diff --git a/frc971/control_loops/profiled_subsystem.q b/frc971/control_loops/profiled_subsystem.q
index 784b92f..f3015c6 100644
--- a/frc971/control_loops/profiled_subsystem.q
+++ b/frc971/control_loops/profiled_subsystem.q
@@ -78,7 +78,7 @@
   .frc971.HallEffectAndPositionEstimatorState estimator_state;
 };
 
-struct AbsoluteProfiledJointStatus {
+struct PotAndAbsoluteEncoderProfiledJointStatus {
   // Is the subsystem zeroed?
   bool zeroed;
 
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
index 9ad7439..2709315 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
@@ -65,7 +65,8 @@
   void Iterate(const StaticZeroingSingleDOFProfiledSubsystemGoal *goal,
                const typename ZeroingEstimator::Position *position,
                double *output,
-               ::frc971::control_loops::AbsoluteProfiledJointStatus *status);
+               ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus
+                   *status);
 
   // Resets the profiled subsystem and returns to uninitialized
   void Reset();
@@ -119,7 +120,7 @@
 void StaticZeroingSingleDOFProfiledSubsystem<ZeroingEstimator>::Iterate(
     const StaticZeroingSingleDOFProfiledSubsystemGoal *goal,
     const typename ZeroingEstimator::Position *position, double *output,
-    ::frc971::control_loops::AbsoluteProfiledJointStatus *status) {
+    ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus *status) {
   bool disabled = output == nullptr;
   profiled_subsystem_.Correct(*position);
 
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
index 8805842..df26c56 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
@@ -62,7 +62,7 @@
 struct TestIntakeSystemData {
   ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal goal;
 
-  ::frc971::control_loops::AbsoluteProfiledJointStatus status;
+  ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus status;
 
   ::frc971::PotAndAbsolutePosition position;
 
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;
 
diff --git a/y2019/control_loops/superstructure/superstructure.q b/y2019/control_loops/superstructure/superstructure.q
index 2cd7238..fef9ced 100644
--- a/y2019/control_loops/superstructure/superstructure.q
+++ b/y2019/control_loops/superstructure/superstructure.q
@@ -67,10 +67,10 @@
     bool has_piece;
 
     // Status of each subsystem.
-    .frc971.control_loops.AbsoluteProfiledJointStatus elevator;
-    .frc971.control_loops.AbsoluteProfiledJointStatus wrist;
-    .frc971.control_loops.AbsoluteProfiledJointStatus intake;
-    .frc971.control_loops.AbsoluteProfiledJointStatus stilts;
+    .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus elevator;
+    .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus wrist;
+    .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus intake;
+    .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus stilts;
   };
 
   message Position {