diff --git a/y2024/control_loops/superstructure/BUILD b/y2024/control_loops/superstructure/BUILD
index 996d28b..8ef0717 100644
--- a/y2024/control_loops/superstructure/BUILD
+++ b/y2024/control_loops/superstructure/BUILD
@@ -56,6 +56,19 @@
     ],
 )
 
+static_flatbuffer(
+    name = "superstructure_can_position_fbs",
+    srcs = ["superstructure_can_position.fbs"],
+    deps = ["//frc971/control_loops:can_talonfx_fbs"],
+)
+
+flatbuffer_ts_library(
+    name = "superstructure_can_position_ts_fbs",
+    srcs = ["superstructure_can_position.fbs"],
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = ["//frc971/control_loops:can_talonfx_ts_fbs"],
+)
+
 cc_library(
     name = "superstructure_lib",
     srcs = [
diff --git a/y2024/control_loops/superstructure/superstructure_can_position.fbs b/y2024/control_loops/superstructure/superstructure_can_position.fbs
new file mode 100644
index 0000000..04daa2b
--- /dev/null
+++ b/y2024/control_loops/superstructure/superstructure_can_position.fbs
@@ -0,0 +1,10 @@
+include "frc971/control_loops/can_talonfx.fbs";
+
+namespace y2024.control_loops.superstructure;
+
+table CANPosition {
+    // CAN Position of the roller falcon
+    intake_roller:frc971.control_loops.CANTalonFX (id: 0);
+}
+
+root_type CANPosition;
\ No newline at end of file
diff --git a/y2024/control_loops/superstructure/superstructure_goal.fbs b/y2024/control_loops/superstructure/superstructure_goal.fbs
index 1c4b3dd..25fc8ca 100644
--- a/y2024/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2024/control_loops/superstructure/superstructure_goal.fbs
@@ -2,8 +2,22 @@
 
 namespace y2024.control_loops.superstructure;
 
-table Goal {
+// Represents goal for intake rollers
+enum IntakeRollerGoal : ubyte {
+    NONE = 0,
+    SPIT = 1,
+    INTAKE = 2,
 }
 
+// Represents goal for pivot on intake
+enum IntakePivotGoal : ubyte {
+    EXTENDED = 0,
+    RETRACTED = 1,
+}
+
+table Goal {
+    intake_roller_goal:IntakeRollerGoal (id: 0);
+    intake_pivot_goal:IntakePivotGoal (id: 1);
+}
 
 root_type Goal;
diff --git a/y2024/control_loops/superstructure/superstructure_output.fbs b/y2024/control_loops/superstructure/superstructure_output.fbs
index 6f0df4a..d54e608 100644
--- a/y2024/control_loops/superstructure/superstructure_output.fbs
+++ b/y2024/control_loops/superstructure/superstructure_output.fbs
@@ -1,6 +1,11 @@
 namespace y2024.control_loops.superstructure;
 
 table Output {
+    // Voltage of rollers on intake
+    intake_roller_voltage:double (id: 0);
+
+    // Voltage of intake pivot
+    intake_pivot_voltage:double (id: 1);
 }
 
 root_type Output;
diff --git a/y2024/control_loops/superstructure/superstructure_position.fbs b/y2024/control_loops/superstructure/superstructure_position.fbs
index 83d3d23..0bb5ae8 100644
--- a/y2024/control_loops/superstructure/superstructure_position.fbs
+++ b/y2024/control_loops/superstructure/superstructure_position.fbs
@@ -1,8 +1,11 @@
 include "frc971/control_loops/control_loops.fbs";
+include "frc971/control_loops/profiled_subsystem.fbs";
 
 namespace y2024.control_loops.superstructure;
 
 table Position {
+    // Values of the encoder and potentiometer at the intake pivot
+    intake_pivot:frc971.PotAndAbsolutePosition (id: 0);
 }
 
 root_type Position;
diff --git a/y2024/control_loops/superstructure/superstructure_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index 7e8cc27..98134bd 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -3,12 +3,25 @@
 
 namespace y2024.control_loops.superstructure;
 
+// Contains if intake is intaking
+enum IntakeRollerState : ubyte {
+  NONE = 0,
+  SPITTING = 1,
+  INTAKING = 2,
+}
+
 table Status {
   // All subsystems know their location.
   zeroed:bool (id: 0);
 
   // If true, we have aborted. This is the or of all subsystem estops.
   estopped:bool (id: 1);
+
+  // State of the rollers
+  intake_roller_state:IntakeRollerState (id: 2);
+
+  // Estimated angle and angular velocitiy of the intake.
+  intake_pivot_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 3);
 }
 
 root_type Status;