diff --git a/y2018/control_loops/drivetrain/drivetrain_main.cc b/y2018/control_loops/drivetrain/drivetrain_main.cc
index 15d99be..f0c7f0e 100644
--- a/y2018/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_main.cc
@@ -1,5 +1,6 @@
 #include "aos/init.h"
 
+#include "aos/events/shm-event-loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2018/control_loops/drivetrain/drivetrain_base.h"
 
@@ -7,8 +8,9 @@
 
 int main() {
   ::aos::Init();
+  ::aos::ShmEventLoop event_loop;
   DrivetrainLoop drivetrain(
-      ::y2018::control_loops::drivetrain::GetDrivetrainConfig());
+      ::y2018::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop);
   drivetrain.Run();
   ::aos::Cleanup();
   return 0;
diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index c2d0bcf..9474b6d 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -35,10 +35,10 @@
   }
 }
 
-Superstructure::Superstructure(
-    control_loops::SuperstructureQueue *superstructure_queue)
-    : aos::controls::ControlLoop<control_loops::SuperstructureQueue>(
-          superstructure_queue),
+Superstructure::Superstructure(::aos::EventLoop *event_loop,
+                               const ::std::string &name)
+    : aos::controls::ControlLoop<control_loops::SuperstructureQueue>(event_loop,
+                                                                     name),
       intake_left_(constants::GetValues().left_intake.zeroing),
       intake_right_(constants::GetValues().right_intake.zeroing) {}
 
diff --git a/y2018/control_loops/superstructure/superstructure.h b/y2018/control_loops/superstructure/superstructure.h
index 4f8f4d5..3d1a6af 100644
--- a/y2018/control_loops/superstructure/superstructure.h
+++ b/y2018/control_loops/superstructure/superstructure.h
@@ -17,8 +17,8 @@
     : public ::aos::controls::ControlLoop<control_loops::SuperstructureQueue> {
  public:
   explicit Superstructure(
-      control_loops::SuperstructureQueue *my_superstructure =
-          &control_loops::superstructure_queue);
+      ::aos::EventLoop *event_loop,
+      const ::std::string &name = ".y2018.control_loops.superstructure_queue");
 
   const intake::IntakeSide &intake_left() const { return intake_left_; }
   const intake::IntakeSide &intake_right() const { return intake_right_; }
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 0ad4d16..89cfaa0 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -273,7 +273,7 @@
                               ".y2018.control_loops.superstructure.output",
                               ".y2018.control_loops.superstructure.status",
                               ".y2018.control_loops.superstructure.position"),
-        superstructure_(&superstructure_queue_) {
+        superstructure_(&event_loop_, ".y2018.control_loops.superstructure") {
     status_light.Clear();
     ::y2018::vision::vision_status.Clear();
     ::frc971::control_loops::drivetrain_queue.output.Clear();
@@ -323,6 +323,7 @@
     }
   }
 
+  ::aos::ShmEventLoop event_loop_;
   // Create a new instance of the test queue so that it invalidates the queue
   // that it points to.  Otherwise, we will have a pointer to shared memory
   // that is no longer valid.
diff --git a/y2018/control_loops/superstructure/superstructure_main.cc b/y2018/control_loops/superstructure/superstructure_main.cc
index fca04e8..f5b026c 100644
--- a/y2018/control_loops/superstructure/superstructure_main.cc
+++ b/y2018/control_loops/superstructure/superstructure_main.cc
@@ -1,10 +1,13 @@
 #include "y2018/control_loops/superstructure/superstructure.h"
 
+#include "aos/events/shm-event-loop.h"
 #include "aos/init.h"
 
 int main() {
   ::aos::InitNRT(true);
-  ::y2018::control_loops::superstructure::Superstructure superstructure;
+  ::aos::ShmEventLoop event_loop;
+  ::y2018::control_loops::superstructure::Superstructure superstructure(
+      &event_loop);
   ::aos::GoRT();
   superstructure.Run();
   ::aos::Cleanup();