diff --git a/y2019/control_loops/superstructure/BUILD b/y2019/control_loops/superstructure/BUILD
index f43b448..7cbb202 100644
--- a/y2019/control_loops/superstructure/BUILD
+++ b/y2019/control_loops/superstructure/BUILD
@@ -1,16 +1,48 @@
 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 = "superstructure_queue",
+flatbuffer_cc_library(
+    name = "superstructure_goal_fbs",
     srcs = [
-        "superstructure.q",
+        "superstructure_goal.fbs",
     ],
-    deps = [
-        "//aos/controls:control_loop_queues",
-        "//frc971/control_loops:profiled_subsystem_queue",
-        "//frc971/control_loops:queues",
+    gen_reflections = 1,
+    includes = [
+        "//frc971/control_loops:control_loops_fbs_includes",
+        "//frc971/control_loops:profiled_subsystem_fbs_includes",
+    ],
+)
+
+flatbuffer_cc_library(
+    name = "superstructure_output_fbs",
+    srcs = [
+        "superstructure_output.fbs",
+    ],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "superstructure_status_fbs",
+    srcs = [
+        "superstructure_status.fbs",
+    ],
+    gen_reflections = 1,
+    includes = [
+        "//frc971/control_loops:control_loops_fbs_includes",
+        "//frc971/control_loops:profiled_subsystem_fbs_includes",
+    ],
+)
+
+flatbuffer_cc_library(
+    name = "superstructure_position_fbs",
+    srcs = [
+        "superstructure_position.fbs",
+    ],
+    gen_reflections = 1,
+    includes = [
+        "//frc971/control_loops:control_loops_fbs_includes",
+        "//frc971/control_loops:profiled_subsystem_fbs_includes",
     ],
 )
 
@@ -24,11 +56,14 @@
     ],
     deps = [
         ":collision_avoidance",
-        ":superstructure_queue",
+        ":superstructure_goal_fbs",
+        ":superstructure_output_fbs",
+        ":superstructure_position_fbs",
+        ":superstructure_status_fbs",
         ":vacuum",
         "//aos/controls:control_loop",
-        "//aos/events:event-loop",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//aos/events:event_loop",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//y2019:constants",
         "//y2019:status_light",
     ],
@@ -39,18 +74,23 @@
     srcs = [
         "superstructure_lib_test.cc",
     ],
+    data = [
+        "//y2019:config.json",
+    ],
     deps = [
+        ":superstructure_goal_fbs",
         ":superstructure_lib",
-        ":superstructure_queue",
+        ":superstructure_output_fbs",
+        ":superstructure_position_fbs",
+        ":superstructure_status_fbs",
         "//aos:math",
-        "//aos:queues",
         "//aos/controls:control_loop_test",
         "//aos/testing:googletest",
         "//aos/time",
         "//frc971/control_loops:capped_test_plant",
         "//frc971/control_loops:position_sensor_sim",
         "//frc971/control_loops:team_number_test_environment",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//y2019:status_light",
         "//y2019/control_loops/superstructure/intake:intake_plants",
     ],
@@ -64,7 +104,7 @@
     deps = [
         ":superstructure_lib",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
     ],
 )
 
@@ -77,9 +117,12 @@
         "collision_avoidance.h",
     ],
     deps = [
-        ":superstructure_queue",
-        "//aos/controls:control_loop_queues",
+        ":superstructure_goal_fbs",
+        ":superstructure_status_fbs",
+        "//aos/controls:control_loop",
         "//frc971:constants",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:profiled_subsystem_fbs",
     ],
 )
 
@@ -92,8 +135,11 @@
         "vacuum.h",
     ],
     deps = [
-        ":superstructure_queue",
+        ":superstructure_goal_fbs",
+        ":superstructure_output_fbs",
         "//aos/controls:control_loop",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:profiled_subsystem_fbs",
     ],
 )
 
@@ -104,7 +150,8 @@
     ],
     deps = [
         ":collision_avoidance",
-        ":superstructure_queue",
+        ":superstructure_goal_fbs",
+        ":superstructure_status_fbs",
         "//aos:math",
         "//aos/testing:googletest",
     ],
diff --git a/y2019/control_loops/superstructure/collision_avoidance.cc b/y2019/control_loops/superstructure/collision_avoidance.cc
index eb5b591..9c2bf93 100644
--- a/y2019/control_loops/superstructure/collision_avoidance.cc
+++ b/y2019/control_loops/superstructure/collision_avoidance.cc
@@ -1,7 +1,11 @@
 #include "y2019/control_loops/superstructure/collision_avoidance.h"
 
 #include <cmath>
-#include "y2019/control_loops/superstructure/superstructure.q.h"
+
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2019 {
 namespace control_loops {
@@ -30,9 +34,9 @@
   clear_max_intake_goal();
 }
 
-bool CollisionAvoidance::IsCollided(const SuperstructureQueue::Status *status) {
-  return IsCollided(status->wrist.position, status->elevator.position,
-                    status->intake.position, status->has_piece);
+bool CollisionAvoidance::IsCollided(const Status *status) {
+  return IsCollided(status->wrist()->position(), status->elevator()->position(),
+                    status->intake()->position(), status->has_piece());
 }
 
 bool CollisionAvoidance::IsCollided(const double wrist_position,
@@ -73,13 +77,12 @@
   return false;
 }
 
