diff --git a/y2023/control_loops/superstructure/BUILD b/y2023/control_loops/superstructure/BUILD
index a4cb337..2700bbc 100644
--- a/y2023/control_loops/superstructure/BUILD
+++ b/y2023/control_loops/superstructure/BUILD
@@ -33,6 +33,7 @@
     deps = [
         "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:profiled_subsystem_fbs",
+        "//y2023/vision:game_pieces_fbs",
     ],
 )
 
@@ -44,6 +45,7 @@
     deps = [
         "//frc971/control_loops:control_loops_ts_fbs",
         "//frc971/control_loops:profiled_subsystem_ts_fbs",
+        "//y2023/vision:game_pieces_ts_fbs",
     ],
 )
 
@@ -76,6 +78,7 @@
         "//aos/time",
         "//frc971/control_loops:control_loop",
         "//y2023:constants",
+        "//y2023/vision:game_pieces_fbs",
     ],
 )
 
@@ -145,6 +148,7 @@
         "//frc971/control_loops:team_number_test_environment",
         "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//y2023/control_loops/superstructure/roll:roll_plants",
+        "//y2023/vision:game_pieces_fbs",
     ],
 )
 
diff --git a/y2023/control_loops/superstructure/arm/BUILD b/y2023/control_loops/superstructure/arm/BUILD
index 44b2aac..39e549b 100644
--- a/y2023/control_loops/superstructure/arm/BUILD
+++ b/y2023/control_loops/superstructure/arm/BUILD
@@ -22,6 +22,7 @@
         "//y2023/control_loops/superstructure/arm:arm_constants",
         "//y2023/control_loops/superstructure/arm:trajectory",
         "//y2023/control_loops/superstructure/roll:roll_plants",
+        "//y2023/vision:game_pieces_fbs",
     ],
 )
 
diff --git a/y2023/control_loops/superstructure/end_effector.cc b/y2023/control_loops/superstructure/end_effector.cc
index 287f0e7..4d5d43e 100644
--- a/y2023/control_loops/superstructure/end_effector.cc
+++ b/y2023/control_loops/superstructure/end_effector.cc
@@ -3,6 +3,7 @@
 #include "aos/events/event_loop.h"
 #include "aos/time/time.h"
 #include "frc971/control_loops/control_loop.h"
+#include "y2023/vision/game_pieces_generated.h"
 
 namespace y2023 {
 namespace control_loops {
@@ -12,7 +13,7 @@
 
 EndEffector::EndEffector()
     : state_(EndEffectorState::IDLE),
-      game_piece_(GamePiece::NONE),
+      game_piece_(vision::Class::NONE),
       timer_(aos::monotonic_clock::min_time),
       beambreak_(false) {}
 
@@ -25,16 +26,22 @@
   constexpr double kMinCurrent = 40.0;
   constexpr double kMaxConePosition = 0.92;
 
-  bool beambreak_status = (beambreak || (falcon_current > kMinCurrent &&
-                                         cone_position < kMaxConePosition));
-
   // Let them switch game pieces
-  if (roller_goal == RollerGoal::INTAKE_CONE) {
-    game_piece_ = GamePiece::CONE;
+  if (roller_goal == RollerGoal::INTAKE_CONE_UP) {
+    game_piece_ = vision::Class::CONE_UP;
+  } else if (roller_goal == RollerGoal::INTAKE_CONE_DOWN) {
+    game_piece_ = vision::Class::CONE_DOWN;
   } else if (roller_goal == RollerGoal::INTAKE_CUBE) {
-    game_piece_ = GamePiece::CUBE;
+    game_piece_ = vision::Class::CUBE;
   }
 
