diff --git a/aos/crio/controls/ControlsManager.h b/aos/crio/controls/ControlsManager.h
index 986fe02..aa78587 100644
--- a/aos/crio/controls/ControlsManager.h
+++ b/aos/crio/controls/ControlsManager.h
@@ -4,17 +4,24 @@
 namespace aos {
 namespace crio {
 
+// Designed for a subclass (that implements all of the pure virtual methods...)
+// to be passed to START_ROBOT_CLASS (a WPILib macro) to start all of the code.
 class ControlsManager : public RobotBase {
  public:
-  // Gets called when it is time to register all the control loops.
-  virtual void RegisterControlLoops() = 0;
   virtual void StartCompetition();
-  static inline ControlsManager &GetInstance() {
+
+  static ControlsManager &GetInstance() {
     return *static_cast<ControlsManager *>(&RobotBase::getInstance());
   }
-  inline DriverStation *GetDS() {
+  DriverStation *GetDS() {
     return m_ds;
   }
+
+ private:
+  // Hooks that subclasses have to implement to do the correct things at the
+  // correct times.
+  virtual void RegisterControlLoops() = 0;
+  virtual void StartSensorBroadcasters() = 0;
 };
 
 }  // namespace crio