-void CollisionAvoidance::UpdateGoal(
-    const SuperstructureQueue::Status *status,
-    const SuperstructureQueue::Goal *unsafe_goal) {
-  const double wrist_position = status->wrist.position;
-  const double elevator_position = status->elevator.position;
-  const double intake_position = status->intake.position;
-  const bool has_piece = status->has_piece;
+void CollisionAvoidance::UpdateGoal(const Status *status,
+                                    const Goal *unsafe_goal) {
+  const double wrist_position = status->wrist()->position();
+  const double elevator_position = status->elevator()->position();
+  const double intake_position = status->intake()->position();
+  const bool has_piece = status->has_piece();
 
   // Start with our constraints being wide open.
   clear_max_wrist_goal();
@@ -155,8 +158,8 @@
   }
 
   if (unsafe_goal) {
-    const double wrist_goal = unsafe_goal->wrist.unsafe_goal;
-    const double intake_goal = unsafe_goal->intake.unsafe_goal;
+    const double wrist_goal = unsafe_goal->wrist()->unsafe_goal();
+    const double intake_goal = unsafe_goal->intake()->unsafe_goal();
 
     // Compute if we need to move the intake.
     const bool intake_needs_to_move = (intake_position < kIntakeMiddleAngle) ^
diff --git a/y2019/control_loops/superstructure/collision_avoidance.h b/y2019/control_loops/superstructure/collision_avoidance.h
index 7feb45d..338864e 100644
--- a/y2019/control_loops/superstructure/collision_avoidance.h
+++ b/y2019/control_loops/superstructure/collision_avoidance.h
@@ -2,9 +2,12 @@
 #define Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_COLLISION_AVOIDANCE_H_
 
 #include <cmath>
-#include "aos/controls/control_loops.q.h"
+
 #include "frc971/constants.h"
-#include "y2019/control_loops/superstructure/superstructure.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2019 {
 namespace control_loops {
@@ -18,15 +21,14 @@
   CollisionAvoidance();
 
   // Reports if the superstructure is collided.
-  bool IsCollided(const SuperstructureQueue::Status *status);
+  bool IsCollided(const Status *status);
   bool IsCollided(double wrist_position, double elevator_position,
                   double intake_position, bool has_piece);
 
   // Checks and alters goals to make sure they're safe.
   // TODO(austin): Either we will have a unit delay because this has to happen
   // after the controls, or we need to be more clever about restructuring.
-  void UpdateGoal(const SuperstructureQueue::Status *status,
-                  const SuperstructureQueue::Goal *unsafe_goal);
+  void UpdateGoal(const Status *status, const Goal *unsafe_goal);
 
   // Returns the goals to give to the respective control loops in
   // superstructure.
diff --git a/y2019/control_loops/superstructure/collision_avoidance_tests.cc b/y2019/control_loops/superstructure/collision_avoidance_tests.cc
index 82bff4c..6b1f031 100644
--- a/y2019/control_loops/superstructure/collision_avoidance_tests.cc
+++ b/y2019/control_loops/superstructure/collision_avoidance_tests.cc
@@ -1,14 +1,21 @@
 #include "y2019/control_loops/superstructure/collision_avoidance.h"
 
 #include "aos/commonmath.h"
+#include "aos/flatbuffers.h"
 #include "gtest/gtest.h"
-#include "y2019/control_loops/superstructure/superstructure.q.h"
+#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2019 {
 namespace control_loops {
 namespace superstructure {
 namespace testing {
 
+using aos::FlatbufferDetachedBuffer;
+using frc971::control_loops::AbsoluteEncoderProfiledJointStatus;
+using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
+using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
+
 /*
 Test List:
     FullClockwiseRotationFromBottomBackIntakeIn
@@ -22,48 +29,142 @@
     QuarterCounterClockwiseRotationFromBottomFrontIntakeMoving
 */
 
+FlatbufferDetachedBuffer<Goal> MakeZeroGoal() {
+  flatbuffers::FlatBufferBuilder fbb;
+  fbb.ForceDefaults(1);
+
+  flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal> wrist_offset;
+  {
+    StaticZeroingSingleDOFProfiledSubsystemGoal::Builder wrist_builder(fbb);
+
+    wrist_builder.add_unsafe_goal(0.0);
+    wrist_offset = wrist_builder.Finish();
+  }
+
+  flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+      elevator_offset;
+  {
+    StaticZeroingSingleDOFProfiledSubsystemGoal::Builder elevator_builder(fbb);
+
+    elevator_builder.add_unsafe_goal(0.0);
+    elevator_offset = elevator_builder.Finish();
+  }
+
+  flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+      intake_offset;
+  {
+    StaticZeroingSingleDOFProfiledSubsystemGoal::Builder intake_builder(fbb);
+
+    intake_builder.add_unsafe_goal(0.0);
+    intake_offset = intake_builder.Finish();
+  }
+
+  superstructure::Goal::Builder goal_builder(fbb);
+
+  goal_builder.add_wrist(wrist_offset);
+  goal_builder.add_elevator(elevator_offset);
+  goal_builder.add_intake(intake_offset);
+
+  fbb.Finish(goal_builder.Finish());
+  return fbb.Release();
+}
+
+FlatbufferDetachedBuffer<Status> MakeZeroStatus() {
+  flatbuffers::FlatBufferBuilder fbb;
+  fbb.ForceDefaults(1);
+
+  flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus> wrist_offset;
+  {
+    PotAndAbsoluteEncoderProfiledJointStatus::Builder wrist_builder(fbb);
+
+    wrist_builder.add_position(0.0);
+    wrist_offset = wrist_builder.Finish();
+  }
+
+  flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+      elevator_offset;
+  {
+    PotAndAbsoluteEncoderProfiledJointStatus::Builder elevator_builder(fbb);
+
+    elevator_builder.add_position(0.0);
+    elevator_offset = elevator_builder.Finish();
+  }
+
+  flatbuffers::Offset<AbsoluteEncoderProfiledJointStatus>
+      intake_offset;
+  {
+    AbsoluteEncoderProfiledJointStatus::Builder intake_builder(fbb);
+
+    intake_builder.add_position(0.0);
+    intake_offset = intake_builder.Finish();
+  }
+
+  superstructure::Status::Builder goal_builder(fbb);
+
+  goal_builder.add_wrist(wrist_offset);
+  goal_builder.add_elevator(elevator_offset);
+  goal_builder.add_intake(intake_offset);
+  goal_builder.add_has_piece(false);
+
+  fbb.Finish(goal_builder.Finish());
+  return fbb.Release();
+}
+
 class CollisionAvoidanceTests : public ::testing::Test,
                                 public ::testing::WithParamInterface<bool> {
  public:
-  CollisionAvoidanceTests() { status.has_piece = GetParam(); }
+  CollisionAvoidanceTests()
+      : unsafe_goal_(MakeZeroGoal()), status_(MakeZeroStatus()) {
+    status_.mutable_message()->mutate_has_piece(GetParam());
+  }
 
