diff --git a/aos/common/common.gyp b/aos/common/common.gyp
index 906b5b2..088c882 100644
--- a/aos/common/common.gyp
+++ b/aos/common/common.gyp
@@ -184,6 +184,7 @@
         'control_loop_queues',
         '<(AOS)/common/logging/logging.gyp:queue_logging',
         '<(AOS)/common/util/util.gyp:log_interval',
+        '<(DEPTH)/bbb_cape/src/bbb/bbb.gyp:sensor_generation',
       ],
       'export_dependent_settings': [
         '<(AOS)/common/messages/messages.gyp:aos_queues',
@@ -193,6 +194,7 @@
         'control_loop_queues',
         '<(AOS)/common/logging/logging.gyp:queue_logging',
         '<(AOS)/common/util/util.gyp:log_interval',
+        '<(DEPTH)/bbb_cape/src/bbb/bbb.gyp:sensor_generation',
       ],
     },
     {
diff --git a/aos/common/control_loop/ControlLoop-tmpl.h b/aos/common/control_loop/ControlLoop-tmpl.h
index b5714d5..4e1999c 100644
--- a/aos/common/control_loop/ControlLoop-tmpl.h
+++ b/aos/common/control_loop/ControlLoop-tmpl.h
@@ -5,6 +5,8 @@
 #include "aos/common/messages/RobotState.q.h"
 #include "aos/common/logging/queue_logging.h"
 
+#include "bbb/sensor_generation.q.h"
+
 namespace aos {
 namespace control_loops {
 
@@ -37,6 +39,21 @@
     ZeroOutputs();
     return;
   }
+
+  ::bbb::sensor_generation.FetchLatest();
+  if (::bbb::sensor_generation.get() == nullptr) {
+    ZeroOutputs();
+    return;
+  }
+  if (!has_sensor_reset_counters_ ||
+      ::bbb::sensor_generation->reader_pid != reader_pid_ ||
+      ::bbb::sensor_generation->cape_resets != cape_resets_) {
+    reader_pid_ = ::bbb::sensor_generation->reader_pid;
+    cape_resets_ = ::bbb::sensor_generation->cape_resets;
+    has_sensor_reset_counters_ = true;
+    reset_ = true;
+  }
+    
   LOG_STRUCT(DEBUG, "goal", *goal);
 
   // Only pass in a position if we got one this cycle.
@@ -75,12 +92,12 @@
   bool outputs_enabled = false;
 
   // Check to see if we got a driver station packet recently.
-  if (aos::robot_state.FetchLatest()) {
+  if (::aos::robot_state.FetchLatest()) {
     outputs_enabled = true;
-  } else if (aos::robot_state.IsNewerThanMS(kDSPacketTimeoutMs)) {
+  } else if (::aos::robot_state.IsNewerThanMS(kDSPacketTimeoutMs)) {
     outputs_enabled = true;
   } else {
-    if (aos::robot_state.get()) {
+    if (::aos::robot_state.get()) {
       LOG_INTERVAL(driver_station_old_);
     } else {
       LOG_INTERVAL(no_driver_station_);
diff --git a/aos/common/control_loop/ControlLoop.h b/aos/common/control_loop/ControlLoop.h
index e48d259..c9e3381 100644
--- a/aos/common/control_loop/ControlLoop.h
+++ b/aos/common/control_loop/ControlLoop.h
@@ -60,8 +60,10 @@
   // Maximum age of driver station packets before the loop will be disabled.
   static const int kDSPacketTimeoutMs = 500;
 
-  ControlLoop(T *control_loop) : control_loop_(control_loop) {}
-
+  ControlLoop(T *control_loop)
+      : control_loop_(control_loop),
+        reset_(true),
+        has_sensor_reset_counters_(false) {}
   // Create some convenient typedefs to reference the Goal, Position, Status,
   // and Output structures.
   typedef typename std::remove_reference<
@@ -81,6 +83,14 @@
   // motors.  Calls Zero to clear all the state.
   void ZeroOutputs();
 
+  // Returns true if the device reading the sensors reset and potentially lost
+  // track of encoder counts.  Calling this read method clears the flag.
+  bool reset() {
+    bool ans = reset_;
+    reset_ = false;
+    return ans;
+  }
+
   // Sets the output to zero.
   // Over-ride if a value of zero is not "off" for this subsystem.
   virtual void Zero(OutputType *output) { output->Zero(); }
@@ -131,6 +141,11 @@
   // Pointer to the queue group
   T *control_loop_;
 
