diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index a541a55..016110a 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -435,6 +435,10 @@
       break;
   }
 
+  if (unsafe_goal != nullptr && unsafe_goal->spit_extend()) {
+    output_struct.extend_roller_voltage = -extend_roller_voltages->scoring();
+  }
+
   double extend_goal_position = 0.0;
 
   if (unsafe_goal != nullptr && unsafe_goal->note_goal() == NoteGoal::TRAP) {
diff --git a/y2024/control_loops/superstructure/superstructure_goal.fbs b/y2024/control_loops/superstructure/superstructure_goal.fbs
index 13cf4e0..abfd405 100644
--- a/y2024/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2024/control_loops/superstructure/superstructure_goal.fbs
@@ -67,5 +67,8 @@
 
     // Tells the climber to go absurdly slow on FULL_EXTEND
     slow_climber: bool = false (id: 6);
+
+    // Spit on the extend motors
+    spit_extend: bool = false (id: 7);
 }
 root_type Goal;