   void Iterate() {
-    SuperstructureQueue::Goal safe_goal;
-    bool was_collided = avoidance.IsCollided(&status);
+    FlatbufferDetachedBuffer<Goal> safe_goal = MakeZeroGoal();
+    bool was_collided = avoidance.IsCollided(&status_.message());
 
     while (true) {
-      avoidance.UpdateGoal(&status, &unsafe_goal);
+      avoidance.UpdateGoal(&status_.message(), &unsafe_goal_.message());
       if (!was_collided) {
-        EXPECT_FALSE(avoidance.IsCollided(&status));
+        EXPECT_FALSE(avoidance.IsCollided(&status_.message()));
       } else {
-        was_collided = avoidance.IsCollided(&status);
+        was_collided = avoidance.IsCollided(&status_.message());
       }
 
-      safe_goal.wrist.unsafe_goal =
-          ::aos::Clip(unsafe_goal.wrist.unsafe_goal, avoidance.min_wrist_goal(),
-                      avoidance.max_wrist_goal());
+      safe_goal.mutable_message()->mutable_wrist()->mutate_unsafe_goal(
+          ::aos::Clip(unsafe_goal_.message().wrist()->unsafe_goal(),
+                      avoidance.min_wrist_goal(), avoidance.max_wrist_goal()));
 
-      safe_goal.elevator.unsafe_goal = ::std::max(
-          unsafe_goal.elevator.unsafe_goal, avoidance.min_elevator_goal());
+      safe_goal.mutable_message()->mutable_elevator()->mutate_unsafe_goal(
+          ::std::max(unsafe_goal_.message().elevator()->unsafe_goal(),
+                     avoidance.min_elevator_goal()));
 
-      safe_goal.intake.unsafe_goal =
-          ::aos::Clip(unsafe_goal.intake.unsafe_goal,
-                      avoidance.min_intake_goal(), avoidance.max_intake_goal());
+      safe_goal.mutable_message()->mutable_intake()->mutate_unsafe_goal(
+          ::aos::Clip(unsafe_goal_.message().intake()->unsafe_goal(),
+                      avoidance.min_intake_goal(),
+                      avoidance.max_intake_goal()));
 
-      LimitedMove(&status.wrist.position, safe_goal.wrist.unsafe_goal);
-      LimitedMove(&status.elevator.position, safe_goal.elevator.unsafe_goal);
-      LimitedMove(&status.intake.position, safe_goal.intake.unsafe_goal);
+      status_.mutable_message()->mutable_wrist()->mutate_position(
+          LimitedMove(status_.message().wrist()->position(),
+                      safe_goal.message().wrist()->unsafe_goal()));
+      status_.mutable_message()->mutable_elevator()->mutate_position(
+          LimitedMove(status_.message().elevator()->position(),
+                      safe_goal.message().elevator()->unsafe_goal()));
+      status_.mutable_message()->mutable_intake()->mutate_position(
+          LimitedMove(status_.message().intake()->position(),
+                      safe_goal.message().intake()->unsafe_goal()));
       if (IsMoving()) {
         break;
       }
-      past_status = status;
+      past_wrist_position_ = status_.message().wrist()->position();
+      past_elevator_position_ = status_.message().elevator()->position();
+      past_intake_position_ = status_.message().intake()->position();
     }
   }
 
   bool IsMoving() {
-    if ((past_status.wrist.position == status.wrist.position) &&
-        (past_status.elevator.position == status.elevator.position) &&
-        (past_status.intake.position == status.intake.position)) {
+    if ((past_wrist_position_ == status_.message().wrist()->position()) &&
+        (past_elevator_position_ == status_.message().elevator()->position()) &&
+        (past_intake_position_ == status_.message().intake()->position())) {
       return true;
     } else {
       return false;
@@ -71,9 +172,11 @@
   }
 
