diff --git a/y2024/control_loops/superstructure/shooter.cc b/y2024/control_loops/superstructure/shooter.cc
index a0dd234..72ad0d6 100644
--- a/y2024/control_loops/superstructure/shooter.cc
+++ b/y2024/control_loops/superstructure/shooter.cc
@@ -10,18 +10,12 @@
 
 using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
 
-constexpr double kMinCurrent = 20.0;
-constexpr double kMaxVelocity = 1.0;
 constexpr double kCatapultActivationThreshold = 0.01;
 
 Shooter::Shooter(aos::EventLoop *event_loop, const Constants *robot_constants)
     : drivetrain_status_fetcher_(
           event_loop->MakeFetcher<frc971::control_loops::drivetrain::Status>(
               "/drivetrain")),
-      superstructure_can_position_fetcher_(
-          event_loop
-              ->MakeFetcher<y2024::control_loops::superstructure::CANPosition>(
-                  "/superstructure/rio")),
       robot_constants_(robot_constants),
       catapult_(
           robot_constants->common()->catapult(),
@@ -43,34 +37,18 @@
     const y2024::control_loops::superstructure::ShooterGoal *shooter_goal,
     double *catapult_output, double *altitude_output, double *turret_output,
     double *retention_roller_output, double /*battery_voltage*/,
-    aos::monotonic_clock::time_point current_timestamp,
     CollisionAvoidance *collision_avoidance, const double intake_pivot_position,
     double *max_intake_pivot_position, double *min_intake_pivot_position,
     flatbuffers::FlatBufferBuilder *fbb) {
-  superstructure_can_position_fetcher_.Fetch();
   drivetrain_status_fetcher_.Fetch();
-  CHECK(superstructure_can_position_fetcher_.get() != nullptr);
-
-  double current_retention_position =
-      superstructure_can_position_fetcher_->retention_roller()->position();
-
-  double torque_current =
-      superstructure_can_position_fetcher_->retention_roller()
-          ->torque_current();
-
-  double retention_velocity =
-      (current_retention_position - last_retention_position_) /
-      std::chrono::duration<double>(current_timestamp - last_timestamp_)
-          .count();
 
   // If our current is over the minimum current and our velocity is under our
   // maximum velocity, then set loaded to true. If we are preloaded set it to
   // true as well.
   //
   // TODO(austin): Debounce piece_loaded?
-  bool piece_loaded =
-      (torque_current > kMinCurrent && retention_velocity < kMaxVelocity) ||
-      (shooter_goal != nullptr && shooter_goal->preloaded());
+  bool piece_loaded = position->catapult_beambreak() ||
+                      (shooter_goal != nullptr && shooter_goal->preloaded());
 
   aos::fbs::FixedStackAllocator<aos::fbs::Builder<
       frc971::control_loops::
@@ -289,8 +267,6 @@
     status_builder.add_aimer(aimer_offset);
   }
 
-  last_retention_position_ = current_retention_position;
-  last_timestamp_ = current_timestamp;
   return status_builder.Finish();
 }
 
diff --git a/y2024/control_loops/superstructure/shooter.h b/y2024/control_loops/superstructure/shooter.h
index 048e4b2..521fa04 100644
--- a/y2024/control_loops/superstructure/shooter.h
+++ b/y2024/control_loops/superstructure/shooter.h
@@ -67,7 +67,6 @@
       const Position *position, const ShooterGoal *shooter_goal,
       double *catapult_output, double *altitude_output, double *turret_output,
       double *retention_roller_output, double battery_voltage,
-      aos::monotonic_clock::time_point current_timestamp,
       /* Hacky way to use collision avoidance in this class */
       CollisionAvoidance *collision_avoidance,
       const double intake_pivot_position, double *max_turret_intake_position,
@@ -100,11 +99,6 @@
   frc971::shooter_interpolation::InterpolationTable<
       y2024::constants::Values::ShotParams>
       interpolation_table_;
-
-  double last_retention_position_;
-
-  aos::monotonic_clock::time_point last_timestamp_{
-      aos::monotonic_clock::min_time};
 };
 
 }  // namespace y2024::control_loops::superstructure
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index ebcbf1b..29b4cc9 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -47,6 +47,8 @@
   const monotonic_clock::time_point timestamp =
       event_loop()->context().monotonic_event_time;
 
+  (void)timestamp;
+
   if (WasReset()) {
     AOS_LOG(ERROR, "WPILib reset, restarting\n");
     intake_pivot_.Reset();
@@ -191,7 +193,7 @@
           output != nullptr ? &output_struct.altitude_voltage : nullptr,
           output != nullptr ? &output_struct.turret_voltage : nullptr,
           output != nullptr ? &output_struct.retention_roller_voltage : nullptr,
-          robot_state().voltage_battery(), timestamp, &collision_avoidance_,
+          robot_state().voltage_battery(), &collision_avoidance_,
           intake_pivot_.estimated_position(), &max_intake_pivot_position,
           &min_intake_pivot_position, status->fbb());
 
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index eeeb731..701690b 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -64,6 +64,7 @@
         superstructure_output_fetcher_(
             event_loop_->MakeFetcher<Output>("/superstructure")),
         transfer_beambreak_(false),
+        catapult_beambreak_(false),
         intake_pivot_(
             new CappedTestPlant(intake_pivot::MakeIntakePivotPlant()),
             PositionSensorSimulator(simulated_robot_constants->robot()
@@ -205,7 +206,6 @@
           }
           first_ = false;
           SendPositionMessage();
-          SendCANPositionMessage();
         },
         dt);
   }
@@ -244,6 +244,7 @@
     Position::Builder position_builder = builder.MakeBuilder<Position>();
 
     position_builder.add_transfer_beambreak(transfer_beambreak_);
+    position_builder.add_catapult_beambreak(catapult_beambreak_);
     position_builder.add_intake_pivot(intake_pivot_offset);
     position_builder.add_catapult(catapult_offset);
     position_builder.add_altitude(altitude_offset);
@@ -254,41 +255,12 @@
              aos::RawSender::Error::kOk);
   }
 
