diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index dce958f..10738ee 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -278,6 +278,12 @@
         output_struct.feeder_voltage = -12.0;
       }
 
+      if (unsafe_goal->has_feed_voltage_override()) {
+        output_struct.feeder_voltage = unsafe_goal->feed_voltage_override();
+        output_struct.washing_machine_spinner_voltage = -5.0;
+        preloading_timeout_ = position_timestamp;
+      }
+
       if (unsafe_goal->shooting()) {
         if ((shooter_.ready() ||
              (!has_turret_ && shooter_.accelerator_ready())) &&
diff --git a/y2020/control_loops/superstructure/superstructure_goal.fbs b/y2020/control_loops/superstructure/superstructure_goal.fbs
index 990234a..f2b9096 100644
--- a/y2020/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2020/control_loops/superstructure/superstructure_goal.fbs
@@ -55,6 +55,9 @@
 
   // Positive is deploying climber and to climb; cannot run in reverse
   climber_voltage:float (id: 10);
+
+  // Feed voltage override.
+  feed_voltage_override:float (id: 13);
 }
 
 root_type Goal;