+  bool beambreak_status =
+      (((game_piece_ == vision::Class::CUBE ||
+         game_piece_ == vision::Class::CONE_UP) &&
+        beambreak) ||
+       ((game_piece_ == vision::Class::CONE_DOWN &&
+         falcon_current > kMinCurrent && cone_position < kMaxConePosition)));
+
   // Go into spitting if we were told to, no matter where we are
   if (roller_goal == RollerGoal::SPIT && state_ != EndEffectorState::SPITTING) {
     state_ = EndEffectorState::SPITTING;
@@ -47,7 +54,8 @@
   switch (state_) {
     case EndEffectorState::IDLE:
       // If idle and intake requested, intake
-      if (roller_goal == RollerGoal::INTAKE_CONE ||
+      if (roller_goal == RollerGoal::INTAKE_CONE_UP ||
+          roller_goal == RollerGoal::INTAKE_CONE_DOWN ||
           roller_goal == RollerGoal::INTAKE_CUBE ||
           roller_goal == RollerGoal::INTAKE_LAST) {
         state_ = EndEffectorState::INTAKING;
@@ -56,7 +64,8 @@
       break;
     case EndEffectorState::INTAKING:
       // If intaking and beam break is not triggered, keep intaking
-      if (roller_goal == RollerGoal::INTAKE_CONE ||
+      if (roller_goal == RollerGoal::INTAKE_CONE_UP ||
+          roller_goal == RollerGoal::INTAKE_CONE_DOWN ||
           roller_goal == RollerGoal::INTAKE_CUBE ||
           roller_goal == RollerGoal::INTAKE_LAST) {
         timer_ = timestamp;
@@ -72,7 +81,7 @@
         break;
       }
 
-      if (game_piece_ == GamePiece::CUBE) {
+      if (game_piece_ == vision::Class::CUBE) {
         *roller_voltage = kRollerCubeSuckVoltage();
       } else {
         *roller_voltage = kRollerConeSuckVoltage();
@@ -88,7 +97,7 @@
       break;
     case EndEffectorState::SPITTING:
       // If spit requested, spit
-      if (game_piece_ == GamePiece::CUBE) {
+      if (game_piece_ == vision::Class::CUBE) {
         *roller_voltage = kRollerCubeSpitVoltage();
       } else {
         *roller_voltage = kRollerConeSpitVoltage();
@@ -100,7 +109,7 @@
       } else if (timestamp > timer_ + constants::Values::kExtraSpittingTime()) {
         // Finished spitting
         state_ = EndEffectorState::IDLE;
-        game_piece_ = GamePiece::NONE;
+        game_piece_ = vision::Class::NONE;
       }
 
       break;
diff --git a/y2023/control_loops/superstructure/end_effector.h b/y2023/control_loops/superstructure/end_effector.h
index 14245c8..5ae96da 100644
--- a/y2023/control_loops/superstructure/end_effector.h
+++ b/y2023/control_loops/superstructure/end_effector.h
@@ -7,6 +7,7 @@
 #include "y2023/constants.h"
 #include "y2023/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2023/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2023/vision/game_pieces_generated.h"
 
 namespace y2023 {
 namespace control_loops {
@@ -26,12 +27,12 @@
                     double cone_position, bool beambreak,
                     double *intake_roller_voltage);
   EndEffectorState state() const { return state_; }
-  GamePiece game_piece() const { return game_piece_; }
+  vision::Class game_piece() const { return game_piece_; }
   void Reset();
 
  private:
   EndEffectorState state_;
-  GamePiece game_piece_;
+  vision::Class game_piece_;
 
   aos::monotonic_clock::time_point timer_;
 
diff --git a/y2023/control_loops/superstructure/superstructure_goal.fbs b/y2023/control_loops/superstructure/superstructure_goal.fbs
index ee99f1c..670351a 100644
--- a/y2023/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2023/control_loops/superstructure/superstructure_goal.fbs
@@ -4,10 +4,11 @@
 
 enum RollerGoal: ubyte {
     IDLE = 0,
-    INTAKE_CONE = 1,
+    INTAKE_CONE_UP = 1,
     INTAKE_CUBE = 2,
     INTAKE_LAST = 3,
     SPIT = 4,
+    INTAKE_CONE_DOWN = 5,
 }
 
 table Goal {
diff --git a/y2023/control_loops/superstructure/superstructure_lib_test.cc b/y2023/control_loops/superstructure/superstructure_lib_test.cc
index ee440ed..e2524c1 100644
--- a/y2023/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023/control_loops/superstructure/superstructure_lib_test.cc
@@ -562,10 +562,10 @@
 
 class SuperstructureBeambreakTest
     : public SuperstructureTest,
-      public ::testing::WithParamInterface<GamePiece> {
+      public ::testing::WithParamInterface<vision::Class> {
  public:
-  void SetBeambreak(GamePiece game_piece, bool status) {
-    if (game_piece == GamePiece::CONE) {
+  void SetBeambreak(vision::Class game_piece, bool status) {
+    if (game_piece == vision::Class::CONE_UP) {
       // TODO(milind): handle cone
     } else {
       superstructure_plant_.set_end_effector_cube_beam_break(status);
@@ -577,12 +577,20 @@
   SetEnabled(true);
   WaitUntilZeroed();
 
