a/y2018/control_loops/superstructure/intake/BUILD b/y2018/control_loops/superstructure/intake/BUILD
new file mode 100644
index 0000000..bb6fec7
--- /dev/null
+++ b/y2018/control_loops/superstructure/intake/BUILD
@@ -0,0 +1,29 @@
+genrule(
+    name = "genrule_intake",
+    outs = [
+        "intake_plant.h",
+        "intake_plant.cc",
+        "intake_delayed_plant.h",
+        "intake_delayed_plant.cc",
+    ],
+    cmd = "$(location //y2018/control_loops/python:intake) $(OUTS)",
+    tools = [
+        "//y2018/control_loops/python:intake",
+    ],
+)
+
+cc_library(
+    name = "intake_plants",
+    srcs = [
+        "intake_delayed_plant.cc",
+        "intake_plant.cc",
+    ],
+    hdrs = [
+        "intake_delayed_plant.h",
+        "intake_plant.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops:state_feedback_loop",
+    ],
+)
diff --git a/y2018/control_loops/superstructure/superstructure.q b/y2018/control_loops/superstructure/superstructure.q
index 82f66b4..75900fa 100644
--- a/y2018/control_loops/superstructure/superstructure.q
+++ b/y2018/control_loops/superstructure/superstructure.q
@@ -40,30 +40,26 @@
   double right_intake_angle;
 };
 
-struct IntakeElasticEncoders {
+struct IntakeElasticSensors {
   // Position of the motor end of the series elastic in radians.
-  .frc971.IndexPosition motor_encoder;
+  .frc971.PotAndAbsolutePosition motor_position;
 
   // Displacement of the spring in radians.
   double spring_angle;
+
+  // False if the beam break sensor isn't triggered, true if the beam breaker is
+  // triggered.
+  bool beam_break;
 };
 
 struct IntakePosition {
-  // False if the beam breaker isn't triggered, true if the beam breaker is
-  // triggered.
-  bool left_beam_breaker;
-
-  // False if the beam breaker isn't triggered, true if the beam breaker is
-  // triggered.
-  bool right_beam_breaker;
-
   // Values of the series elastic encoders on the left side of the robot from
   // the rear perspective in radians.
-  IntakeElasticEncoders left;
+  IntakeElasticSensors left;
 
   // Values of the series elastic encoders on the right side of the robot from
   // the rear perspective in radians.
-  IntakeElasticEncoders right;
+  IntakeElasticSensors right;
 };
 
 struct ArmStatus {
@@ -149,7 +145,14 @@
 
     // Clamped (when true) or unclamped (when false) status sent to the
     // pneumatic claw on the arm.
-    bool claw_output;
+    bool claw_grabbed;
+
+    // If true, release the arm brakes.
+    bool release_arm_brake;
+    // If true, release the hook
+    bool hook_release;
+    // If true, release the forks
+    bool forks_release;
   };
 
   queue Goal goal;