diff --git a/y2014_bot3/control_loops/drivetrain/BUILD b/y2014_bot3/control_loops/drivetrain/BUILD
index 18e0e90..7060ac1 100644
--- a/y2014_bot3/control_loops/drivetrain/BUILD
+++ b/y2014_bot3/control_loops/drivetrain/BUILD
@@ -1,7 +1,5 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
-
 genrule(
     name = "genrule_drivetrain",
     outs = [
@@ -77,7 +75,7 @@
     deps = [
         ":drivetrain_base",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
     ],
 )
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
index 48f09c5..05d09b3 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,6 @@
 #include "aos/init.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
 
@@ -9,7 +9,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
       &event_loop,
       ::y2014_bot3::control_loops::drivetrain::GetDrivetrainConfig());
diff --git a/y2014_bot3/control_loops/rollers/BUILD b/y2014_bot3/control_loops/rollers/BUILD
index 9535489..e0d7dc6 100644
--- a/y2014_bot3/control_loops/rollers/BUILD
+++ b/y2014_bot3/control_loops/rollers/BUILD
@@ -1,16 +1,37 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 
-queue_library(
-    name = "rollers_queue",
+flatbuffer_cc_library(
+    name = "rollers_goal_fbs",
     srcs = [
-        "rollers.q",
+        "rollers_goal.fbs",
     ],
-    deps = [
-        "//aos/controls:control_loop_queues",
-        "//frc971/control_loops:queues",
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "rollers_position_fbs",
+    srcs = [
+        "rollers_position.fbs",
     ],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "rollers_output_fbs",
+    srcs = [
+        "rollers_output.fbs",
+    ],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "rollers_status_fbs",
+    srcs = [
+        "rollers_status.fbs",
+    ],
+    gen_reflections = 1,
 )
 
 cc_library(
@@ -22,7 +43,10 @@
         "rollers.h",
     ],
     deps = [
-        ":rollers_queue",
+        ":rollers_goal_fbs",
+        ":rollers_output_fbs",
+        ":rollers_position_fbs",
+        ":rollers_status_fbs",
         "//aos/controls:control_loop",
         "//aos/logging",
     ],
@@ -36,6 +60,6 @@
     deps = [
         ":rollers_lib",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
     ],
 )
diff --git a/y2014_bot3/control_loops/rollers/rollers.cc b/y2014_bot3/control_loops/rollers/rollers.cc
index d2b4da9..d62831a 100644
--- a/y2014_bot3/control_loops/rollers/rollers.cc
+++ b/y2014_bot3/control_loops/rollers/rollers.cc
@@ -1,46 +1,51 @@
 #include "y2014_bot3/control_loops/rollers/rollers.h"
 
 #include "aos/logging/logging.h"
+#include "y2014_bot3/control_loops/rollers/rollers_goal_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_output_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_position_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_status_generated.h"
 
 namespace y2014_bot3 {
 namespace control_loops {
+namespace rollers {
 
 Rollers::Rollers(::aos::EventLoop *event_loop, const ::std::string &name)
-    : aos::controls::ControlLoop<control_loops::RollersQueue>(event_loop,
-                                                              name) {}
+    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                 name) {}
 
-void Rollers::RunIteration(
-    const control_loops::RollersQueue::Goal *goal,
-    const control_loops::RollersQueue::Position * /*position*/,
-    control_loops::RollersQueue::Output *output,
-    control_loops::RollersQueue::Status * /*status*/) {
+void Rollers::RunIteration(const Goal *goal, const Position * /*position*/,
+                           aos::Sender<Output>::Builder *output,
+                           aos::Sender<Status>::Builder *status) {
   constexpr double k2014Bot3IntakeForwardVoltage = 12.0;
   constexpr double k2014Bot3IntakeBackwardVoltage = -12.0;
   constexpr double k2014Bot3LowGoalForwardVoltage = 6.0;
   constexpr double k2014Bot3LowGoalBackwardVoltage = -6.0;
 
+  status->Send(status->MakeBuilder<Status>().Finish());
+
   if (!output || !goal) {
     return;
   }
 
-  const int intake = goal->intake;
-  const int low_spit = goal->low_spit;
-  const bool human_player = goal->human_player;
+  const int intake = goal->intake();
+  const int low_spit = goal->low_spit();
+  const bool human_player = goal->human_player();
 
