diff --git a/y2023/control_loops/superstructure/arm/arm.cc b/y2023/control_loops/superstructure/arm/arm.cc
index 5417dc8..07d54ec 100644
--- a/y2023/control_loops/superstructure/arm/arm.cc
+++ b/y2023/control_loops/superstructure/arm/arm.cc
@@ -55,8 +55,8 @@
     const ::aos::monotonic_clock::time_point /*monotonic_now*/,
     const uint32_t *unsafe_goal, const superstructure::ArmPosition *position,
     bool trajectory_override, double *proximal_output, double *distal_output,
-    double *roll_joint_output, bool /*intake*/, bool /*spit*/,
-    flatbuffers::FlatBufferBuilder *fbb) {
+    double *roll_joint_output, flatbuffers::FlatBufferBuilder *fbb) {
+  ::Eigen::Matrix<double, 2, 1> Y;
   const bool outputs_disabled =
       ((proximal_output == nullptr) || (distal_output == nullptr) ||
        (roll_joint_output == nullptr));
diff --git a/y2023/control_loops/superstructure/arm/arm.h b/y2023/control_loops/superstructure/arm/arm.h
index 9cda7fc..6e4cc29 100644
--- a/y2023/control_loops/superstructure/arm/arm.h
+++ b/y2023/control_loops/superstructure/arm/arm.h
@@ -47,8 +47,7 @@
       const ::aos::monotonic_clock::time_point /*monotonic_now*/,
       const uint32_t *unsafe_goal, const superstructure::ArmPosition *position,
       bool trajectory_override, double *proximal_output, double *distal_output,
-      double *roll_joint_output, bool /*intake*/, bool /*spit*/,
-      flatbuffers::FlatBufferBuilder *fbb);
+      double *roll_joint_output, flatbuffers::FlatBufferBuilder *fbb);
 
   void Reset();
 
diff --git a/y2023/control_loops/superstructure/end_effector.cc b/y2023/control_loops/superstructure/end_effector.cc
index 3cf19c9..55a592f 100644
--- a/y2023/control_loops/superstructure/end_effector.cc
+++ b/y2023/control_loops/superstructure/end_effector.cc
@@ -14,7 +14,7 @@
     : state_(EndEffectorState::IDLE), beambreak_(false) {}
 
 EndEffectorState EndEffector::RunIteration(
-    const ::aos::monotonic_clock::time_point timestamp, bool intake, bool spit,
+    const ::aos::monotonic_clock::time_point timestamp, RollerGoal roller_goal,
     bool cone_beambreak, bool cube_beambreak, double *roller_voltage) {
   bool beambreak = cone_beambreak || cube_beambreak;
 
@@ -23,7 +23,7 @@
   switch (state_) {
     case EndEffectorState::IDLE:
       // If idle and intake requested, intake
-      if (intake) {
+      if (roller_goal == RollerGoal::INTAKE) {
         state_ = EndEffectorState::INTAKING;
         timer_ = timestamp;
       }
@@ -50,7 +50,7 @@
         timer_ = timestamp;
       }
       // If loaded and spit requested, spit
-      else if (spit) {
+      else if (roller_goal == RollerGoal::SPIT) {
         state_ = EndEffectorState::SPITTING;
       }
       break;
diff --git a/y2023/control_loops/superstructure/end_effector.h b/y2023/control_loops/superstructure/end_effector.h
index 7d5d603..d03582c 100644
--- a/y2023/control_loops/superstructure/end_effector.h
+++ b/y2023/control_loops/superstructure/end_effector.h
@@ -17,8 +17,8 @@
  public:
   EndEffector();
   EndEffectorState RunIteration(
-      const ::aos::monotonic_clock::time_point timestamp, bool intake,
-      bool spit, bool cone_beambreak, bool cube_beambreak,
+      const ::aos::monotonic_clock::time_point timestamp,
+      RollerGoal roller_goal, bool cone_beambreak, bool cube_beambreak,
       double *intake_roller_voltage);
   EndEffectorState state();
   void Reset();
diff --git a/y2023/control_loops/superstructure/superstructure.cc b/y2023/control_loops/superstructure/superstructure.cc
index c59804c..94ff7b8 100644
--- a/y2023/control_loops/superstructure/superstructure.cc
+++ b/y2023/control_loops/superstructure/superstructure.cc
@@ -63,14 +63,11 @@
           output != nullptr ? &output_struct.proximal_voltage : nullptr,
           output != nullptr ? &output_struct.distal_voltage : nullptr,
           output != nullptr ? &output_struct.roll_joint_voltage : nullptr,
-          unsafe_goal != nullptr ? unsafe_goal->intake() : false,
-          unsafe_goal != nullptr ? unsafe_goal->spit() : false,
-
           status->fbb());
 
   EndEffectorState end_effector_state = end_effector_.RunIteration(
-      timestamp, unsafe_goal != nullptr ? unsafe_goal->intake() : false,
-      unsafe_goal != nullptr ? unsafe_goal->spit() : false,
+      timestamp,
+      unsafe_goal != nullptr ? unsafe_goal->roller_goal() : RollerGoal::IDLE,
       position->end_effector_cone_beam_break(),
       position->end_effector_cube_beam_break(), &output_struct.roller_voltage);
 
diff --git a/y2023/control_loops/superstructure/superstructure_goal.fbs b/y2023/control_loops/superstructure/superstructure_goal.fbs
index 936cbee..8f2d5ab 100644
--- a/y2023/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2023/control_loops/superstructure/superstructure_goal.fbs
@@ -2,6 +2,11 @@
 
 namespace y2023.control_loops.superstructure;
 
+enum RollerGoal: ubyte {
+    IDLE = 0,
+    INTAKE = 1,
+    SPIT = 2,
+}
 
 table Goal {
     // Used to identify a position in the planned set of positions on the arm.
@@ -13,11 +18,7 @@
 
     wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2);
 
-    // If this is true, the rollers should intake.
-    intake:bool (id: 3);
-
-    // If this is true, the rollers should spit.
-    spit:bool (id: 4);
+    roller_goal:RollerGoal (id: 3);
 }