diff --git a/bot3/input/input.gyp b/bot3/input/input.gyp
index 20cb7d3..aec28b7 100644
--- a/bot3/input/input.gyp
+++ b/bot3/input/input.gyp
@@ -15,6 +15,7 @@
         '<(DEPTH)/frc971/queues/queues.gyp:queues',
         '<(DEPTH)/bot3/control_loops/drivetrain/drivetrain.gyp:drivetrain_loop',
         '<(DEPTH)/bot3/autonomous/autonomous.gyp:auto_queue',
+        '<(DEPTH)/bot3/control_loops/rollers/rollers.gyp:rollers_loop',
       ],
     },
     {
diff --git a/bot3/input/joystick_reader.cc b/bot3/input/joystick_reader.cc
index 9156509..b8ac058 100644
--- a/bot3/input/joystick_reader.cc
+++ b/bot3/input/joystick_reader.cc
@@ -10,227 +10,39 @@
 #include "aos/common/util/log_interval.h"
 #include "aos/common/time.h"
 
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/constants.h"
-#include "frc971/queues/other_sensors.q.h"
+#include "bot3/control_loops/drivetrain/drivetrain.q.h"
+#include "bot3/control_loops/drivetrain/drivetrain_constants.h"
+#include "bot3/control_loops/rollers/rollers.q.h"
 #include "frc971/autonomous/auto.q.h"
-#include "frc971/control_loops/claw/claw.q.h"
-#include "frc971/control_loops/shooter/shooter.q.h"
-#include "frc971/actions/shoot_action.q.h"
-#include "frc971/actions/action_client.h"
-#include "frc971/actions/catch_action.q.h"
-#include "frc971/actions/shoot_action.h"
+#include "frc971/queues/other_sensors.q.h"
 
-using ::frc971::control_loops::drivetrain;
+using ::bot3::control_loops::drivetrain;
 using ::frc971::sensors::gyro_reading;
 
 using ::aos::input::driver_station::ButtonLocation;
 using ::aos::input::driver_station::JoystickAxis;
 using ::aos::input::driver_station::ControlBit;
 
-#define OLD_DS 0
-
-namespace frc971 {
+namespace bot3 {
 namespace input {
 namespace joysticks {
 
 const ButtonLocation kDriveControlLoopEnable1(1, 7),
                      kDriveControlLoopEnable2(1, 11);
-const JoystickAxis kSteeringWheel(1, 1), kDriveThrottle(2, 2);
-const ButtonLocation kShiftHigh(2, 1), kShiftLow(2, 3);
+const JoystickAxis kSteeringWheel(1, 1), kDriveThrottle(4, 2);
+const ButtonLocation kShiftHigh(4, 1), kShiftLow(4, 3);
 const ButtonLocation kQuickTurn(1, 5);
 