   // provide goals and status messages
-  SuperstructureQueue::Goal unsafe_goal;
-  SuperstructureQueue::Status status;
-  SuperstructureQueue::Status past_status;
+  FlatbufferDetachedBuffer<Goal> unsafe_goal_;
+  FlatbufferDetachedBuffer<Status> status_;
+  float past_wrist_position_ = 0;
+  float past_elevator_position_ = 0;
+  float past_intake_position_ = 0;
 
  protected:
   // setup for all tests
@@ -81,20 +184,22 @@
 
   void CheckGoals() {
     // check to see if we reached the goals
-    ASSERT_NEAR(unsafe_goal.wrist.unsafe_goal, status.wrist.position, 0.001);
-    ASSERT_NEAR(unsafe_goal.elevator.unsafe_goal, status.elevator.position,
-                0.001);
-    ASSERT_NEAR(unsafe_goal.intake.unsafe_goal, status.intake.position, 0.001);
+    ASSERT_NEAR(unsafe_goal_.message().wrist()->unsafe_goal(),
+                status_.message().wrist()->position(), 0.001);
+    ASSERT_NEAR(unsafe_goal_.message().elevator()->unsafe_goal(),
+                status_.message().elevator()->position(), 0.001);
+    ASSERT_NEAR(unsafe_goal_.message().intake()->unsafe_goal(),
+                status_.message().intake()->position(), 0.001);
   }
 
  private:
-  void LimitedMove(float *position, double goal) {
-    if (*position + kIterationMove < goal) {
-      *position += kIterationMove;
-    } else if (*position - kIterationMove > goal) {
-      *position -= kIterationMove;
+  float LimitedMove(float position, double goal) {
+    if (position + kIterationMove < goal) {
+      return position + kIterationMove;
+    } else if (position - kIterationMove > goal) {
+      return position - kIterationMove;
     } else {
-      *position = goal;
+      return goal;
     }
   }
 
@@ -105,17 +210,19 @@
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
   // in.
-  unsafe_goal.wrist.unsafe_goal =
-      avoidance.kWristMaxAngle - avoidance.kEpsWrist;
-  unsafe_goal.elevator.unsafe_goal = 0.0;
-  unsafe_goal.intake.unsafe_goal =
-      avoidance.kIntakeInAngle - avoidance.kEpsIntake;
+  unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal(
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist);
+  unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal(0.0);
+  unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal(
+      avoidance.kIntakeInAngle - avoidance.kEpsIntake);
 
   // sets the status position messgaes to be have the elevator at the bottom
   // with the intake in and the wrist low back
-  status.wrist.position = avoidance.kWristMinAngle + avoidance.kEpsWrist;
-  status.elevator.position = 0.0;
-  status.intake.position = avoidance.kIntakeInAngle - avoidance.kEpsIntake;
+  status_.mutable_message()->mutable_wrist()->mutate_position(
+      avoidance.kWristMinAngle + avoidance.kEpsWrist);
+  status_.mutable_message()->mutable_elevator()->mutate_position(0.0);
+  status_.mutable_message()->mutable_intake()->mutate_position(
+      avoidance.kIntakeInAngle - avoidance.kEpsIntake);
 
   Iterate();
 
@@ -128,18 +235,19 @@
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
   // out.
-  unsafe_goal.wrist.unsafe_goal =
-      avoidance.kWristMaxAngle - avoidance.kEpsWrist;
-  unsafe_goal.elevator.unsafe_goal = 0.0;
-  unsafe_goal.intake.unsafe_goal =
-      avoidance.kIntakeOutAngle + avoidance.kEpsIntake;
+  unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal(
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist);
+  unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal(0.0);
+  unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal(
+      avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
 
   // sets the status position messgaes to be have the elevator at the half way
   // with the intake in and the wrist middle front
-  status.wrist.position =
-      avoidance.kWristMaxAngle - (avoidance.kEpsWrist * 2.0);
-  status.elevator.position = 0.0;
-  status.intake.position = avoidance.kIntakeOutAngle;
+  status_.mutable_message()->mutable_wrist()->mutate_position(
+      avoidance.kWristMaxAngle - (avoidance.kEpsWrist * 2.0));
+  status_.mutable_message()->mutable_elevator()->mutate_position(0.0);
+  status_.mutable_message()->mutable_intake()->mutate_position(
+      avoidance.kIntakeOutAngle);
 
   Iterate();
 
@@ -151,18 +259,19 @@
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
   // in.
-  status.wrist.position = avoidance.kWristMaxAngle / 2.0;
-  status.elevator.position = 0.5;
-  status.intake.position =
-      (avoidance.kIntakeOutAngle + avoidance.kIntakeInAngle) / 2.0;
+  status_.mutable_message()->mutable_wrist()->mutate_position(
+      avoidance.kWristMaxAngle / 2.0);
+  status_.mutable_message()->mutable_elevator()->mutate_position(0.5);
+  status_.mutable_message()->mutable_intake()->mutate_position(
+      (avoidance.kIntakeOutAngle + avoidance.kIntakeInAngle) / 2.0);
 
   // sets the status position messgaes to be have the elevator at the half way
   // with the intake in and the wrist middle front
-  unsafe_goal.wrist.unsafe_goal =
-      avoidance.kWristMaxAngle - avoidance.kEpsWrist;
-  unsafe_goal.elevator.unsafe_goal = 0.0;
-  unsafe_goal.intake.unsafe_goal =
-      avoidance.kIntakeOutAngle + avoidance.kEpsIntake;
+  unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal(
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist);
+  unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal(0.0);
+  unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal(
+      avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
 
   Iterate();
 
