diff --git a/bot3/control_loops/shooter/shooter.cc b/bot3/control_loops/shooter/shooter.cc
index fbfeafb..d1a07f1 100644
--- a/bot3/control_loops/shooter/shooter.cc
+++ b/bot3/control_loops/shooter/shooter.cc
@@ -1,4 +1,5 @@
 #include "bot3/control_loops/shooter/shooter.h"
+#include "bot3/control_loops/shooter/shooter_motor.q.h"
 
 #include "aos/common/control_loop/control_loops.q.h"
 #include "aos/common/logging/logging.h"
@@ -23,7 +24,7 @@
 void ShooterMotor::RunIteration(
     const control_loops::ShooterLoop::Goal *goal,
     const control_loops::ShooterLoop::Position *position,
-    ::aos::control_loops::Output *output,
+    control_loops::ShooterLoop::Output *output,
     control_loops::ShooterLoop::Status *status) {
   double velocity_goal = goal->velocity;
   const double current_position =
@@ -111,6 +112,9 @@
 
   if (output) {
     output->voltage = output_voltage;
+    output->intake = goal->intake;
+    output->push = goal->push;
+    LOG(DEBUG, "goal: %lf, volt: %lf, push:%d\n", goal->intake, output_voltage, goal->push);
   }
 }
 
diff --git a/bot3/control_loops/shooter/shooter.gyp b/bot3/control_loops/shooter/shooter.gyp
index ed42647..56a4f44 100644
--- a/bot3/control_loops/shooter/shooter.gyp
+++ b/bot3/control_loops/shooter/shooter.gyp
@@ -29,7 +29,7 @@
         '<(AOS)/common/common.gyp:controls',
         '<(DEPTH)/frc971/frc971.gyp:common',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
-       #'<(DEPTH)/frc971/control_loops/index/index.gyp:index_loop',
+        '<(DEPTH)/frc971/queues/queues.gyp:queues',
       ],
       'export_dependent_settings': [
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
diff --git a/bot3/control_loops/shooter/shooter.h b/bot3/control_loops/shooter/shooter.h
index 6ab1ea5..7c402b9 100644
--- a/bot3/control_loops/shooter/shooter.h
+++ b/bot3/control_loops/shooter/shooter.h
@@ -1,5 +1,5 @@
-#ifndef FRC971_CONTROL_LOOPS_SHOOTER_H_
-#define FRC971_CONTROL_LOOPS_SHOOTER_H_
+#ifndef BOT3_CONTROL_LOOPS_SHOOTER_H_
+#define BOT3_CONTROL_LOOPS_SHOOTER_H_
 
 #include <memory>
 
@@ -28,7 +28,7 @@
   virtual void RunIteration(
       const control_loops::ShooterLoop::Goal *goal,
       const control_loops::ShooterLoop::Position *position,
-      ::aos::control_loops::Output *output,
+      control_loops::ShooterLoop::Output *output,
       control_loops::ShooterLoop::Status *status);
 
  private:
@@ -54,4 +54,4 @@
 }  // namespace control_loops
 }  // namespace bot3
 
-#endif // FRC971_CONTROL_LOOPS_SHOOTER_H_
+#endif // BOT3_CONTROL_LOOPS_SHOOTER_H_
diff --git a/bot3/control_loops/shooter/shooter_motor.q b/bot3/control_loops/shooter/shooter_motor.q
index 87eaa16..714e77a 100644
--- a/bot3/control_loops/shooter/shooter_motor.q
+++ b/bot3/control_loops/shooter/shooter_motor.q
@@ -8,6 +8,10 @@
   message Goal {
     // Goal velocity in rad/sec
     double velocity;
+    // PWM output to intake.
+    double intake;
+    // Whether to activate pusher piston.
+    bool push;
   };
 
   message Status {
@@ -15,6 +19,8 @@
     bool ready;
     // The average velocity over the last 0.1 seconds.
     double average_velocity;
+    // True if Frisbees are being fired into the shooter.
+    bool firing;
   };
 
   message Position {
@@ -22,9 +28,18 @@
     double position;
   };
 
+  message Output {
+    // Output to shooter, Volts.
+    double voltage;
+    // PWM output to intake.
+    double intake;
+    // Whether to activate pusher piston.
+    bool push;
+  };
+
   queue Goal goal;
   queue Position position;
-  queue aos.control_loops.Output output;
+  queue Output output;
   queue Status status;
 };
 
diff --git a/bot3/control_loops/shooter/shooter_motor_plant.cc b/bot3/control_loops/shooter/shooter_motor_plant.cc
index 70f052d..5dd32db 100644
--- a/bot3/control_loops/shooter/shooter_motor_plant.cc
+++ b/bot3/control_loops/shooter/shooter_motor_plant.cc
@@ -4,7 +4,7 @@
 
 #include "frc971/control_loops/state_feedback_loop.h"
 
-namespace frc971 {
+namespace bot3 {
 namespace control_loops {
 
 StateFeedbackPlantCoefficients<2, 1, 1> MakeShooterPlantCoefficients() {
diff --git a/bot3/control_loops/shooter/shooter_motor_plant.h b/bot3/control_loops/shooter/shooter_motor_plant.h
index 3588605..2207ab2 100644
--- a/bot3/control_loops/shooter/shooter_motor_plant.h
+++ b/bot3/control_loops/shooter/shooter_motor_plant.h
@@ -1,9 +1,9 @@
-#ifndef FRC971_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
-#define FRC971_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
+#ifndef BOT3_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
+#define BOT3_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
 
 #include "frc971/control_loops/state_feedback_loop.h"
 
-namespace frc971 {
+namespace bot3 {
 namespace control_loops {
 
 StateFeedbackPlantCoefficients<2, 1, 1> MakeShooterPlantCoefficients();