-const ButtonLocation kCatch(3, 10);
-
-#if OLD_DS
-const ButtonLocation kFire(3, 11);
-const ButtonLocation kUnload(1, 4);
-const ButtonLocation kReload(1, 2);
-
-const ButtonLocation kRollersOut(3, 12);
-const ButtonLocation kRollersIn(3, 7);
-
-const ButtonLocation kTuck(3, 9);
-const ButtonLocation kIntakePosition(3, 8);
-const ButtonLocation kIntakeOpenPosition(3, 10);
-const ButtonLocation kVerticalTuck(3, 1);
-const JoystickAxis kFlipRobot(3, 3);
-
-const ButtonLocation kLongShot(3, 5);
-const ButtonLocation kCloseShot(3, 2);
-const ButtonLocation kFenderShot(3, 3);
-const ButtonLocation kTrussShot(2, 11);
-const ButtonLocation kHumanPlayerShot(3, 2);
-#else
-const ButtonLocation kFire(3, 9);
-const ButtonLocation kUnload(1, 4);
-const ButtonLocation kReload(1, 2);
-
-const ButtonLocation kRollersOut(3, 8);
-const ButtonLocation kRollersIn(3, 3);
-
-const ButtonLocation kTuck(3, 4);
-const ButtonLocation kIntakePosition(3, 5);
-const ButtonLocation kIntakeOpenPosition(3, 11);
-const ButtonLocation kVerticalTuck(2, 6);
-const JoystickAxis kFlipRobot(3, 3);
-
-const ButtonLocation kLongShot(3, 7);
-const ButtonLocation kCloseShot(3, 6);
-const ButtonLocation kFenderShot(3, 2);
-const ButtonLocation kTrussShot(2, 11);
-const ButtonLocation kHumanPlayerShot(3, 1);
-#endif
-
-const ButtonLocation kUserLeft(2, 7);
-const ButtonLocation kUserRight(2, 10);
-
-const JoystickAxis kAdjustClawGoal(3, 2);
-const JoystickAxis kAdjustClawSeparation(3, 1);
-
-struct ClawGoal {
-  double angle;
-  double separation;
-};
-
-struct ShotGoal {
-  ClawGoal claw;
-  double shot_power;
-  double velocity_compensation;
-  double intake_power;
-};
-
-const double kIntakePower = 4.0;
-// In case we have to quickly adjust it.
-const double kGrabSeparation = 0;
-const double kShootSeparation = 0.11 + kGrabSeparation;
-
-const ClawGoal kTuckGoal = {-2.273474, -0.749484};
-const ClawGoal kVerticalTuckGoal = {0, kGrabSeparation};
-const ClawGoal kIntakeGoal = {-2.24, kGrabSeparation};
-const ClawGoal kIntakeOpenGoal = {-2.0, 1.1};
-
-// TODO(austin): Tune these by hand...
-const ClawGoal kFlippedTuckGoal = {2.733474, -0.75};
-const ClawGoal kFlippedIntakeGoal = {2.0, kGrabSeparation};
-const ClawGoal kFlippedIntakeOpenGoal = {0.95, 1.0};
-
-// 34" between near edge of colored line and rear edge of bumper.
-// Only works running?
-const ShotGoal kLongShotGoal = {
-    {-1.08, kShootSeparation}, 145, 0.04, kIntakePower};
-// old 34" {-1.06, kShootSeparation}, 140, 0.04, kIntakePower};
-const ShotGoal kFlippedLongShotGoal = {
-    {0.96, kShootSeparation}, 145, 0.09, kIntakePower};
-// old 34" {0.96, kShootSeparation}, 140, 0.09, kIntakePower};
-
-// 78" between near edge of colored line and rear edge of bumper.
-const ShotGoal kCloseShotGoal = {
-    {-0.95, kShootSeparation}, 105, 0.2, kIntakePower};
-// 3/4" plunger {-0.90, kShootSeparation}, 105, 0.2, kIntakePower};
-const ShotGoal kFlippedMediumShotGoal = {
-    {0.865, kShootSeparation}, 120, 0.2, kIntakePower};
-// 3/4" plunger {0.80, kShootSeparation}, 105, 0.2, kIntakePower};
-
-// Shot from the fender.
-const ShotGoal kFenderShotGoal = {
-    {-0.68, kShootSeparation}, 115.0, 0.0, kIntakePower};
-const ShotGoal kFlippedShortShotGoal = {
-    {0.63, kShootSeparation}, 115.0, 0.0, kIntakePower};
-
-const ShotGoal kHumanShotGoal = {
-    {-0.90, kShootSeparation}, 140, 0.04, kIntakePower};
-const ShotGoal kFlippedHumanShotGoal = {
-    {0.90, kShootSeparation}, 140, 0, kIntakePower};
-const ShotGoal kTrussShotGoal = {
-    {-0.68, kShootSeparation}, 88.0, 0.4, kIntakePower};
-const ShotGoal kFlippedTrussShotGoal = {
-    {0.68, kShootSeparation}, 92.0, 0.4, kIntakePower};
-
-const ShotGoal kFlippedDemoShotGoal = {
-    {1.0, kShootSeparation}, 65.0, 0.0, kIntakePower};
-const ShotGoal kDemoShotGoal = {
-    {-1.0, kShootSeparation}, 50.0, 0.0, kIntakePower};
-
-const ClawGoal k254PassGoal = {-1.95, kGrabSeparation};
-const ClawGoal kFlipped254PassGoal = {1.96, kGrabSeparation};
-
-// Makes a new ShootAction action.
-::std::unique_ptr<TypedAction< ::frc971::actions::CatchActionGroup>>
-MakeCatchAction() {
-  return ::std::unique_ptr<TypedAction< ::frc971::actions::CatchActionGroup>>(
-      new TypedAction< ::frc971::actions::CatchActionGroup>(
-          &::frc971::actions::catch_action));
-}
-
-// A queue which queues Actions and cancels them.
-class ActionQueue {
- public:
-  // Queues up an action for sending.
-  void QueueAction(::std::unique_ptr<Action> action) {
-    if (current_action_) {
-      LOG(INFO, "Queueing action, canceling prior\n");
-      current_action_->Cancel();
-      next_action_ = ::std::move(action);
-    } else {
-      LOG(INFO, "Queueing action\n");
-      current_action_ = ::std::move(action);
-      current_action_->Start();
-    }
-  }
-
-  // Cancels the current action, and runs the next one when the current one has
-  // finished.
-  void CancelCurrentAction() {
-    LOG(INFO, "Canceling current action\n");
-    if (current_action_) {
-      current_action_->Cancel();
-    }
-  }
-
-  // Cancels all running actions.
-  void CancelAllActions() {
-    LOG(DEBUG, "Cancelling all actions\n");
-    if (current_action_) {
-      current_action_->Cancel();
-    }
-    next_action_.reset();
-  }
-
-  // Runs the next action when the current one is finished running.
-  void Tick() {
-    if (current_action_) {
-      if (!current_action_->Running()) {
-        LOG(INFO, "Action is done.\n");
-        current_action_ = ::std::move(next_action_);
-        if (current_action_) {
-          LOG(INFO, "Running next action\n");
-          current_action_->Start();
-        }
-      }
-    }
-  }
-
-  // Returns true if any action is running or could be running.
-  // For a one cycle faster response, call Tick before running this.
-  bool Running() { return static_cast<bool>(current_action_); }
-
- private:
-  ::std::unique_ptr<Action> current_action_;
-  ::std::unique_ptr<Action> next_action_;
-};
-
+const ButtonLocation kFrontRollersIn(3, 5);
+const ButtonLocation kBackRollersIn(3, 3);
+const ButtonLocation kFrontRollersOut(3, 12);
+const ButtonLocation kBackRollersOut(3, 8);
+const ButtonLocation kHumanPlayer(3, 11);
 