@@ -174,18 +283,20 @@
        FullCounterClockwiseRotationFromBottomBackIntakeIn) {
   // sets the status position messgaes to be have the elevator at the bottom
   // with the intake in and the wrist low back
-  status.wrist.position = avoidance.kWristMaxAngle - avoidance.kEpsWrist;
-  status.elevator.position = 0.0;
-  status.intake.position = avoidance.kIntakeInAngle - avoidance.kEpsIntake;
+  status_.mutable_message()->mutable_wrist()->mutate_position(
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist);
+  status_.mutable_message()->mutable_elevator()->mutate_position(0.0);
+  status_.mutable_message()->mutable_intake()->mutate_position(
+      avoidance.kIntakeInAngle - avoidance.kEpsIntake);
 
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
   // in.
-  unsafe_goal.wrist.unsafe_goal =
-      avoidance.kWristMinAngle + avoidance.kEpsWrist;
-  unsafe_goal.elevator.unsafe_goal = 0.0;
-  unsafe_goal.intake.unsafe_goal =
-      avoidance.kIntakeInAngle - avoidance.kEpsIntake;
+  unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal(
+      avoidance.kWristMinAngle + avoidance.kEpsWrist);
+  unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal(0.0);
+  unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal(
+      avoidance.kIntakeInAngle - avoidance.kEpsIntake);
 
   Iterate();
 
@@ -198,17 +309,19 @@
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
   // out.
-  unsafe_goal.wrist.unsafe_goal =
-      avoidance.kWristMaxAngle - (avoidance.kEpsWrist * 2.0);
-  unsafe_goal.elevator.unsafe_goal = 0.0;
-  unsafe_goal.intake.unsafe_goal =
-      avoidance.kIntakeOutAngle + avoidance.kEpsIntake;
+  unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal(
+      avoidance.kWristMaxAngle - (avoidance.kEpsWrist * 2.0));
+  unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal(0.0);
+  unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal(
+      avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
 
   // sets the status position messgaes to be have the elevator at the half way
   // with the intake in and the wrist middle front
-  status.wrist.position = avoidance.kWristMaxAngle - avoidance.kEpsWrist;
-  status.elevator.position = 0.0;
-  status.intake.position = avoidance.kIntakeOutAngle + avoidance.kEpsIntake;
+  status_.mutable_message()->mutable_wrist()->mutate_position(
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist);
+  status_.mutable_message()->mutable_elevator()->mutate_position(0.0);
+  status_.mutable_message()->mutable_intake()->mutate_position(
+      avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
 
   Iterate();
 
@@ -221,18 +334,19 @@
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
   // out.
-  unsafe_goal.wrist.unsafe_goal =
-      avoidance.kWristMaxAngle - (avoidance.kEpsWrist * 2.0);
-  unsafe_goal.elevator.unsafe_goal = 0.0;
-  unsafe_goal.intake.unsafe_goal =
-      avoidance.kIntakeOutAngle + avoidance.kEpsIntake;
+  unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal(
+      avoidance.kWristMaxAngle - (avoidance.kEpsWrist * 2.0));
+  unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal(0.0);
+  unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal(
+      avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
 
   // sets the status position messgaes to be have the elevator at the half way
   // with the intake in and the wrist middle front
-  status.wrist.position = avoidance.kWristMaxAngle - avoidance.kEpsWrist;
-  status.elevator.position = 0.5;
-  status.intake.position =
-      (avoidance.kIntakeOutAngle + avoidance.kIntakeInAngle) / 2.0;
+  status_.mutable_message()->mutable_wrist()->mutate_position(
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist);
+  status_.mutable_message()->mutable_elevator()->mutate_position(0.5);
+  status_.mutable_message()->mutable_intake()->mutate_position(
+      (avoidance.kIntakeOutAngle + avoidance.kIntakeInAngle) / 2.0);
 
   Iterate();
 
@@ -244,23 +358,27 @@
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
   // out.
-  unsafe_goal.wrist.unsafe_goal = 4.0;
-  unsafe_goal.elevator.unsafe_goal = 0.0;
-  unsafe_goal.intake.unsafe_goal =
-      avoidance.kIntakeOutAngle + avoidance.kEpsIntake;
+  unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal(4.0);
+  unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal(0.0);
+  unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal(
+      avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
 
   // sets the status position messgaes to be have the elevator at the half way
   // with the intake in and the wrist middle front
-  status.wrist.position = avoidance.kWristMaxAngle - avoidance.kEpsWrist;
-  status.elevator.position = 0.45;
-  status.intake.position = avoidance.kIntakeOutAngle + avoidance.kEpsIntake;
+  status_.mutable_message()->mutable_wrist()->mutate_position(
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist);
+  status_.mutable_message()->mutable_elevator()->mutate_position(0.45);
+  status_.mutable_message()->mutable_intake()->mutate_position(
+      avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
 
   Iterate();
 
-  ASSERT_NEAR(unsafe_goal.wrist.unsafe_goal, status.wrist.position, 0.001);
+  ASSERT_NEAR(unsafe_goal_.message().wrist()->unsafe_goal(),
+              status_.message().wrist()->position(), 0.001);
   ASSERT_NEAR((avoidance.kElevatorClearWristDownHeight + avoidance.kEps),
-              status.elevator.position, 0.001);
-  ASSERT_NEAR(unsafe_goal.intake.unsafe_goal, status.intake.position, 0.001);
+              status_.message().elevator()->position(), 0.001);
+  ASSERT_NEAR(unsafe_goal_.message().intake()->unsafe_goal(),
+              status_.message().intake()->position(), 0.001);
 }
 