-  output->Zero();
+  OutputT output_struct;
 
   switch (low_spit) {
     case 1:
       // Spit towards front
-      output->low_goal_voltage = k2014Bot3LowGoalBackwardVoltage;
-      output->front_intake_voltage = k2014Bot3IntakeBackwardVoltage;
-      output->back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
+      output_struct.low_goal_voltage = k2014Bot3LowGoalBackwardVoltage;
+      output_struct.front_intake_voltage = k2014Bot3IntakeBackwardVoltage;
+      output_struct.back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
       break;
     case -1:
       // Spit towards back
-      output->low_goal_voltage = k2014Bot3LowGoalForwardVoltage;
-      output->back_intake_voltage = -k2014Bot3IntakeBackwardVoltage;
-      output->front_intake_voltage = k2014Bot3IntakeForwardVoltage;
+      output_struct.low_goal_voltage = k2014Bot3LowGoalForwardVoltage;
+      output_struct.back_intake_voltage = -k2014Bot3IntakeBackwardVoltage;
+      output_struct.front_intake_voltage = k2014Bot3IntakeForwardVoltage;
       break;
     default:
       // Stationary
@@ -50,17 +55,17 @@
   switch (intake) {
     case 1:
       // Front intake.
-      output->front_extended = true;
-      output->back_extended = false;
-      output->front_intake_voltage = k2014Bot3IntakeForwardVoltage;
-      output->back_intake_voltage = 0.0;
+      output_struct.front_extended = true;
+      output_struct.back_extended = false;
+      output_struct.front_intake_voltage = k2014Bot3IntakeForwardVoltage;
+      output_struct.back_intake_voltage = 0.0;
       break;
     case -1:
       // Back intake.
-      output->back_extended = true;
-      output->front_extended = false;
-      output->back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
-      output->front_intake_voltage = 0.0;
+      output_struct.back_extended = true;
+      output_struct.front_extended = false;
+      output_struct.back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
+      output_struct.front_intake_voltage = 0.0;
       break;
     default:
       // Stationary
@@ -69,12 +74,15 @@
 
   if (human_player) {
     // Intake for human player.
-    output->front_extended = false;
-    output->back_extended = false;
-    output->front_intake_voltage = k2014Bot3IntakeForwardVoltage;
-    output->back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
+    output_struct.front_extended = false;
+    output_struct.back_extended = false;
+    output_struct.front_intake_voltage = k2014Bot3IntakeForwardVoltage;
+    output_struct.back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
   }
+
+  output->Send(Output::Pack(*output->fbb(), &output_struct));
 }
 
+}  //  namespace rollers
 }  //  namespace control_loops
 }  //  namespace y2014_bot3
diff --git a/y2014_bot3/control_loops/rollers/rollers.h b/y2014_bot3/control_loops/rollers/rollers.h
index 9890871..8903cd2 100644
--- a/y2014_bot3/control_loops/rollers/rollers.h
+++ b/y2014_bot3/control_loops/rollers/rollers.h
@@ -3,27 +3,31 @@
 
 #include "aos/controls/control_loop.h"
 
-#include "y2014_bot3/control_loops/rollers/rollers.q.h"
+#include "y2014_bot3/control_loops/rollers/rollers_goal_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_output_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_position_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_status_generated.h"
 
 namespace y2014_bot3 {
 namespace control_loops {
+namespace rollers {
 
-class Rollers : public aos::controls::ControlLoop<control_loops::RollersQueue> {
+class Rollers
+    : public aos::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
   // Constructs a control loops which can take a rollers or defaults to the
   // rollers at ::2014_bot3::control_loops::rollers.
-  explicit Rollers(
-      ::aos::EventLoop *event_loop,
-      const ::std::string &name = ".y2014_bot3.control_loops.rollers_queue");
+  explicit Rollers(::aos::EventLoop *event_loop,
+                   const ::std::string &name = "/rollers");
 
  protected:
   // Executes one cycle of the control loop.
-  void RunIteration(const control_loops::RollersQueue::Goal *goal,
-                    const control_loops::RollersQueue::Position *position,
-                    control_loops::RollersQueue::Output *output,
-                    control_loops::RollersQueue::Status *status) override;
+  void RunIteration(const Goal *goal, const Position *position,
+                    aos::Sender<Output>::Builder *output,
+                    aos::Sender<Status>::Builder *status) override;
 };
 