 class Reader : public ::aos::input::JoystickInput {
  public:
   Reader()
-      : is_high_gear_(false),
-        shot_power_(80.0),
-        goal_angle_(0.0),
-        separation_angle_(kGrabSeparation),
-        velocity_compensation_(0.0),
-        intake_power_(0.0),
-        was_running_(false) {}
+      : is_high_gear_(false) {}
 
   virtual void RunIteration(const ::aos::input::driver_station::Data &data) {
     if (data.GetControlBit(ControlBit::kAutonomous)) {
@@ -245,24 +57,13 @@
             .run_auto(false)
             .Send();
       } else if (!data.GetControlBit(ControlBit::kEnabled)) {
-        {
-          auto goal = drivetrain.goal.MakeMessage();
-          goal->Zero();
-          goal->control_loop_driving = false;
-          goal->left_goal = goal->right_goal = 0;
-          goal->left_velocity_goal = goal->right_velocity_goal = 0;
-          if (!goal.Send()) {
-            LOG(WARNING, "sending 0 drivetrain goal failed\n");
-          }
-        }
-        {
-          // TODO(brians): Make sure this doesn't make it unbrake and not move
-          // or something weird.
-          auto goal = control_loops::shooter_queue_group.goal.MakeMessage();
-          goal->Zero();
-          if (!goal.Send()) {
-            LOG(WARNING, "sending 0 shooter goal failed\n");
-          }
+        auto goal = drivetrain.goal.MakeMessage();
+        goal->Zero();
+        goal->control_loop_driving = false;
+        goal->left_goal = goal->right_goal = 0;
+        goal->left_velocity_goal = goal->right_velocity_goal = 0;
+        if (!goal.Send()) {
+          LOG(WARNING, "sending 0 drivetrain goal failed\n");
         }
       }
     } else {
@@ -279,7 +80,6 @@
     const double kThrottleGain = 1.0 / 2.5;
     if (false && (data.IsPressed(kDriveControlLoopEnable1) ||
                   data.IsPressed(kDriveControlLoopEnable2))) {
-      // TODO(austin): Static sucks!
       static double distance = 0.0;
       static double angle = 0.0;
       static double filtered_goal_distance = 0.0;
@@ -336,278 +136,38 @@
     }
   }
 
-  void SetGoal(ClawGoal goal) {
-    goal_angle_ = goal.angle;
-    separation_angle_ = goal.separation;
-    moving_for_shot_ = false;
-    velocity_compensation_ = 0.0;
-    intake_power_ = 0.0;
-  }
-
-  void SetGoal(ShotGoal goal) {
-    goal_angle_ = goal.claw.angle;
-    shot_separation_angle_ = goal.claw.separation;
-    separation_angle_ = kGrabSeparation;
-    moving_for_shot_ = true;
-    shot_power_ = goal.shot_power;
-    velocity_compensation_ = goal.velocity_compensation;
-    intake_power_ = goal.intake_power;
-  }
-
   void HandleTeleop(const ::aos::input::driver_station::Data &data) {
     HandleDrivetrain(data);
-    if (!data.GetControlBit(ControlBit::kEnabled)) {
-      action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
+
+    // Rollers.
+    auto rollers_goal = control_loops::rollers.goal.MakeMessage();
+    if (data.IsPressed(kFrontRollersIn)) {
+      rollers_goal->intake = 1;
+    } else if (data.IsPressed(kFrontRollersOut)) {
+      rollers_goal->low_spit = 1;
+    } else if (data.IsPressed(kBackRollersIn)) {
+      rollers_goal->intake = -1;
+    } else if (data.IsPressed(kBackRollersOut)) {
+      rollers_goal->low_spit = -1;
+    } else if (data.IsPressed(kHumanPlayer)) {
+      rollers_goal->human_player = true;
     }
-    if (data.IsPressed(kRollersIn) || data.IsPressed(kRollersOut)) {
-      intake_power_ = 0.0;
-      separation_angle_ = kGrabSeparation;
-      moving_for_shot_ = false;
+    if (!rollers_goal.Send()) {
+      LOG(WARNING, "Sending rollers values failed.\n");
     }
-
-    static const double kAdjustClawGoalDeadband = 0.08;
-    double claw_goal_adjust = data.GetAxis(kAdjustClawGoal);
-    if (OLD_DS || ::std::abs(claw_goal_adjust) < kAdjustClawGoalDeadband) {
-      claw_goal_adjust = 0;
-    } else {
-      claw_goal_adjust = (claw_goal_adjust -
-                          ((claw_goal_adjust < 0) ? -kAdjustClawGoalDeadband
-                                                  : kAdjustClawGoalDeadband)) *
-                         0.035;
-    }
-    double claw_separation_adjust = data.GetAxis(kAdjustClawSeparation);
-    if (OLD_DS ||
-        ::std::abs(claw_separation_adjust) < kAdjustClawGoalDeadband) {
-      claw_separation_adjust = 0;
-    } else {
-      claw_separation_adjust =
-          (claw_separation_adjust -
-           ((claw_separation_adjust < 0) ? -kAdjustClawGoalDeadband
-                                         : kAdjustClawGoalDeadband)) *
-          -0.035;
-    }
-
-#if OLD_DS
-    if (data.IsPressed(kFenderShot)) {
-#else
-    if (data.GetAxis(kFlipRobot) > 0.9) {
-#endif
-      claw_goal_adjust += claw_separation_adjust;
-      claw_goal_adjust *= -1;
-
-      if (data.IsPressed(kIntakeOpenPosition)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kFlippedIntakeOpenGoal);
-      } else if (data.IsPressed(kIntakePosition)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kFlippedIntakeGoal);
-      } else if (data.IsPressed(kVerticalTuck)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kVerticalTuckGoal);
-      } else if (data.IsPressed(kTuck)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kFlippedTuckGoal);
-      } else if (data.PosEdge(kLongShot)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kFlippedLongShotGoal);
-      } else if (data.PosEdge(kCloseShot)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kFlippedMediumShotGoal);
-      } else if (data.PosEdge(kFenderShot)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kFlippedShortShotGoal);
-      } else if (data.PosEdge(kHumanPlayerShot)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kFlippedHumanShotGoal);
-      } else if (data.PosEdge(kUserLeft)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kFlipped254PassGoal);
-      } else if (data.PosEdge(kUserRight)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kFlippedDemoShotGoal);
-      } else if (data.PosEdge(kTrussShot)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kFlippedTrussShotGoal);
-      }
-    } else {
-      if (data.IsPressed(kIntakeOpenPosition)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kIntakeOpenGoal);
-      } else if (data.IsPressed(kIntakePosition)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kIntakeGoal);
-      } else if (data.IsPressed(kVerticalTuck)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kVerticalTuckGoal);
-      } else if (data.IsPressed(kTuck)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kTuckGoal);
-      } else if (data.PosEdge(kLongShot)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kLongShotGoal);
-      } else if (data.PosEdge(kCloseShot)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kCloseShotGoal);
