diff --git a/y2020/control_loops/superstructure/superstructure_goal.fbs b/y2020/control_loops/superstructure/superstructure_goal.fbs
index 8a38b95..5953590 100644
--- a/y2020/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2020/control_loops/superstructure/superstructure_goal.fbs
@@ -3,7 +3,8 @@
 namespace y2020.control_loops.superstructure;
 
 table Goal {
-
+  // Zero is at the horizontal, positive towards the front (meters on the lead screw).
+  hood:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
 }
 
 root_type Goal;
diff --git a/y2020/control_loops/superstructure/superstructure_output.fbs b/y2020/control_loops/superstructure/superstructure_output.fbs
index 3682db6..e245712 100644
--- a/y2020/control_loops/superstructure/superstructure_output.fbs
+++ b/y2020/control_loops/superstructure/superstructure_output.fbs
@@ -1,7 +1,8 @@
 namespace y2020.control_loops.superstructure;
 
 table Output {
-
+  // Votage sent to the hood. Positive moves up.
+  hood_voltage:double;
 }
 
 root_type Output;
diff --git a/y2020/control_loops/superstructure/superstructure_position.fbs b/y2020/control_loops/superstructure/superstructure_position.fbs
index c4b0a9a..50b9c36 100644
--- a/y2020/control_loops/superstructure/superstructure_position.fbs
+++ b/y2020/control_loops/superstructure/superstructure_position.fbs
@@ -4,6 +4,8 @@
 
 table Position {
 
+  // Zero is at the horizontal, positive towards the front (meters on the lead screw).
+  hood:frc971.AbsolutePosition;
 }
 
 root_type Position;
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs
index d0e9266..8c29e23 100644
--- a/y2020/control_loops/superstructure/superstructure_status.fbs
+++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -10,6 +10,8 @@
   // If true, we have aborted. This is the or of all subsystem estops.
   estopped:bool;
 
+  //Subsystem status.
+  hood:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
 }
 
 root_type Status;