diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 39c913e..9a6c3cd 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -97,6 +97,12 @@
 
   if (output != nullptr) {
     if (unsafe_goal) {
+        output_struct.washing_machine_spinner_voltage = 6.0;
+      if (unsafe_goal->shooting()) {
+        output_struct.feeder_voltage = 6.0;
+      } else {
+        output_struct.feeder_voltage = 0.0;
+      }
       output_struct.intake_roller_voltage = unsafe_goal->roller_voltage();
     } else {
       output_struct.intake_roller_voltage = 0.0;