diff --git a/y2022_bot3/control_loops/superstructure/superstructure.cc b/y2022_bot3/control_loops/superstructure/superstructure.cc
index 5d12880..f701907 100644
--- a/y2022_bot3/control_loops/superstructure/superstructure.cc
+++ b/y2022_bot3/control_loops/superstructure/superstructure.cc
@@ -18,6 +18,9 @@
     : frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
                                                                     name),
       values_(values),
+      climber_left_(values_->climber_left.subsystem_params),
+      climber_right_(values_->climber_right.subsystem_params),
+      intake_(values_->intake.subsystem_params),
       drivetrain_status_fetcher_(
           event_loop->MakeFetcher<frc971::control_loops::drivetrain::Status>(
               "/drivetrain")),
@@ -30,8 +33,6 @@
                                   const Position *position,
                                   aos::Sender<Output>::Builder *output,
                                   aos::Sender<Status>::Builder *status) {
-  (void)unsafe_goal;
-  (void)position;
   if (WasReset()) {
     AOS_LOG(ERROR, "WPILib reset, restarting\n");
   }
@@ -45,12 +46,45 @@
 
   drivetrain_status_fetcher_.Fetch();
 
+  const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+      intake_status_offset = intake_.Iterate(
+          unsafe_goal != nullptr ? unsafe_goal->intake() : nullptr,
+          position->intake(),
+          output != nullptr ? &output_struct.intake_voltage : nullptr,
+          status->fbb());
+
+  const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+      climber_left_status_offset = climber_left_.Iterate(
+          unsafe_goal != nullptr ? unsafe_goal->climber_left() : nullptr,
+          position->climber_left(),
+          output != nullptr ? &output_struct.climber_voltage_left : nullptr,
+          status->fbb());
+
+  const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+      climber_right_status_offset = climber_right_.Iterate(
+          unsafe_goal != nullptr ? unsafe_goal->climber_right() : nullptr,
+          position->climber_right(),
+          output != nullptr ? &output_struct.climber_voltage_right : nullptr,
+          status->fbb());
+
+  if (output != nullptr) {
+    output_struct.roller_voltage =
+        (unsafe_goal != nullptr ? unsafe_goal->roller_speed() : 0.0);
+  }
   output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
 
   Status::Builder status_builder = status->MakeBuilder<Status>();
 
-  status_builder.add_zeroed(true);
-  status_builder.add_estopped(false);
+  const bool zeroed =
+      intake_.zeroed() && climber_left_.zeroed() && climber_right_.zeroed();
+  const bool estopped = intake_.estopped() || climber_left_.estopped() ||
+                        climber_right_.estopped();
+
+  status_builder.add_zeroed(zeroed);
+  status_builder.add_estopped(estopped);
+  status_builder.add_intake(intake_status_offset);
+  status_builder.add_climber_left(climber_left_status_offset);
+  status_builder.add_climber_right(climber_right_status_offset);
 
   (void)status->Send(status_builder.Finish());
 }
diff --git a/y2022_bot3/control_loops/superstructure/superstructure.h b/y2022_bot3/control_loops/superstructure/superstructure.h
index 91f80b4..4f33c3c 100644
--- a/y2022_bot3/control_loops/superstructure/superstructure.h
+++ b/y2022_bot3/control_loops/superstructure/superstructure.h
@@ -31,6 +31,16 @@
                           std::shared_ptr<const constants::Values> values,
                           const ::std::string &name = "/superstructure");
 
+  inline const PotAndAbsoluteEncoderSubsystem &intake() const {
+    return intake_;
+  }
+  inline const PotAndAbsoluteEncoderSubsystem &climber_left() const {
+    return climber_left_;
+  }
+  inline const PotAndAbsoluteEncoderSubsystem &climber_right() const {
+    return climber_right_;
+  }
+
  protected:
   virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
                             aos::Sender<Output>::Builder *output,
@@ -39,6 +49,10 @@
  private:
   std::shared_ptr<const constants::Values> values_;
 
+  PotAndAbsoluteEncoderSubsystem climber_left_;
+  PotAndAbsoluteEncoderSubsystem climber_right_;
+  PotAndAbsoluteEncoderSubsystem intake_;
+
   aos::Fetcher<frc971::control_loops::drivetrain::Status>
       drivetrain_status_fetcher_;
   aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;