diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index e0017c1..63ab691 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -109,6 +109,9 @@
       status->intake.zeroed && status->hood.zeroed && status->turret.zeroed;
 
   if (output && unsafe_goal) {
+    output->gear_servo =
+        ::std::min(1.0, ::std::max(0.0, unsafe_goal->intake.gear_servo));
+
     output->voltage_intake_rollers =
         ::std::max(-kMaxIntakeRollerVoltage,
                    ::std::min(unsafe_goal->intake.voltage_rollers,
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index dbd4819..c7283b2 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -21,6 +21,9 @@
 
   // If true, disable the intake so we can hang.
   bool disable_intake;
+
+  // The gear servo value.
+  double gear_servo;
 };
 
 struct IndexerGoal {
@@ -231,6 +234,8 @@
     double voltage_turret;
     double voltage_hood;
 
+    double gear_servo;
+
     // If true, the lights are on.
     bool lights_on;