diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index c2decea..92e9528 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -84,7 +84,7 @@
         unsafe_goal->auto_aim() ? auto_aim_goal : unsafe_goal->turret();
   }
 
-  // Supersturcture state machine:
+  // Superstructure state machine:
   // 1. IDLE: Wait until an intake beambreak is triggerred, meaning that a ball
   // is being intaked. This means that the transfer rollers have a ball. If
   // we've been waiting here for too long without any beambreak triggered, the
@@ -111,6 +111,22 @@
   // goes back to its return position. We have now finished the shot, so return
   // to IDLE.
 
+  // If we started off preloaded, skip to the loaded state.
+  // Make sure we weren't already there just in case.
+  if (unsafe_goal != nullptr && unsafe_goal->preloaded()) {
+    switch (state_) {
+      case SuperstructureState::IDLE:
+      case SuperstructureState::TRANSFERRING:
+      case SuperstructureState::LOADING:
+        state_ = SuperstructureState::LOADED;
+        loading_timer_ = timestamp;
+        break;
+      case SuperstructureState::LOADED:
+      case SuperstructureState::SHOOTING:
+        break;
+    }
+  }
+
   const bool is_spitting = ((intake_state_ == IntakeState::INTAKE_FRONT_BALL &&
                              transfer_roller_speed < 0) ||
                             (intake_state_ == IntakeState::INTAKE_BACK_BALL &&
diff --git a/y2022/control_loops/superstructure/superstructure_goal.fbs b/y2022/control_loops/superstructure/superstructure_goal.fbs
index c86f338..2868e98 100644
--- a/y2022/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2022/control_loops/superstructure/superstructure_goal.fbs
@@ -48,6 +48,9 @@
 
   // If true, auto-track the turret to point at the goal.
   auto_aim:bool (id: 11);
+
+  // If true, we started with the ball loaded and should proceed to that state.
+  preloaded:bool (id: 12);
 }
 
 
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index 1ccdd51..e2e5c91 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -1200,6 +1200,25 @@
   EXPECT_EQ(superstructure_status_fetcher_->state(), SuperstructureState::IDLE);
 }
 
+// Test that we are able to signal that the ball was preloaded
+TEST_F(SuperstructureTest, Preloaded) {
+  SetEnabled(true);
+  WaitUntilZeroed();
+
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_preloaded(true);
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+  }
+
+  RunFor(dt());
+
+  ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+  EXPECT_EQ(superstructure_status_fetcher_->state(),
+            SuperstructureState::LOADED);
+}
+
 // Tests that the turret switches to auto-aiming when we set auto_aim to
 // true.
 TEST_F(SuperstructureTest, TurretAutoAim) {
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs
index 1005c46..4b215ac 100644
--- a/y2022/control_loops/superstructure/superstructure_status.fbs
+++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -13,16 +13,16 @@
 // State of the superstructure state machine
 enum SuperstructureState : ubyte {
   // Before a ball is intaked, when neither intake beambreak is triggered
-  IDLE,
+  IDLE = 0,
   // Transferring ball with transfer rollers. Moves turret to loading position.
-  TRANSFERRING,
+  TRANSFERRING = 1,
   // Loading the ball into the catapult
-  LOADING,
+  LOADING = 2,
   // The ball is loaded into the catapult
-  LOADED,
+  LOADED = 3,
   // Waiting for the turret to be at shooting goal and then telling the
   // catapult to fire.
-  SHOOTING,
+  SHOOTING = 4,
 }
 
 table AimerStatus {