diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 6abdd3b..495f8ad 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -228,7 +228,7 @@
                            robot_constants_->common()
                                ->turret_avoid_extend_collision_position(),
                            kTurretLoadingThreshold);
-          transfer_roller_status = TransferRollerStatus::TRANSFERING_IN;
+          transfer_roller_status = TransferRollerStatus::EXTEND_MOVING;
 
           if (turret_ready_for_extend_move.value()) {
             state_ = SuperstructureState::MOVING;
@@ -247,7 +247,7 @@
       }
       break;
     case SuperstructureState::MOVING:
-      transfer_roller_status = TransferRollerStatus::TRANSFERING_IN;
+      transfer_roller_status = TransferRollerStatus::EXTEND_MOVING;
 
       if (catapult_requested_) {
         extend_goal = ExtendStatus::CATAPULT;
@@ -420,6 +420,11 @@
                                                   ->transfer_roller_voltages()
                                                   ->transfer_out();
       break;
+    case TransferRollerStatus::EXTEND_MOVING:
+      output_struct.transfer_roller_voltage = robot_constants_->common()
+                                                  ->transfer_roller_voltages()
+                                                  ->extend_moving();
+      break;
   }
 
   // Update Extend Roller voltage based on status from state machine.
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index 1738181..5c8676d 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -400,7 +400,7 @@
 
     EXPECT_NEAR(set_point,
                 superstructure_status_fetcher_->intake_pivot()->position(),
-                0.015);
+                0.03);
 
     if (superstructure_goal_fetcher_->has_shooter_goal() &&
         superstructure_goal_fetcher_->note_goal() != NoteGoal::AMP &&
diff --git a/y2024/control_loops/superstructure/superstructure_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index e9fff2f..cd3e65b 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -75,6 +75,7 @@
     NONE = 0,
     TRANSFERING_IN = 1,
     TRANSFERING_OUT = 2,
+    EXTEND_MOVING = 3,
 }
 
 // Contains status of extend rollers