+  bool reset_;
+  bool has_sensor_reset_counters_;
+  int32_t reader_pid_;
+  uint32_t cape_resets_;
+
   typedef ::aos::util::SimpleLogInterval SimpleLogInterval;
   static constexpr ::aos::time::Time kStaleLogInterval =
       ::aos::time::Time::InSeconds(0.1);
diff --git a/frc971/control_loops/claw/claw_lib_test.cc b/frc971/control_loops/claw/claw_lib_test.cc
index e663672..db435ad 100644
--- a/frc971/control_loops/claw/claw_lib_test.cc
+++ b/frc971/control_loops/claw/claw_lib_test.cc
@@ -274,6 +274,11 @@
     // test.
     ::aos::robot_state.Clear();
     SendDSPacket(true);
+    ::bbb::sensor_generation.Clear();
+    ::bbb::sensor_generation.MakeWithBuilder()
+        .reader_pid(254)
+        .cape_resets(5)
+        .Send();
   }
 
   void SendDSPacket(bool enabled) {
@@ -299,6 +304,7 @@
 
   virtual ~ClawTest() {
     ::aos::robot_state.Clear();
+    ::bbb::sensor_generation.Clear();
   }
 };
 
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 0119dd2..eb1ede2 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -3,6 +3,7 @@
 #include <memory>
 
 #include "gtest/gtest.h"
+#include "aos/common/network/team_number.h"
 #include "aos/common/queue.h"
 #include "aos/common/queue_testutils.h"
 #include "aos/controls/polytope.h"
@@ -31,6 +32,14 @@
 ::testing::Environment* const holder_env =
   ::testing::AddGlobalTestEnvironment(new Environment);
 
+class TeamNumberEnvironment : public ::testing::Environment {
+ public:
+  // Override this to define how to set up the environment.
+  virtual void SetUp() { aos::network::OverrideTeamNumber(971); }
+};
+
+::testing::Environment* const team_number_env =
+    ::testing::AddGlobalTestEnvironment(new TeamNumberEnvironment);
 
 // Class which simulates the drivetrain and sends out queue messages containing the
 // position.
@@ -119,6 +128,11 @@
     // Flush the robot state queue so we can use clean shared memory for this
     // test, also for the gyro.
     ::aos::robot_state.Clear();
+    ::bbb::sensor_generation.Clear();
+    ::bbb::sensor_generation.MakeWithBuilder()
+        .reader_pid(254)
+        .cape_resets(5)
+        .Send();
     ::frc971::sensors::gyro.Clear();
     SendDSPacket(true);
   }
@@ -144,6 +158,7 @@
   virtual ~DrivetrainTest() {
     ::aos::robot_state.Clear();
     ::frc971::sensors::gyro.Clear();
+    ::bbb::sensor_generation.Clear();
   }
 };
 
diff --git a/frc971/control_loops/shooter/shooter_lib_test.cc b/frc971/control_loops/shooter/shooter_lib_test.cc
index b2da13e..f3a8872 100755
--- a/frc971/control_loops/shooter/shooter_lib_test.cc
+++ b/frc971/control_loops/shooter/shooter_lib_test.cc
@@ -3,6 +3,7 @@
 #include <memory>
 
 #include "gtest/gtest.h"
+#include "aos/common/network/team_number.h"
 #include "aos/common/queue.h"
 #include "aos/common/queue_testutils.h"
 #include "frc971/control_loops/shooter/shooter.q.h"
@@ -17,6 +18,16 @@
 namespace control_loops {
 namespace testing {
 
+class TeamNumberEnvironment : public ::testing::Environment {
+ public:
+  // Override this to define how to set up the environment.
+  virtual void SetUp() { aos::network::OverrideTeamNumber(971); }
+};
+
+::testing::Environment* const team_number_env =
+    ::testing::AddGlobalTestEnvironment(new TeamNumberEnvironment);
+
+
 // Class which simulates the shooter and sends out queue messages containing the
 // position.
 class ShooterSimulation {
@@ -204,6 +215,11 @@
     // test.
     ::aos::robot_state.Clear();
     SendDSPacket(true);
+    ::bbb::sensor_generation.Clear();
+    ::bbb::sensor_generation.MakeWithBuilder()
+        .reader_pid(254)
+        .cape_resets(5)
+        .Send();
   }
 
 
@@ -221,7 +237,10 @@
     EXPECT_NEAR(shooter_queue_group_.goal->shot_power, pos, 1e-4);
   }
 
-  virtual ~ShooterTest() { ::aos::robot_state.Clear(); }
+  virtual ~ShooterTest() {
+    ::aos::robot_state.Clear();
+    ::bbb::sensor_generation.Clear();
+  }
 };