-      } else if (data.PosEdge(kFenderShot)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kFenderShotGoal);
-      } else if (data.PosEdge(kHumanPlayerShot)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kHumanShotGoal);
-      } else if (data.PosEdge(kUserLeft)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(k254PassGoal);
-      } else if (data.PosEdge(kUserRight)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kDemoShotGoal);
-      } else if (data.PosEdge(kTrussShot)) {
-        action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-        SetGoal(kTrussShotGoal);
-      }
-    }
-
-    /*
-    if (data.PosEdge(kCatch)) {
-      auto catch_action = MakeCatchAction();
-      catch_action->GetGoal()->catch_angle = goal_angle_;
-      action_queue_.QueueAction(::std::move(catch_action));
-    }
-    */
-
-    if (data.PosEdge(kFire)) {
-      action_queue_.QueueAction(actions::MakeShootAction());
-    } else if (data.NegEdge(kFire)) {
-      action_queue_.CancelCurrentAction();
-    }
-
-    action_queue_.Tick();
-    if (data.IsPressed(kUnload) || data.IsPressed(kReload)) {
-      action_queue_.CancelAllActions();
-        LOG(DEBUG, "Canceling\n");
-      intake_power_ = 0.0;
-      velocity_compensation_ = 0.0;
-    }
-
-    // Send out the claw and shooter goals if no actions are running.
-    if (!action_queue_.Running()) {
-      goal_angle_ += claw_goal_adjust;
-      separation_angle_ += claw_separation_adjust;
-
-      // If the action just ended, turn the intake off and stop velocity
-      // compensating.
-      if (was_running_) {
-        intake_power_ = 0.0;
-        velocity_compensation_ = 0.0;
-      }
-
-      control_loops::drivetrain.status.FetchLatest();
-      double goal_angle = goal_angle_;
-      if (control_loops::drivetrain.status.get()) {
-        goal_angle +=
-            SpeedToAngleOffset(control_loops::drivetrain.status->robot_speed);
-      } else {
-        LOG_INTERVAL(no_drivetrain_status_);
-      }
-
-      if (moving_for_shot_) {
-        auto &claw_status = control_loops::claw_queue_group.status;
-        claw_status.FetchLatest();
-        if (claw_status.get()) {
-          if (::std::abs(claw_status->bottom - goal_angle) < 0.2) {
-            moving_for_shot_ = false;
-            separation_angle_ = shot_separation_angle_;
-          }
-        }
-      }
-
-      double separation_angle = separation_angle_;
-
-      if (data.IsPressed(kCatch)) {
-        const double kCatchSeparation = 1.0;
-        goal_angle -= kCatchSeparation / 2.0;
-        separation_angle = kCatchSeparation;
-      }
-
-      bool intaking =
-          data.IsPressed(kRollersIn) || data.IsPressed(kIntakePosition) ||
-          data.IsPressed(kIntakeOpenPosition) || data.IsPressed(kCatch);
-      if (!control_loops::claw_queue_group.goal.MakeWithBuilder()
-               .bottom_angle(goal_angle)
-               .separation_angle(separation_angle)
-               .intake(intaking ? 12.0
-                                : (data.IsPressed(kRollersOut) ? -12.0
-                                                               : intake_power_))
-               .centering(intaking ? 12.0 : 0.0)
-               .Send()) {
-        LOG(WARNING, "sending claw goal failed\n");
-      }
-
-      if (!control_loops::shooter_queue_group.goal.MakeWithBuilder()
-               .shot_power(shot_power_)
-               .shot_requested(data.IsPressed(kFire))
-               .unload_requested(data.IsPressed(kUnload))
-               .load_requested(data.IsPressed(kReload))
-               .Send()) {
-        LOG(WARNING, "sending shooter goal failed\n");
-      }
-    }
-    was_running_ = action_queue_.Running();
-  }
-
-  double SpeedToAngleOffset(double speed) {
-    const frc971::constants::Values &values = frc971::constants::GetValues();
-    // scale speed to a [0.0-1.0] on something close to the max
-    // TODO(austin): Change the scale factor for different shots.
-    return (speed / values.drivetrain_max_speed) * velocity_compensation_;
   }
 
  private:
   bool is_high_gear_;
-  double shot_power_;
-  double goal_angle_;
-  double separation_angle_, shot_separation_angle_;
-  double velocity_compensation_;
-  double intake_power_;
-  bool was_running_;
-  bool moving_for_shot_ = false;
-  
-  ActionQueue action_queue_;
-
-  ::aos::util::SimpleLogInterval no_drivetrain_status_ =
-      ::aos::util::SimpleLogInterval(::aos::time::Time::InSeconds(0.2), WARNING,
-                                     "no drivetrain status");
 };
 
 }  // namespace joysticks
 }  // namespace input
-}  // namespace frc971
+}  // namespace bot3
 
 int main() {
   ::aos::Init();
-  ::frc971::input::joysticks::Reader reader;
+  ::bot3::input::joysticks::Reader reader;
   reader.Run();
   ::aos::Cleanup();
 }