diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index f08bb80..cd3f7c3 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -24,6 +24,14 @@
 )
 
 flatbuffer_cc_library(
+    name = "superstructure_can_position_fbs",
+    srcs = [
+        "superstructure_can_position.fbs",
+    ],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
     name = "superstructure_status_fbs",
     srcs = [
         "superstructure_status.fbs",
diff --git a/y2022/control_loops/superstructure/superstructure_can_position.fbs b/y2022/control_loops/superstructure/superstructure_can_position.fbs
new file mode 100644
index 0000000..e521d8c
--- /dev/null
+++ b/y2022/control_loops/superstructure/superstructure_can_position.fbs
@@ -0,0 +1,10 @@
+namespace y2022.control_loops.superstructure;
+
+// CAN readings from the CAN sensor reader loop
+table CANPosition {
+  // Velocity of the flipper arms (rad/s), obtained from the integrated sensor
+  // in the falcon.
+  flipper_arm_integrated_sensor_velocity:double (id: 0);
+}
+
+root_type CANPosition;