+}  // namespace rollers
 }  // namespace control_loops
 }  // namespace y2014_bot3
 
diff --git a/y2014_bot3/control_loops/rollers/rollers.q b/y2014_bot3/control_loops/rollers/rollers.q
deleted file mode 100644
index 1e40369..0000000
--- a/y2014_bot3/control_loops/rollers/rollers.q
+++ /dev/null
@@ -1,40 +0,0 @@
-package y2014_bot3.control_loops;
-
-import "aos/controls/control_loops.q";
-import "frc971/control_loops/control_loops.q";
-
-// on ".y2014_bot3.control_loops.rollers_queue"
-queue_group RollersQueue {
-  implements aos.control_loops.ControlLoop;
-
-  message Goal {
-    // -1 = back intake, 1 = front intake, all else = stationary.
-    int16_t intake;
-    // -1 = backwards, 1 = forwards, all else = stationary.
-    int16_t low_spit;
-    // Whether we want the human player load function.
-    bool human_player;
-  };
-
-  message Position {};
-
-  message Output {
-    // Positive voltage = intaking, Negative = spitting.
-    double front_intake_voltage;
-    double back_intake_voltage;
-    // Voltage for the low goal rollers.
-    // Positive voltage = ball towards back, Negative = ball towards front.
-    double low_goal_voltage;
-
-    // Whether the front and back intake pistons are extended.
-    bool front_extended;
-    bool back_extended;
-  };
-
-  message Status {};
-
-  queue Goal goal;
-  queue Position position;
-  queue Output output;
-  queue Status status;
-};
diff --git a/y2014_bot3/control_loops/rollers/rollers_goal.fbs b/y2014_bot3/control_loops/rollers/rollers_goal.fbs
new file mode 100644
index 0000000..92ee589
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers_goal.fbs
@@ -0,0 +1,12 @@
+namespace y2014_bot3.control_loops.rollers;
+
+table Goal {
+  // -1 = back intake, 1 = front intake, all else = stationary.
+  intake:int;
+  // -1 = backwards, 1 = forwards, all else = stationary.
+  low_spit:int;
+  // Whether we want the human player load function.
+  human_player:bool;
+}
+
+root_type Goal;
diff --git a/y2014_bot3/control_loops/rollers/rollers_main.cc b/y2014_bot3/control_loops/rollers/rollers_main.cc
index 1a0d82b..906c067 100644
--- a/y2014_bot3/control_loops/rollers/rollers_main.cc
+++ b/y2014_bot3/control_loops/rollers/rollers_main.cc
@@ -1,13 +1,16 @@
 #include "y2014_bot3/control_loops/rollers/rollers.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
-  ::y2014_bot3::control_loops::Rollers rollers(&event_loop);
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
+  ::y2014_bot3::control_loops::rollers::Rollers rollers(&event_loop);
 
   event_loop.Run();
 
diff --git a/y2014_bot3/control_loops/rollers/rollers_output.fbs b/y2014_bot3/control_loops/rollers/rollers_output.fbs
new file mode 100644
index 0000000..daae09b
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers_output.fbs
@@ -0,0 +1,16 @@
+namespace y2014_bot3.control_loops.rollers;
+
+table Output {
+  // Positive voltage = intaking, Negative = spitting.
+  front_intake_voltage:double;
+  back_intake_voltage:double;
+  // Voltage for the low goal rollers.
+  // Positive voltage = ball towards back, Negative = ball towards front.
+  low_goal_voltage:double;
+
+  // Whether the front and back intake pistons are extended.
+  front_extended:bool;
+  back_extended:bool;
+}
+
+root_type Output;
diff --git a/y2014_bot3/control_loops/rollers/rollers_position.fbs b/y2014_bot3/control_loops/rollers/rollers_position.fbs
new file mode 100644
index 0000000..040502c
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers_position.fbs
@@ -0,0 +1,6 @@
+namespace y2014_bot3.control_loops.rollers;
+
+table Position {
+}
+
+root_type Position;
diff --git a/y2014_bot3/control_loops/rollers/rollers_status.fbs b/y2014_bot3/control_loops/rollers/rollers_status.fbs
new file mode 100644
index 0000000..2486bb7
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers_status.fbs
@@ -0,0 +1,6 @@
+namespace y2014_bot3.control_loops.rollers;
+
+table Status {
+}
+
+root_type Status;