diff --git a/aos/common/controls/control_loop-tmpl.h b/aos/common/controls/control_loop-tmpl.h
index 42702c0..bf2eea4 100644
--- a/aos/common/controls/control_loop-tmpl.h
+++ b/aos/common/controls/control_loop-tmpl.h
@@ -11,22 +11,21 @@
 
 // TODO(aschuh): Tests.
 
-template <class T, bool fail_no_goal>
-constexpr ::aos::time::Time ControlLoop<T, fail_no_goal>::kStaleLogInterval;
-template <class T, bool fail_no_goal>
-constexpr ::aos::time::Time ControlLoop<T, fail_no_goal>::kPwmDisableTime;
+template <class T>
+constexpr ::aos::time::Time ControlLoop<T>::kStaleLogInterval;
+template <class T>
+constexpr ::aos::time::Time ControlLoop<T>::kPwmDisableTime;
 
-template <class T, bool fail_no_goal>
-void
-ControlLoop<T, fail_no_goal>::ZeroOutputs() {
+template <class T>
+void ControlLoop<T>::ZeroOutputs() {
   aos::ScopedMessagePtr<OutputType> output =
       control_loop_->output.MakeMessage();
   Zero(output.get());
   output.Send();
 }
 
-template <class T, bool fail_no_goal>
-void ControlLoop<T, fail_no_goal>::Iterate() {
+template <class T>
+void ControlLoop<T>::Iterate() {
   no_goal_.Print();
   driver_station_old_.Print();
   no_sensor_state_.Print();
@@ -49,10 +48,6 @@
     LOG_STRUCT(DEBUG, "goal", *goal);
   } else {
     LOG_INTERVAL(no_goal_);
-    if (fail_no_goal) {
-      ZeroOutputs();
-      return;
-    }
   }
 
   ::aos::robot_state.FetchLatest();
@@ -130,8 +125,8 @@
   status.Send();
 }
 
-template <class T, bool fail_no_goal>
-void ControlLoop<T, fail_no_goal>::Run() {
+template <class T>
+void ControlLoop<T>::Run() {
   while (true) {
     Iterate();
   }
diff --git a/aos/common/controls/control_loop.h b/aos/common/controls/control_loop.h
index a176fb6..d48f017 100644
--- a/aos/common/controls/control_loop.h
+++ b/aos/common/controls/control_loop.h
@@ -44,7 +44,7 @@
 // that has a goal, position, status, and output queue.
 // It will then call the RunIteration method every cycle that it has enough
 // valid data for the control loop to run.
-template <class T, bool fail_no_goal = true>
+template <class T>
 class ControlLoop : public SerializableControlLoop {
  public:
   // Create some convenient typedefs to reference the Goal, Position, Status,
@@ -116,11 +116,12 @@
 
  protected:
   // Runs an iteration of the control loop.
-  // goal is the last goal that was sent.  It might be any number of cycles old.
-  // position is the current position, or NULL if we didn't get a position this
-  // cycle.
-  // output is the values to be sent to the motors.  This is NULL if the output
-  // is going to be ignored and set to 0.
+  // goal is the last goal that was sent.  It might be any number of cycles old
+  // or nullptr if we haven't ever received a goal.
+  // position is the current position, or nullptr if we didn't get a position
+  // this cycle.
+  // output is the values to be sent to the motors.  This is nullptr if the
+  // output is going to be ignored and set to 0.
   // status is the status of the control loop.
   // Both output and status should be filled in by the implementation.
   virtual void RunIteration(const GoalType *goal,
diff --git a/frc971/control_loops/claw/claw_lib_test.cc b/frc971/control_loops/claw/claw_lib_test.cc
index 4f86697..49205d9 100644
--- a/frc971/control_loops/claw/claw_lib_test.cc
+++ b/frc971/control_loops/claw/claw_lib_test.cc
@@ -174,6 +174,17 @@
               2.0 * M_PI / 180.0);*/
 }
 
+// Tests that not having a goal doesn't break anything.
+TEST_F(ClawTest, NoGoal) {
+  for (int i = 0; i < 10; ++i) {
+    claw_plant_.SendPositionMessage();
+    claw_.Iterate();
+    claw_plant_.Simulate();
+
+    TickTime();
+  }
+}
+
 }  // namespace testing
 }  // namespace control_loops
 }  // namespace frc971
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 395f8b9..bcfc6a1 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -689,19 +689,28 @@
   }
   no_position_.Print();
 
-  double wheel = goal->steering;
-  double throttle = goal->throttle;
-  bool quickturn = goal->quickturn;
+  bool control_loop_driving = false;
+  if (goal) {
+    double wheel = goal->steering;
+    double throttle = goal->throttle;
+    bool quickturn = goal->quickturn;
 #if HAVE_SHIFTERS
-  bool highgear = goal->highgear;
+    bool highgear = goal->highgear;
 #endif
 
-  bool control_loop_driving = goal->control_loop_driving;
-  double left_goal = goal->left_goal;
-  double right_goal = goal->right_goal;
+    control_loop_driving = goal->control_loop_driving;
+    double left_goal = goal->left_goal;
+    double right_goal = goal->right_goal;
 
-  dt_closedloop.SetGoal(left_goal, goal->left_velocity_goal, right_goal,
-                        goal->right_velocity_goal);
+    dt_closedloop.SetGoal(left_goal, goal->left_velocity_goal, right_goal,
+                          goal->right_velocity_goal);
+#if HAVE_SHIFTERS
+    dt_openloop.SetGoal(wheel, throttle, quickturn, highgear);
+#else
+    dt_openloop.SetGoal(wheel, throttle, quickturn, false);
+#endif
+  }
+
   if (!bad_pos) {
     const double left_encoder = position->left_encoder;
     const double right_encoder = position->right_encoder;
@@ -714,11 +723,6 @@
     }
   }
   dt_openloop.SetPosition(position);
-#if HAVE_SHIFTERS
-  dt_openloop.SetGoal(wheel, throttle, quickturn, highgear);
-#else
-  dt_openloop.SetGoal(wheel, throttle, quickturn, false);
-#endif
   dt_openloop.Update();
 
   if (control_loop_driving) {
@@ -732,7 +736,7 @@
     }
     dt_closedloop.Update(output == NULL, false);
   }
-  
+
   // set the output status of the control loop state
   if (status) {
     bool done = false;
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 96583da..7e14cf0 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -170,6 +170,26 @@
   VerifyNearGoal();
 }
 
+// Tests that never having a goal doesn't break.
+TEST_F(DrivetrainTest, NoGoalStart) {
+  for (int i = 0; i < 20; ++i) {
+    drivetrain_motor_plant_.SendPositionMessage();
+    drivetrain_motor_.Iterate();
+    drivetrain_motor_plant_.Simulate();
+  }
+}
+
+// Tests that never having a goal, but having driver's station messages, doesn't
+// break.
+TEST_F(DrivetrainTest, NoGoalWithRobotState) {
+  for (int i = 0; i < 20; ++i) {
+    drivetrain_motor_plant_.SendPositionMessage();
+    drivetrain_motor_.Iterate();
+    drivetrain_motor_plant_.Simulate();
+    SimulateTimestep(true);
+  }
+}
+
 ::aos::controls::HPolytope<2> MakeBox(double x1_min, double x1_max,
                                       double x2_min, double x2_max) {
   Eigen::Matrix<double, 4, 2> box_H;
diff --git a/frc971/control_loops/fridge/fridge.cc b/frc971/control_loops/fridge/fridge.cc
index 9533ddf..65ee72e 100644
--- a/frc971/control_loops/fridge/fridge.cc
+++ b/frc971/control_loops/fridge/fridge.cc
@@ -56,7 +56,7 @@
 }
 
 Fridge::Fridge(control_loops::FridgeQueue *fridge)
-    : aos::controls::ControlLoop<control_loops::FridgeQueue, false>(fridge),
+    : aos::controls::ControlLoop<control_loops::FridgeQueue>(fridge),
       arm_loop_(new CappedStateFeedbackLoop(
           StateFeedbackLoop<4, 2, 2>(MakeArmLoop()))),
       elevator_loop_(new CappedStateFeedbackLoop(
diff --git a/frc971/control_loops/fridge/fridge.h b/frc971/control_loops/fridge/fridge.h
index eecfe1b..87dbfa4 100644
--- a/frc971/control_loops/fridge/fridge.h
+++ b/frc971/control_loops/fridge/fridge.h
@@ -40,7 +40,7 @@
 };
 
 class Fridge
-    : public aos::controls::ControlLoop<control_loops::FridgeQueue, false> {
+    : public aos::controls::ControlLoop<control_loops::FridgeQueue> {
  public:
   explicit Fridge(
       control_loops::FridgeQueue *fridge_queue = &control_loops::fridge_queue);