-  double spit_voltage =
-      (GetParam() == GamePiece::CUBE ? EndEffector::kRollerCubeSpitVoltage()
-                                     : EndEffector::kRollerConeSpitVoltage());
-  double suck_voltage =
-      (GetParam() == GamePiece::CUBE ? EndEffector::kRollerCubeSuckVoltage()
-                                     : EndEffector::kRollerConeSuckVoltage());
+  double spit_voltage = (GetParam() == vision::Class::CUBE
+                             ? EndEffector::kRollerCubeSpitVoltage()
+                             : EndEffector::kRollerConeSpitVoltage());
+  double suck_voltage = (GetParam() == vision::Class::CUBE
+                             ? EndEffector::kRollerCubeSuckVoltage()
+                             : EndEffector::kRollerConeSuckVoltage());
+
+  RollerGoal roller_goal = RollerGoal::INTAKE_CUBE;
+
+  if (GetParam() == vision::Class::CONE_DOWN) {
+    roller_goal = RollerGoal::INTAKE_CONE_DOWN;
+  } else if (GetParam() == vision::Class::CONE_UP) {
+    roller_goal = RollerGoal::INTAKE_CONE_UP;
+  }
 
   {
     auto builder = superstructure_goal_sender_.MakeBuilder();
@@ -591,9 +599,7 @@
 
     goal_builder.add_arm_goal_position(arm::NeutralIndex());
     goal_builder.add_trajectory_override(false);
-    goal_builder.add_roller_goal(GetParam() == GamePiece::CONE
-                                     ? RollerGoal::INTAKE_CONE
-                                     : RollerGoal::INTAKE_CUBE);
+    goal_builder.add_roller_goal(roller_goal);
 
     builder.CheckOk(builder.Send(goal_builder.Finish()));
   }
@@ -668,9 +674,7 @@
 
     goal_builder.add_arm_goal_position(arm::NeutralIndex());
     goal_builder.add_trajectory_override(false);
-    goal_builder.add_roller_goal(GetParam() == GamePiece::CONE
-                                     ? RollerGoal::INTAKE_CONE
-                                     : RollerGoal::INTAKE_CUBE);
+    goal_builder.add_roller_goal(roller_goal);
 
     builder.CheckOk(builder.Send(goal_builder.Finish()));
   }
@@ -757,7 +761,7 @@
   EXPECT_EQ(superstructure_output_fetcher_->roller_voltage(), 0.0);
   EXPECT_EQ(superstructure_status_fetcher_->end_effector_state(),
             EndEffectorState::IDLE);
-  EXPECT_EQ(superstructure_status_fetcher_->game_piece(), GamePiece::NONE);
+  EXPECT_EQ(superstructure_status_fetcher_->game_piece(), vision::Class::NONE);
 }
 
 // Tests that we don't freak out without a goal.
@@ -834,7 +838,7 @@
 
 // TODO(milind): add cone
 INSTANTIATE_TEST_SUITE_P(EndEffectorGoal, SuperstructureBeambreakTest,
-                         ::testing::Values(GamePiece::CUBE));
+                         ::testing::Values(vision::Class::CUBE));
 
 }  // namespace testing
 }  // namespace superstructure
diff --git a/y2023/control_loops/superstructure/superstructure_status.fbs b/y2023/control_loops/superstructure/superstructure_status.fbs
index 80a0d3d..5381b0a 100644
--- a/y2023/control_loops/superstructure/superstructure_status.fbs
+++ b/y2023/control_loops/superstructure/superstructure_status.fbs
@@ -1,4 +1,5 @@
 include "frc971/control_loops/control_loops.fbs";
+include "y2023/vision/game_pieces.fbs";
 include "frc971/control_loops/profiled_subsystem.fbs";
 
 namespace y2023.control_loops.superstructure;
@@ -76,12 +77,6 @@
   SPITTING = 3,
 }
 
-enum GamePiece : ubyte {
-  NONE = 0,
-  CONE = 1,
-  CUBE = 2,
-}
-
 table Status {
   // All subsystems know their location.
   zeroed:bool (id: 0);
@@ -94,7 +89,7 @@
   wrist:frc971.control_loops.AbsoluteEncoderProfiledJointStatus (id: 3);
 
   end_effector_state:EndEffectorState (id: 4);
-  game_piece:GamePiece (id: 5);
+  game_piece:vision.Class (id: 5);
 }
 
 root_type Status;