diff --git a/y2017/control_loops/superstructure/intake/intake.cc b/y2017/control_loops/superstructure/intake/intake.cc
index 89145a4..76c44a4 100644
--- a/y2017/control_loops/superstructure/intake/intake.cc
+++ b/y2017/control_loops/superstructure/intake/intake.cc
@@ -32,7 +32,7 @@
 void Intake::Iterate(
     const control_loops::IntakeGoal *unsafe_goal,
     const ::frc971::PotAndAbsolutePosition *position, double *output,
-    ::frc971::control_loops::AbsoluteProfiledJointStatus *status) {
+    ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus *status) {
   bool disable = output == nullptr;
   profiled_subsystem_.Correct(*position);
 
diff --git a/y2017/control_loops/superstructure/intake/intake.h b/y2017/control_loops/superstructure/intake/intake.h
index 40f49fc..db1442a 100644
--- a/y2017/control_loops/superstructure/intake/intake.h
+++ b/y2017/control_loops/superstructure/intake/intake.h
@@ -34,7 +34,8 @@
 
   void Iterate(const control_loops::IntakeGoal *unsafe_goal,
                const ::frc971::PotAndAbsolutePosition *position, double *output,
-               ::frc971::control_loops::AbsoluteProfiledJointStatus *status);
+               ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus
+                   *status);
 
   void Reset();
 
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index 60c5e16..5c0771c 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -200,7 +200,7 @@
     bool estopped;
 
     // Each subsystems status.
-    .frc971.control_loops.AbsoluteProfiledJointStatus intake;
+    .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus intake;
     .frc971.control_loops.IndexProfiledJointStatus hood;
     ShooterStatus shooter;