-  void SendCANPositionMessage() {
-    retention_position_ =
-        retention_velocity_ * std::chrono::duration<double>(dt_).count() +
-        retention_position_;
-
-    auto builder = superstructure_can_position_sender_.MakeBuilder();
-
-    frc971::control_loops::CANTalonFX::Builder retention_builder =
-        builder.MakeBuilder<frc971::control_loops::CANTalonFX>();
-
-    retention_builder.add_torque_current(retention_torque_current_);
-    retention_builder.add_position(retention_position_);
-
-    flatbuffers::Offset<frc971::control_loops::CANTalonFX> retention_offset =
-        retention_builder.Finish();
-
-    CANPosition::Builder can_position_builder =
-        builder.MakeBuilder<CANPosition>();
-
-    can_position_builder.add_retention_roller(retention_offset);
-
-    CHECK_EQ(builder.Send(can_position_builder.Finish()),
-             aos::RawSender::Error::kOk);
-  }
-
   void set_transfer_beambreak(bool triggered) {
     transfer_beambreak_ = triggered;
   }
 
-  void set_retention_velocity(double velocity) {
-    retention_velocity_ = velocity;
-  }
-
-  void set_retention_torque_current(double torque_current) {
-    retention_torque_current_ = torque_current;
+  void set_catapult_beambreak(bool triggered) {
+    catapult_beambreak_ = triggered;
   }
 
   AbsoluteEncoderSimulator *intake_pivot() { return &intake_pivot_; }
@@ -308,6 +280,7 @@
   ::aos::Fetcher<Output> superstructure_output_fetcher_;
 
   bool transfer_beambreak_;
+  bool catapult_beambreak_;
 
   AbsoluteEncoderSimulator intake_pivot_;
   PotAndAbsoluteEncoderSimulator climber_;
@@ -316,10 +289,6 @@
   PotAndAbsoluteEncoderSimulator turret_;
 
   bool first_ = true;
-
-  double retention_velocity_;
-  double retention_position_;
-  double retention_torque_current_;
 };
 
 class SuperstructureTest : public ::frc971::testing::ControlLoopTest {
@@ -970,8 +939,7 @@
     ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
-  superstructure_plant_.set_retention_velocity(5);
-  superstructure_plant_.set_retention_torque_current(1);
+  superstructure_plant_.set_catapult_beambreak(false);
   superstructure_plant_.set_transfer_beambreak(false);
 
   RunFor(chrono::seconds(5));
@@ -1046,9 +1014,7 @@
   EXPECT_EQ(superstructure_status_fetcher_->shooter()->catapult_state(),
             CatapultState::READY);
 
-  // Set retention roller to show that we are loaded.
-  superstructure_plant_.set_retention_velocity(0.1);
-  superstructure_plant_.set_retention_torque_current(45);
+  superstructure_plant_.set_catapult_beambreak(true);
   superstructure_plant_.set_transfer_beambreak(true);
 
   RunFor(chrono::seconds(5));
@@ -1115,8 +1081,7 @@
             CatapultState::FIRING);
 
   // Wheel should spin free again.
-  superstructure_plant_.set_retention_velocity(5);
-  superstructure_plant_.set_retention_torque_current(1);
+  superstructure_plant_.set_catapult_beambreak(false);
 
   RunFor(chrono::seconds(5));
 
@@ -1152,8 +1117,7 @@
     ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
-  superstructure_plant_.set_retention_velocity(5);
-  superstructure_plant_.set_retention_torque_current(45);
+  superstructure_plant_.set_catapult_beambreak(false);
   superstructure_plant_.set_transfer_beambreak(false);
 
   RunFor(chrono::seconds(5));
@@ -1267,8 +1231,7 @@
     ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
-  superstructure_plant_.set_retention_velocity(0);
-  superstructure_plant_.set_retention_torque_current(45);
+  superstructure_plant_.set_catapult_beambreak(true);
 
   RunFor(chrono::seconds(5));
 
@@ -1281,8 +1244,6 @@
   EXPECT_NEAR(-M_PI_2,
               superstructure_status_fetcher_->shooter()->turret()->position(),
               5e-4);
-  LOG(INFO) << aos::FlatbufferToJson(superstructure_status_fetcher_.get(),
-                                     {.multi_line = true});
 
   EXPECT_EQ(
       kDistanceFromSpeaker,
@@ -1311,8 +1272,7 @@
     ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
-  superstructure_plant_.set_retention_velocity(0);
-  superstructure_plant_.set_retention_torque_current(45);
+  superstructure_plant_.set_catapult_beambreak(true);
 
   RunFor(chrono::seconds(5));
 
diff --git a/y2024/control_loops/superstructure/superstructure_position.fbs b/y2024/control_loops/superstructure/superstructure_position.fbs
index d6ca193..4f4b75b 100644
--- a/y2024/control_loops/superstructure/superstructure_position.fbs
+++ b/y2024/control_loops/superstructure/superstructure_position.fbs
@@ -29,7 +29,7 @@
     climber:frc971.PotAndAbsolutePosition (id: 5);
 
     // True if there is a game piece in the catapult
-    catapult_beam_break:bool (id: 6);
+    catapult_beambreak:bool (id: 6);
 
     // Values of the encoder and potentiometer at the extend motor
     // Zero is fully retracted, positive is extended outward.