diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index e82710b..815210f 100755
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -738,7 +738,19 @@
       output->bottom_claw_voltage = -kMaxVoltage;
     }
   }
-  status->done = false;
+
+  bool bottom_done =
+      ::std::abs(bottom_absolute_position() - goal->bottom_angle) < 0.005;
+  bool separation_done =
+      ::std::abs((top_absolute_position() - bottom_absolute_position()) -
+                 goal->separation_angle) <
+      0.005;
+  status->done = is_ready() && separation_done && bottom_done;
+
+  status->bottom = bottom_absolute_position();
+  status->separation = top_absolute_position() - bottom_absolute_position();
+  status->bottom_velocity = claw_.X_hat(2, 0);
+  status->separation_velocity = claw_.X_hat(3, 0);
 
   was_enabled_ = ::aos::robot_state->enabled;
 }
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index f1d2f93..c67ed20 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -51,6 +51,16 @@
     double tusk_voltage;
   };
 
+  message Status {
+    // True if zeroed and within tolerance for separation and bottom angle.
+    bool done;
+    // Dump the values of the state matrix.
+    double bottom;
+    double bottom_velocity;
+    double separation;
+    double separation_velocity;
+  };
+
   queue Goal goal;
   queue Position position;
   queue Output output;
diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index 11a11b9..036b466 100755
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -157,6 +157,7 @@
     LOG(ERROR, "Thought I would just check for null and die.\n");
     return;
   }
+  status->ready = false;
 
   if (reset()) {
     state_ = STATE_INITIALIZE;
@@ -397,6 +398,7 @@
       // Wait until the brake is set, and a shot is requested or the shot power
       // is changed.
       if (Time::Now() > shooter_brake_set_time_) {
+        status->ready = true;
         // We have waited long enough for the brake to set, turn the shooter
         // control loop off.
         shooter_loop_disable = true;
@@ -416,6 +418,7 @@
 
         // TODO(austin): Do we want to set the brake here or after shooting?
         // Depends on air usage.
+        status->ready = false;
         LOG(DEBUG, "Preparing shot again.\n");
         state_ = STATE_PREPARE_SHOT;
       }
@@ -570,9 +573,6 @@
     output->brake_piston = brake_piston_;
   }
 
-  status->done = ::std::abs(shooter_.absolute_position() -
-                            PowerToPosition(goal->shot_power)) < 0.004;
-
   if (position) {
     last_position_ = *position;
     LOG(DEBUG, "pos > absolute: %f velocity: %f state= %d l= %d pp= %d, pd= %d "
diff --git a/frc971/control_loops/shooter/shooter.q b/frc971/control_loops/shooter/shooter.q
index 6310320..fd2ddd4 100755
--- a/frc971/control_loops/shooter/shooter.q
+++ b/frc971/control_loops/shooter/shooter.q
@@ -41,6 +41,7 @@
     // Whether it's ready to shoot right now.
     bool ready;
     // Whether the plunger is in and out of the way of grabbing a ball.
+    // TODO(ben): Populate these!
     bool cocked;
     // How many times we've shot.
     int32_t shots;