diff --git a/y2019/control_loops/superstructure/BUILD b/y2019/control_loops/superstructure/BUILD
index 00bacae..524a1ba 100644
--- a/y2019/control_loops/superstructure/BUILD
+++ b/y2019/control_loops/superstructure/BUILD
@@ -24,10 +24,11 @@
     ],
     deps = [
         ":collision_avoidance",
-        ":vacuum",
         ":superstructure_queue",
+        ":vacuum",
         "//aos/controls:control_loop",
         "//y2019:constants",
+        "//y2019:status_light",
     ],
 )
 
@@ -47,6 +48,7 @@
         "//frc971/control_loops:capped_test_plant",
         "//frc971/control_loops:position_sensor_sim",
         "//frc971/control_loops:team_number_test_environment",
+        "//y2019:status_light",
         "//y2019/control_loops/superstructure/intake:intake_plants",
     ],
 )
@@ -88,7 +90,7 @@
     ],
     deps = [
         ":superstructure_queue",
-        "//aos/controls:control_loop"
+        "//aos/controls:control_loop",
     ],
 )
 
diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index 3443d63..dd332b8 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -4,10 +4,26 @@
 #include "frc971/control_loops/control_loops.q.h"
 #include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
 
+#include "y2019/status_light.q.h"
+
 namespace y2019 {
 namespace control_loops {
 namespace superstructure {
 
+namespace {
+
+void SendColors(float red, float green, float blue) {
+  auto new_status_light = status_light.MakeMessage();
+  new_status_light->red = red;
+  new_status_light->green = green;
+  new_status_light->blue = blue;
+
+  if (!new_status_light.Send()) {
+    LOG(ERROR, "Failed to send lights.\n");
+  }
+}
+}  // namespace
+
 Superstructure::Superstructure(::aos::EventLoop *event_loop,
                                const ::std::string &name)
     : aos::controls::ControlLoop<SuperstructureQueue>(event_loop, name),
@@ -75,6 +91,22 @@
   wrist_.set_max_position(collision_avoidance_.max_wrist_goal());
   intake_.set_min_position(collision_avoidance_.min_intake_goal());
   intake_.set_max_position(collision_avoidance_.max_intake_goal());
+
+  if (status && unsafe_goal) {
+    // Light Logic
+    if (status->estopped) {
+      // Estop is red
+      SendColors(0.5, 0.0, 0.0);
+    } else if (unsafe_goal->suction.gamepiece_mode == 0) {
+      // Ball mode is blue
+      SendColors(0.0, 0.0, 0.5);
+    } else if (unsafe_goal->suction.gamepiece_mode == 1) {
+      // Disk mode is yellow
+      SendColors(0.5, 0.5, 0.0);
+    } else {
+      SendColors(0.0, 0.0, 0.0);
+    }
+  }
 }
 
 }  // namespace superstructure
diff --git a/y2019/control_loops/superstructure/superstructure.q b/y2019/control_loops/superstructure/superstructure.q
index f87e4f2..d5c8a73 100644
--- a/y2019/control_loops/superstructure/superstructure.q
+++ b/y2019/control_loops/superstructure/superstructure.q
@@ -4,10 +4,13 @@
 import "frc971/control_loops/profiled_subsystem.q";
 
 struct SuctionGoal {
-  // True = open solenoid (apply suction)
-  // Top/bottom are when wrist is forward
-  bool top;
-  bool bottom;
+  // True = apply suction
+  bool grab_piece;
+
+  // 0 = ball mode
+  // 1 = disk mode
+
+  int32_t gamepiece_mode;
 };
 
 queue_group SuperstructureQueue {
diff --git a/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index 0cce4a6..4d3de51 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -10,6 +10,7 @@
 #include "frc971/control_loops/team_number_test_environment.h"
 #include "gtest/gtest.h"
 #include "y2019/constants.h"
+#include "y2019/status_light.q.h"
 #include "y2019/control_loops/superstructure/elevator/elevator_plant.h"
 #include "y2019/control_loops/superstructure/intake/intake_plant.h"
 #include "y2019/control_loops/superstructure/stilts/stilts_plant.h"
@@ -288,6 +289,7 @@
             ".y2019.control_loops.superstructure.superstructure_queue."
             "position"),
         superstructure_(&event_loop_) {
+    status_light.Clear();
     set_team_id(::frc971::control_loops::testing::kTeamNumber);
   }
 
@@ -712,8 +714,7 @@
   // Turn on suction
   {
     auto goal = superstructure_queue_.goal.MakeMessage();
-    goal->suction.top = true;
-    goal->suction.bottom = true;
+    goal->suction.grab_piece = true;
 
     ASSERT_TRUE(goal.Send());
   }
@@ -734,8 +735,7 @@
   // Turn on suction
   {
     auto goal = superstructure_queue_.goal.MakeMessage();
-    goal->suction.top = true;
-    goal->suction.bottom = true;
+    goal->suction.grab_piece = true;
 
     ASSERT_TRUE(goal.Send());
   }
@@ -761,8 +761,7 @@
   // Turn on suction
   {
     auto goal = superstructure_queue_.goal.MakeMessage();
-    goal->suction.top = true;
-    goal->suction.bottom = true;
+    goal->suction.grab_piece = true;
 
     ASSERT_TRUE(goal.Send());
   }
@@ -776,8 +775,7 @@
   // Turn off suction
   {
     auto goal = superstructure_queue_.goal.MakeMessage();
-    goal->suction.top = false;
-    goal->suction.bottom = false;
+    goal->suction.grab_piece = false;
     ASSERT_TRUE(goal.Send());
   }
 
diff --git a/y2019/control_loops/superstructure/vacuum.cc b/y2019/control_loops/superstructure/vacuum.cc
index 7bf2e94..497ae5b 100644
--- a/y2019/control_loops/superstructure/vacuum.cc
+++ b/y2019/control_loops/superstructure/vacuum.cc
@@ -32,7 +32,7 @@
   low_pump_voltage = *has_piece;
 
   if (unsafe_goal && output) {
-    const bool release = !unsafe_goal->top && !unsafe_goal->bottom;
+    const bool release = !unsafe_goal->grab_piece;
 
     if (release) {
       last_release_time_ = monotonic_now;
@@ -44,8 +44,16 @@
     output->pump_voltage =
         release ? 0 : (low_pump_voltage ? kPumpHasPieceVoltage : kPumpVoltage);
 
-    output->intake_suction_top = unsafe_goal->top;
-    output->intake_suction_bottom = unsafe_goal->bottom;
+    if (unsafe_goal->grab_piece && unsafe_goal->gamepiece_mode == 0) {
+      output->intake_suction_top = false;
+      output->intake_suction_bottom = true;
+    } else if (unsafe_goal->grab_piece && unsafe_goal->gamepiece_mode == 1) {
+      output->intake_suction_top = true;
+      output->intake_suction_bottom = true;
+    } else {
+      output->intake_suction_top = false;
+      output->intake_suction_bottom = false;
+    }
 
     // If we intend to release, or recently released, set has_piece to false so
     // that we give the part of the vacuum circuit with the pressure sensor time