diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 5b78a80..0c12d27 100644
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -13,7 +13,7 @@
 
 using ::aos::time::Time;
 
-constexpr double kZeroingVoltage = 5.0;
+constexpr double kZeroingVoltage = 4.0;
 
 void ClawCappedStateFeedbackLoop::CapU() {
   mutable_U(0, 0) = ::std::min(mutable_U(0, 0), max_voltage_);
@@ -257,6 +257,7 @@
   } else {
     status->intake = 0;
   }
+  status->goal_angle = claw_goal_;
 
   if (output) {
     status->rollers_open = !output->rollers_closed &&
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 0105441..e05f779 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -49,6 +49,8 @@
 
     // Angle of wrist joint.
     double angle;
+    // Goal angle of wrist joint.
+    double goal_angle;
     // Voltage of intake rollers. Positive means sucking in, negative means
     // spitting out.
     double intake;