 // Unreasonable Wrist Goal
@@ -268,89 +386,101 @@
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
   // out.
-  unsafe_goal.wrist.unsafe_goal =
-      avoidance.kWristMaxAngle - avoidance.kEpsWrist;
-  unsafe_goal.elevator.unsafe_goal = 0.0;
-  unsafe_goal.intake.unsafe_goal =
-      (avoidance.kIntakeOutAngle + avoidance.kIntakeInAngle) / 2.0;
+  unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal(
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist);
+  unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal(0.0);
+  unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal(
+      (avoidance.kIntakeOutAngle + avoidance.kIntakeInAngle) / 2.0);
 
   // sets the status position messgaes to be have the elevator at the half way
   // with the intake in and the wrist middle front
-  status.wrist.position = avoidance.kWristMinAngle + avoidance.kEpsWrist;
-  status.elevator.position = 0.45;
-  status.intake.position =
-      (avoidance.kIntakeOutAngle + avoidance.kIntakeInAngle) / 2.0;
+  status_.mutable_message()->mutable_wrist()->mutate_position(
+      avoidance.kWristMinAngle + avoidance.kEpsWrist);
+  status_.mutable_message()->mutable_elevator()->mutate_position(0.45);
+  status_.mutable_message()->mutable_intake()->mutate_position(
+      (avoidance.kIntakeOutAngle + avoidance.kIntakeInAngle) / 2.0);
 
   Iterate();
 
-  EXPECT_NEAR(unsafe_goal.wrist.unsafe_goal, status.wrist.position, 0.001);
+  EXPECT_NEAR(unsafe_goal_.message().wrist()->unsafe_goal(),
+              status_.message().wrist()->position(), 0.001);
   EXPECT_NEAR((avoidance.kElevatorClearIntakeHeight + avoidance.kEps),
-              status.elevator.position, 0.001);
-  EXPECT_NEAR(unsafe_goal.intake.unsafe_goal, status.intake.position, 0.001);
+              status_.message().elevator()->position(), 0.001);
+  EXPECT_NEAR(unsafe_goal_.message().intake()->unsafe_goal(),
+              status_.message().intake()->position(), 0.001);
 }
 
 // Fix Collision Wrist in Elevator
 TEST_P(CollisionAvoidanceTests, FixElevatorCollision) {
   // changes the goals
-  unsafe_goal.wrist.unsafe_goal = 3.14;
-  unsafe_goal.elevator.unsafe_goal = 0.0;
-  unsafe_goal.intake.unsafe_goal =
-      avoidance.kIntakeOutAngle + avoidance.kEpsIntake;
+  unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal(3.14);
+  unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal(0.0);
+  unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal(
+      avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
 
   // sets the status position messgaes
-  status.wrist.position = 4.0;
-  status.elevator.position = 0.0;
-  status.intake.position = avoidance.kIntakeOutAngle + avoidance.kEpsIntake;
+  status_.mutable_message()->mutable_wrist()->mutate_position(4.0);
+  status_.mutable_message()->mutable_elevator()->mutate_position(0.0);
+  status_.mutable_message()->mutable_intake()->mutate_position(
+      avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
 
   Iterate();
 
-  ASSERT_NEAR(unsafe_goal.wrist.unsafe_goal, status.wrist.position, 0.001);
+  ASSERT_NEAR(unsafe_goal_.message().wrist()->unsafe_goal(),
+              status_.message().wrist()->position(), 0.001);
   ASSERT_NEAR((avoidance.kElevatorClearWristDownHeight + avoidance.kEps),
-              status.elevator.position, 0.001);
-  ASSERT_NEAR(unsafe_goal.intake.unsafe_goal, status.intake.position, 0.001);
+              status_.message().elevator()->position(), 0.001);
+  ASSERT_NEAR(unsafe_goal_.message().intake()->unsafe_goal(),
+              status_.message().intake()->position(), 0.001);
 }
 
 // Fix Collision Wrist in Intake
 TEST_P(CollisionAvoidanceTests, FixWristCollision) {
   // changes the goals
-  unsafe_goal.wrist.unsafe_goal =
-      avoidance.kWristMaxAngle - avoidance.kEpsWrist;
-  unsafe_goal.elevator.unsafe_goal = 0.0;
-  unsafe_goal.intake.unsafe_goal =
-      (avoidance.kIntakeOutAngle + avoidance.kIntakeInAngle) / 2.0;
+  unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal(
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist);
+  unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal(0.0);
+  unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal(
+      (avoidance.kIntakeOutAngle + avoidance.kIntakeInAngle) / 2.0);
 
   // sets the status position messgaes
-  status.wrist.position = avoidance.kWristMaxAngle - avoidance.kEpsWrist;
-  status.elevator.position = 0.0;
-  status.intake.position =
-      (avoidance.kIntakeOutAngle + avoidance.kIntakeInAngle) / 2.0;
+  status_.mutable_message()->mutable_wrist()->mutate_position(
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist);
+  status_.mutable_message()->mutable_elevator()->mutate_position(0.0);
+  status_.mutable_message()->mutable_intake()->mutate_position(
+      (avoidance.kIntakeOutAngle + avoidance.kIntakeInAngle) / 2.0);
 
   Iterate();
 
