diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index d94e34d..d0ff71d 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -30,6 +30,9 @@
                                                                      name),
       status_light_sender_(
           event_loop->MakeSender<::y2018::StatusLight>(".y2018.status_light")),
+      vision_status_fetcher_(
+          event_loop->MakeFetcher<::y2018::vision::VisionStatus>(
+              ".y2018.vision.vision_status")),
       intake_left_(constants::GetValues().left_intake.zeroing),
       intake_right_(constants::GetValues().right_intake.zeroing) {}
 
@@ -255,11 +258,13 @@
 
   ::frc971::control_loops::drivetrain_queue.output.FetchLatest();
 
-  ::y2018::vision::vision_status.FetchLatest();
+  vision_status_fetcher_.Fetch();
+  monotonic_clock::time_point monotonic_now = event_loop()->monotonic_now();
   if (status->estopped) {
     SendColors(0.5, 0.0, 0.0);
-  } else if (!y2018::vision::vision_status.get() ||
-             y2018::vision::vision_status.Age() > chrono::seconds(1)) {
+  } else if (!vision_status_fetcher_.get() ||
+             monotonic_now >
+                 vision_status_fetcher_->sent_time + chrono::seconds(1)) {
     SendColors(0.5, 0.5, 0.0);
   } else if (rotation_state_ == RotationState::ROTATING_LEFT ||
              rotation_state_ == RotationState::ROTATING_RIGHT) {
diff --git a/y2018/control_loops/superstructure/superstructure.h b/y2018/control_loops/superstructure/superstructure.h
index 8ab6bf3..bceb643 100644
--- a/y2018/control_loops/superstructure/superstructure.h
+++ b/y2018/control_loops/superstructure/superstructure.h
@@ -10,6 +10,7 @@
 #include "y2018/control_loops/superstructure/intake/intake.h"
 #include "y2018/control_loops/superstructure/superstructure.q.h"
 #include "y2018/status_light.q.h"
+#include "y2018/vision/vision.q.h"
 
 namespace y2018 {
 namespace control_loops {
@@ -38,6 +39,7 @@
   void SendColors(float red, float green, float blue);
 
   ::aos::Sender<::y2018::StatusLight> status_light_sender_;
+  ::aos::Fetcher<::y2018::vision::VisionStatus> vision_status_fetcher_;
 
   intake::IntakeSide intake_left_;
   intake::IntakeSide intake_right_;
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 5fa4abe..8533dce 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -274,7 +274,6 @@
                               ".y2018.control_loops.superstructure.status",
                               ".y2018.control_loops.superstructure.position"),
         superstructure_(&event_loop_, ".y2018.control_loops.superstructure") {
-    ::y2018::vision::vision_status.Clear();
     ::frc971::control_loops::drivetrain_queue.output.Clear();
     set_team_id(::frc971::control_loops::testing::kTeamNumber);
   }
diff --git a/y2018/vision/BUILD b/y2018/vision/BUILD
index b385784..8e5e950 100644
--- a/y2018/vision/BUILD
+++ b/y2018/vision/BUILD
@@ -34,6 +34,7 @@
     deps = [
         ":vision_queue",
         "//aos:init",
+        "//aos/events:shm-event-loop",
         "//aos/logging",
         "//aos/logging:queue_logging",
         "//aos/time",
diff --git a/y2018/vision/vision.q b/y2018/vision/vision.q
index a3b57ea..fb59d69 100644
--- a/y2018/vision/vision.q
+++ b/y2018/vision/vision.q
@@ -1,7 +1,7 @@
 package y2018.vision;
 
+// Published on ".y2018.vision.vision_status"
 message VisionStatus {
   uint32_t high_frame_count;
   uint32_t low_frame_count;
 };
-queue VisionStatus vision_status;
diff --git a/y2018/vision/vision_status.cc b/y2018/vision/vision_status.cc
index cfdae2e..3d3faf5 100644
--- a/y2018/vision/vision_status.cc
+++ b/y2018/vision/vision_status.cc
@@ -1,9 +1,10 @@
 #include <netdb.h>
 
+#include "aos/events/shm-event-loop.h"
+#include "aos/init.h"
 #include "aos/logging/logging.h"
 #include "aos/logging/queue_logging.h"
 #include "aos/time/time.h"
-#include "aos/init.h"
 #include "aos/vision/events/udp.h"
 #include "y2018/vision.pb.h"
 #include "y2018/vision/vision.q.h"
@@ -17,12 +18,16 @@
   ::aos::events::RXUdpSocket video_rx(5001);
   char data[65507];
   ::y2018::VisionStatus status;
+  ::aos::ShmEventLoop event_loop;
+  ::aos::Sender<::y2018::vision::VisionStatus> vision_status_sender_ =
+      event_loop.MakeSender<::y2018::vision::VisionStatus>(
+          ".y2018.vision.vision_status");
 
   while (true) {
     const ssize_t rx_size = video_rx.Recv(data, sizeof(data));
     if (rx_size > 0) {
       status.ParseFromArray(data, rx_size);
-      auto new_vision_status = vision_status.MakeMessage();
+      auto new_vision_status = vision_status_sender_.MakeMessage();
       new_vision_status->high_frame_count = status.high_frame_count();
       new_vision_status->low_frame_count = status.low_frame_count();
       LOG_STRUCT(DEBUG, "vision", *new_vision_status);
diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index f412846..d6bda66 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -395,6 +395,9 @@
                 ".y2018.control_loops.superstructure_queue.output")),
         status_light_fetcher_(event_loop->MakeFetcher<::y2018::StatusLight>(
             ".y2018.status_light")),
+        vision_status_fetcher_(
+            event_loop->MakeFetcher<::y2018::vision::VisionStatus>(
+                ".y2018.vision.vision_status")),
         pcm_(pcm) {}
 
   // left drive
@@ -473,23 +476,25 @@
         LOG_STRUCT(DEBUG, "pneumatics info", to_log);
       }
 
+      monotonic_clock::time_point monotonic_now = event_loop_->monotonic_now();
       status_light_fetcher_.Fetch();
       // If we don't have a light request (or it's an old one), we are borked.
       // Flash the red light slowly.
       if (!status_light_fetcher_.get() ||
-          event_loop_->monotonic_now() >
+          monotonic_now >
               status_light_fetcher_->sent_time + chrono::milliseconds(100)) {
         StatusLight color;
         color.red = 0.0;
         color.green = 0.0;
         color.blue = 0.0;
 
-        ::y2018::vision::vision_status.FetchLatest();
+        vision_status_fetcher_.Fetch();
         ++light_flash_;
         if (light_flash_ > 10) {
           color.red = 0.5;
-        } else if (!y2018::vision::vision_status.get() ||
-                   y2018::vision::vision_status.Age() > chrono::seconds(1)) {
+        } else if (!vision_status_fetcher_.get() ||
+                   monotonic_now >
+                       vision_status_fetcher_->sent_time + chrono::seconds(1)) {
           color.red = 0.5;
           color.green = 0.5;
         }
@@ -543,6 +548,7 @@
   ::aos::Fetcher<::y2018::control_loops::SuperstructureQueue::Output>
       superstructure_fetcher_;
   ::aos::Fetcher<::y2018::StatusLight> status_light_fetcher_;
+  ::aos::Fetcher<::y2018::vision::VisionStatus> vision_status_fetcher_;
 
   ::frc971::wpilib::BufferedPcm *pcm_;