diff --git a/frc971/wpilib/joystick_sender.cc b/frc971/wpilib/joystick_sender.cc
index 31ecc6c..2fec111 100644
--- a/frc971/wpilib/joystick_sender.cc
+++ b/frc971/wpilib/joystick_sender.cc
@@ -1,9 +1,10 @@
 #include "frc971/wpilib/joystick_sender.h"
 
-#include "aos/init.h"
-#include "aos/logging/queue_logging.h"
+#include "aos/input/driver_station_data.h"
+#include "aos/logging/logging.h"
 #include "aos/network/team_number.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/realtime.h"
+#include "aos/robot_state/joystick_state_generated.h"
 
 #include "frc971/wpilib/ahal/DriverStation.h"
 #include "hal/HAL.h"
@@ -11,12 +12,13 @@
 namespace frc971 {
 namespace wpilib {
 
+using aos::Joystick;
+
 JoystickSender::JoystickSender(::aos::EventLoop *event_loop)
     : event_loop_(event_loop),
       joystick_state_sender_(
-          event_loop_->MakeSender<::aos::JoystickState>(".aos.joystick_state")),
+          event_loop_->MakeSender<::aos::JoystickState>("/aos")),
       team_id_(::aos::network::GetTeamNumber()) {
-
   event_loop_->SetRuntimeRealtimePriority(29);
 
   event_loop_->OnRun([this]() {
@@ -27,36 +29,65 @@
     // variable / mutex needs to get exposed all the way out or something).
     while (event_loop_->is_running()) {
       ds->RunIteration([&]() {
-        auto new_state = joystick_state_sender_.MakeMessage();
+        auto builder = joystick_state_sender_.MakeBuilder();
 
         HAL_MatchInfo match_info;
         auto status = HAL_GetMatchInfo(&match_info);
-        if (status == 0) {
-          new_state->switch_left = match_info.gameSpecificMessage[0] == 'L' ||
-                                   match_info.gameSpecificMessage[0] == 'l';
-          new_state->scale_left = match_info.gameSpecificMessage[1] == 'L' ||
-                                  match_info.gameSpecificMessage[1] == 'l';
-        }
 
-        new_state->test_mode = ds->IsTestMode();
-        new_state->fms_attached = ds->IsFmsAttached();
-        new_state->enabled = ds->IsEnabled();
-        new_state->autonomous = ds->IsAutonomous();
-        new_state->team_id = team_id_;
-        new_state->fake = false;
+        std::array<flatbuffers::Offset<Joystick>,
+                   aos::input::driver_station::JoystickFeature::kJoysticks>
+            joysticks;
 
-        for (uint8_t i = 0;
-             i < sizeof(new_state->joysticks) / sizeof(::aos::Joystick); ++i) {
-          new_state->joysticks[i].buttons = ds->GetStickButtons(i);
-          for (int j = 0; j < 6; ++j) {
-            new_state->joysticks[i].axis[j] = ds->GetStickAxis(i, j);
+        for (size_t i = 0;
+             i < aos::input::driver_station::JoystickFeature::kJoysticks; ++i) {
+          std::array<double, aos::input::driver_station::JoystickAxis::kAxes>
+              axis;
+          for (int j = 0; j < aos::input::driver_station::JoystickAxis::kAxes;
+               ++j) {
+            axis[j] = ds->GetStickAxis(i, j);
           }
+
+          flatbuffers::Offset<flatbuffers::Vector<double>> axis_offset =
+              builder.fbb()->CreateVector(axis.begin(), axis.size());
+
+          Joystick::Builder joystick_builder = builder.MakeBuilder<Joystick>();
+
+          joystick_builder.add_buttons(ds->GetStickButtons(i));
+
           if (ds->GetStickPOVCount(i) > 0) {
-            new_state->joysticks[i].pov = ds->GetStickPOV(i, 0);
+            joystick_builder.add_pov(ds->GetStickPOV(i, 0));
           }
-          AOS_LOG_STRUCT(DEBUG, "joystick_state", *new_state);
+
+          joystick_builder.add_axis(axis_offset);
+
+          joysticks[i] = joystick_builder.Finish();
         }
-        if (!new_state.Send()) {
+
+        flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Joystick>>>
+            joysticks_offset = builder.fbb()->CreateVector(joysticks.begin(),
+                                                           joysticks.size());
+
+        aos::JoystickState::Builder joystick_state_builder =
+            builder.MakeBuilder<aos::JoystickState>();
+
+        joystick_state_builder.add_joysticks(joysticks_offset);
+
+        if (status == 0) {
+          joystick_state_builder.add_switch_left(
+              match_info.gameSpecificMessage[0] == 'L' ||
+              match_info.gameSpecificMessage[0] == 'l');
+          joystick_state_builder.add_scale_left(
+              match_info.gameSpecificMessage[1] == 'L' ||
+              match_info.gameSpecificMessage[1] == 'l');
+        }
+
+        joystick_state_builder.add_test_mode(ds->IsTestMode());
+        joystick_state_builder.add_fms_attached(ds->IsFmsAttached());
+        joystick_state_builder.add_enabled(ds->IsEnabled());
+        joystick_state_builder.add_autonomous(ds->IsAutonomous());
+        joystick_state_builder.add_team_id(team_id_);
+
+        if (!builder.Send(joystick_state_builder.Finish())) {
           AOS_LOG(WARNING, "sending joystick_state failed\n");
         }
       });