diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index 80747a8..a39c130 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -10,6 +10,7 @@
 #include "aos/network/team_number.h"
 #include "aos/util/log_interval.h"
 #include "frc971/autonomous/base_autonomous_actor.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
 #include "frc971/input/action_joystick_input.h"
 #include "frc971/input/driver_station_data.h"
 #include "frc971/input/drivetrain_input.h"
@@ -18,6 +19,7 @@
 #include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2022/control_loops/superstructure/superstructure_status_generated.h"
 
+using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
 using frc971::input::driver_station::ButtonLocation;
 using frc971::input::driver_station::ControlBit;
 using frc971::input::driver_station::JoystickAxis;
@@ -27,6 +29,9 @@
 namespace input {
 namespace joysticks {
 
+const ButtonLocation kCatapultPos(3, 3);
+const ButtonLocation kFire(3, 1);
+
 namespace superstructure = y2022::control_loops::superstructure;
 
 class Reader : public ::frc971::input::ActionJoystickInput {
@@ -45,12 +50,44 @@
   void AutoEnded() override { AOS_LOG(INFO, "Auto ended.\n"); }
 
   void HandleTeleop(
-      const ::frc971::input::driver_station::Data & /*data*/) override {
+      const ::frc971::input::driver_station::Data &data) override {
     superstructure_status_fetcher_.Fetch();
     if (!superstructure_status_fetcher_.get()) {
       AOS_LOG(ERROR, "Got no superstructure status message.\n");
       return;
     }
+
+    aos::Sender<superstructure::Goal>::Builder builder =
+        superstructure_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<frc971::ProfileParameters> catapult_profile =
+        frc971::CreateProfileParameters(*builder.fbb(), 5.0, 30.0);
+
+    StaticZeroingSingleDOFProfiledSubsystemGoal::Builder
+        catapult_return_builder =
+            builder.MakeBuilder<StaticZeroingSingleDOFProfiledSubsystemGoal>();
+    catapult_return_builder.add_unsafe_goal(
+        data.IsPressed(kCatapultPos) ? 0.3 : -0.85);
+    catapult_return_builder.add_profile_params(catapult_profile);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        catapult_return_offset = catapult_return_builder.Finish();
+
+    superstructure::CatapultGoal::Builder catapult_builder =
+        builder.MakeBuilder<superstructure::CatapultGoal>();
+    catapult_builder.add_return_position(catapult_return_offset);
+    catapult_builder.add_fire(data.IsPressed(kFire));
+    catapult_builder.add_shot_position(0.3);
+    catapult_builder.add_shot_velocity(15.0);
+    flatbuffers::Offset<superstructure::CatapultGoal> catapult_offset =
+        catapult_builder.Finish();
+
+    superstructure::Goal::Builder goal_builder =
+        builder.MakeBuilder<superstructure::Goal>();
+    goal_builder.add_catapult(catapult_offset);
+
+    if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
+      AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
+    }
   }
 
  private: