diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 6550fc2..0e8f3a5 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -92,6 +92,11 @@
   if (output) {
     output->voltage_left = left_.voltage();
     output->voltage_right = right_.voltage();
+
+    if (goal) {
+      output->clamp_open = goal->clamp_open;
+      output->push_to_shooter = goal->push_to_shooter;
+    }
   }
 }
 
diff --git a/y2016/control_loops/shooter/shooter.q b/y2016/control_loops/shooter/shooter.q
index af3f064..e0b4531 100644
--- a/y2016/control_loops/shooter/shooter.q
+++ b/y2016/control_loops/shooter/shooter.q
@@ -21,6 +21,9 @@
   message Goal {
     // Angular velocity goals in radians/second.
     double angular_velocity;
+
+    bool clamp_open; // True to release our clamp on the ball.
+    bool push_to_shooter;  // True to push the ball into the shooter.
   };
 
   message Position {
@@ -44,6 +47,10 @@
     // Voltage in volts of the left and right shooter motors.
     double voltage_left;
     double voltage_right;
+
+    // See comments on the identical fields in Goal for details.
+    bool clamp_open;
+    bool push_to_shooter;
   };
 
   queue Goal goal;