-  ASSERT_NEAR(unsafe_goal.wrist.unsafe_goal, status.wrist.position, 0.001);
+  ASSERT_NEAR(unsafe_goal_.message().wrist()->unsafe_goal(),
+              status_.message().wrist()->position(), 0.001);
   ASSERT_NEAR((avoidance.kElevatorClearIntakeHeight + avoidance.kEps),
-              status.elevator.position, 0.001);
-  ASSERT_NEAR(unsafe_goal.intake.unsafe_goal, status.intake.position, 0.001);
+              status_.message().elevator()->position(), 0.001);
+  ASSERT_NEAR(unsafe_goal_.message().intake()->unsafe_goal(),
+              status_.message().intake()->position(), 0.001);
 }
 // Fix Collision Wrist Above Elevator
 TEST_P(CollisionAvoidanceTests, FixWristElevatorCollision) {
   // changes the goals
-  unsafe_goal.wrist.unsafe_goal = 0.0;
-  unsafe_goal.elevator.unsafe_goal = 0.0;
-  unsafe_goal.intake.unsafe_goal =
-      avoidance.kIntakeOutAngle + avoidance.kEpsIntake;
+  unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal ( 0.0);
+  unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal ( 0.0);
+  unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal (
+      avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
 
   // sets the status position messgaes
-  status.wrist.position = 0.0;
-  status.elevator.position = 0.0;
-  status.intake.position = avoidance.kIntakeOutAngle + avoidance.kEpsIntake;
+  status_.mutable_message()->mutable_wrist()->mutate_position ( 0.0);
+  status_.mutable_message()->mutable_elevator()->mutate_position ( 0.0);
+  status_.mutable_message()->mutable_intake()->mutate_position (
+      avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
 
   Iterate();
 
-  ASSERT_NEAR(unsafe_goal.wrist.unsafe_goal, status.wrist.position, 0.001);
+  ASSERT_NEAR(unsafe_goal_.message().wrist()->unsafe_goal(),
+              status_.message().wrist()->position(), 0.001);
   ASSERT_NEAR((avoidance.kElevatorClearHeight + avoidance.kEps),
-              status.elevator.position, 0.001);
-  ASSERT_NEAR(unsafe_goal.intake.unsafe_goal, status.intake.position, 0.001);
+              status_.message().elevator()->position(), 0.001);
+  ASSERT_NEAR(unsafe_goal_.message().intake()->unsafe_goal(),
+              status_.message().intake()->position(), 0.001);
 }
 
 INSTANTIATE_TEST_CASE_P(CollisionAvoidancePieceTest, CollisionAvoidanceTests,
diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index ff9bb13..91e1704 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -1,34 +1,36 @@
 #include "y2019/control_loops/superstructure/superstructure.h"
 
-#include "aos/controls/control_loops.q.h"
-#include "aos/events/event-loop.h"
-#include "frc971/control_loops/control_loops.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "aos/events/event_loop.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
-#include "y2019/status_light.q.h"
+#include "y2019/status_light_generated.h"
 
 namespace y2019 {
 namespace control_loops {
 namespace superstructure {
 
+using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
+using frc971::control_loops::AbsoluteEncoderProfiledJointStatus;
+
 Superstructure::Superstructure(::aos::EventLoop *event_loop,
                                const ::std::string &name)
-    : aos::controls::ControlLoop<SuperstructureQueue>(event_loop, name),
+    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                 name),
       status_light_sender_(
-          event_loop->MakeSender<::y2019::StatusLight>(".y2019.status_light")),
+          event_loop->MakeSender<::y2019::StatusLight>("/superstructure")),
       drivetrain_status_fetcher_(
-          event_loop
-              ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Status>(
-                  ".frc971.control_loops.drivetrain_queue.status")),
+          event_loop->MakeFetcher<::frc971::control_loops::drivetrain::Status>(
+              "/drivetrain")),
       elevator_(constants::GetValues().elevator.subsystem_params),
       wrist_(constants::GetValues().wrist.subsystem_params),
       intake_(constants::GetValues().intake),
       stilts_(constants::GetValues().stilts.subsystem_params) {}
 
-void Superstructure::RunIteration(const SuperstructureQueue::Goal *unsafe_goal,
-                                  const SuperstructureQueue::Position *position,
-                                  SuperstructureQueue::Output *output,
-                                  SuperstructureQueue::Status *status) {
+void Superstructure::RunIteration(const Goal *unsafe_goal,
+                                  const Position *position,
+                                  aos::Sender<Output>::Builder *output,
+                                  aos::Sender<Status>::Builder *status) {
   if (WasReset()) {
     AOS_LOG(ERROR, "WPILib reset, restarting\n");
     elevator_.Reset();
@@ -37,49 +39,92 @@
     stilts_.Reset();
   }
 
-  elevator_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->elevator) : nullptr,
-                    &(position->elevator),
-                    output != nullptr ? &(output->elevator_voltage) : nullptr,
-                    &(status->elevator));
+  OutputT output_struct;
 
-  wrist_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->wrist) : nullptr,
-                 &(position->wrist),
-                 output != nullptr ? &(output->wrist_voltage) : nullptr,
-                 &(status->wrist));
+  flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+      elevator_status_offset = elevator_.Iterate(
+          unsafe_goal != nullptr ? unsafe_goal->elevator() : nullptr,
+          position->elevator(),
+          output != nullptr ? &(output_struct.elevator_voltage) : nullptr,
+          status->fbb());
 
-  intake_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->intake) : nullptr,
-                  &(position->intake_joint),
-                  output != nullptr ? &(output->intake_joint_voltage) : nullptr,
-                  &(status->intake));
+  flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+      wrist_status_offset = wrist_.Iterate(
+          unsafe_goal != nullptr ? unsafe_goal->wrist() : nullptr,
+          position->wrist(),
+          output != nullptr ? &(output_struct.wrist_voltage) : nullptr,
+          status->fbb());
 
