diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index a4796a8..ec9e2e5 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -16,6 +16,10 @@
     : aos::controls::ControlLoop<SuperstructureQueue>(event_loop, name),
       status_light_sender_(
           event_loop->MakeSender<::y2019::StatusLight>(".y2019.status_light")),
+      drivetrain_status_fetcher_(
+          event_loop
+              ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Status>(
+                  ".frc971.control_loops.drivetrain_queue.status")),
       elevator_(constants::GetValues().elevator.subsystem_params),
       wrist_(constants::GetValues().wrist.subsystem_params),
       intake_(constants::GetValues().intake),
@@ -94,22 +98,20 @@
   intake_.set_min_position(collision_avoidance_.min_intake_goal());
   intake_.set_max_position(collision_avoidance_.max_intake_goal());
 
-  ::frc971::control_loops::drivetrain_queue.status.FetchLatest();
+  drivetrain_status_fetcher_.Fetch();
 
   if (status && unsafe_goal) {
     // Light Logic
     if (status->estopped) {
       // Estop is red
       SendColors(1.0, 0.0, 0.0);
-    } else if (::frc971::control_loops::drivetrain_queue.status.get() &&
-               ::frc971::control_loops::drivetrain_queue.status
-                   ->line_follow_logging.frozen) {
+    } else if (drivetrain_status_fetcher_.get() &&
+               drivetrain_status_fetcher_->line_follow_logging.frozen) {
       // Vision align is flashing white for button pressed, purple for target
       // acquired.
       ++line_blink_count_;
       if (line_blink_count_ < 20) {
-        if (::frc971::control_loops::drivetrain_queue.status
-                ->line_follow_logging.have_target) {
+        if (drivetrain_status_fetcher_->line_follow_logging.have_target) {
           SendColors(1.0, 0.0, 1.0);
         } else {
           SendColors(1.0, 1.0, 1.0);
diff --git a/y2019/control_loops/superstructure/superstructure.h b/y2019/control_loops/superstructure/superstructure.h
index 2d51cff..aab8e7d 100644
--- a/y2019/control_loops/superstructure/superstructure.h
+++ b/y2019/control_loops/superstructure/superstructure.h
@@ -3,6 +3,7 @@
 
 #include "aos/controls/control_loop.h"
 #include "aos/events/event-loop.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
 #include "y2019/constants.h"
 #include "y2019/control_loops/superstructure/collision_avoidance.h"
@@ -47,6 +48,8 @@
   void SendColors(float red, float green, float blue);
 
   ::aos::Sender<::y2019::StatusLight> status_light_sender_;
+  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Status>
+      drivetrain_status_fetcher_;
 
   PotAndAbsoluteEncoderSubsystem elevator_;
   PotAndAbsoluteEncoderSubsystem wrist_;
diff --git a/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index 036b210..7628ca8 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -6,7 +6,6 @@
 #include "aos/controls/control_loop_test.h"
 #include "aos/queue.h"
 #include "frc971/control_loops/capped_test_plant.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/position_sensor_sim.h"
 #include "frc971/control_loops/team_number_test_environment.h"
 #include "gtest/gtest.h"
@@ -289,7 +288,6 @@
             ".y2019.control_loops.superstructure.superstructure_queue."
             "position"),
         superstructure_(&event_loop_) {
-    ::frc971::control_loops::drivetrain_queue.status.Clear();
     set_team_id(::frc971::control_loops::testing::kTeamNumber);
   }