-  stilts_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->stilts) : nullptr,
-                  &(position->stilts),
-                  output != nullptr ? &(output->stilts_voltage) : nullptr,
-                  &(status->stilts));
+  flatbuffers::Offset<AbsoluteEncoderProfiledJointStatus> intake_status_offset =
+      intake_.Iterate(
+          unsafe_goal != nullptr ? unsafe_goal->intake() : nullptr,
+          position->intake_joint(),
+          output != nullptr ? &(output_struct.intake_joint_voltage) : nullptr,
+          status->fbb());
 
-  vacuum_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->suction) : nullptr,
-                  position->suction_pressure, output, &(status->has_piece),
+  flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+      stilts_status_offset = stilts_.Iterate(
+          unsafe_goal != nullptr ? unsafe_goal->stilts() : nullptr,
+          position->stilts(),
+          output != nullptr ? &(output_struct.stilts_voltage) : nullptr,
+          status->fbb());
+
+  bool has_piece;
+  vacuum_.Iterate(unsafe_goal != nullptr ? unsafe_goal->suction() : nullptr,
+                  position->suction_pressure(), &output_struct, &has_piece,
                   event_loop());
 
-  status->zeroed = status->elevator.zeroed && status->wrist.zeroed &&
-                   status->intake.zeroed && status->stilts.zeroed;
+  bool zeroed;
+  bool estopped;
+  {
+    PotAndAbsoluteEncoderProfiledJointStatus *elevator_status =
+        GetMutableTemporaryPointer(*status->fbb(), elevator_status_offset);
+    PotAndAbsoluteEncoderProfiledJointStatus *wrist_status =
+        GetMutableTemporaryPointer(*status->fbb(), wrist_status_offset);
+    AbsoluteEncoderProfiledJointStatus *intake_status =
+        GetMutableTemporaryPointer(*status->fbb(), intake_status_offset);
+    PotAndAbsoluteEncoderProfiledJointStatus *stilts_status =
+        GetMutableTemporaryPointer(*status->fbb(), stilts_status_offset);
 
-  status->estopped = status->elevator.estopped || status->wrist.estopped ||
-                     status->intake.estopped || status->stilts.estopped;
+    zeroed = elevator_status->zeroed() && wrist_status->zeroed() &&
+             intake_status->zeroed() && stilts_status->zeroed();
+
+    estopped = elevator_status->estopped() || wrist_status->estopped() ||
+               intake_status->estopped() || stilts_status->estopped();
+  }
+
+  Status::Builder status_builder = status->MakeBuilder<Status>();
+
+  status_builder.add_zeroed(zeroed);
+  status_builder.add_estopped(estopped);
+  status_builder.add_has_piece(has_piece);
+
+  status_builder.add_elevator(elevator_status_offset);
+  status_builder.add_wrist(wrist_status_offset);
+  status_builder.add_intake(intake_status_offset);
+  status_builder.add_stilts(stilts_status_offset);
+
+  flatbuffers::Offset<Status> status_offset = status_builder.Finish();
+
+  Status *status_flatbuffer =
+      GetMutableTemporaryPointer(*status->fbb(), status_offset);
 
   if (output) {
-    if (unsafe_goal && status->intake.position > kMinIntakeAngleForRollers) {
-      output->intake_roller_voltage = unsafe_goal->roller_voltage;
+    if (unsafe_goal &&
+        status_flatbuffer->intake()->position() > kMinIntakeAngleForRollers) {
+      output_struct.intake_roller_voltage = unsafe_goal->roller_voltage();
     } else {
-      output->intake_roller_voltage = 0.0;
+      output_struct.intake_roller_voltage = 0.0;
     }
+
+    output->Send(Output::Pack(*output->fbb(), &output_struct));
   }
 
   if (unsafe_goal) {
-    if (!unsafe_goal->suction.grab_piece) {
+    if (!unsafe_goal->has_suction() || !unsafe_goal->suction()->grab_piece()) {
       wrist_.set_controller_index(0);
       elevator_.set_controller_index(0);
-    } else if (unsafe_goal->suction.gamepiece_mode == 0) {
+    } else if (unsafe_goal->suction()->gamepiece_mode() == 0) {
       wrist_.set_controller_index(1);
       elevator_.set_controller_index(1);
     } else {
@@ -90,7 +135,7 @@
 
   // TODO(theo) move these up when Iterate() is split
   // update the goals
-  collision_avoidance_.UpdateGoal(status, unsafe_goal);
+  collision_avoidance_.UpdateGoal(status_flatbuffer, unsafe_goal);
 
   elevator_.set_min_position(collision_avoidance_.min_elevator_goal());
   wrist_.set_min_position(collision_avoidance_.min_wrist_goal());
@@ -102,23 +147,23 @@
 
   if (status && unsafe_goal) {
     // Light Logic
-    if (status->estopped) {
+    if (status_flatbuffer->estopped()) {
       // Estop is red
       SendColors(1.0, 0.0, 0.0);
     } else if (drivetrain_status_fetcher_.get() &&
-               drivetrain_status_fetcher_->line_follow_logging.frozen) {
+               drivetrain_status_fetcher_->line_follow_logging()->frozen()) {
       // Vision align is flashing white for button pressed, purple for target
       // acquired.
       ++line_blink_count_;
       if (line_blink_count_ < 20) {
-        if (drivetrain_status_fetcher_->line_follow_logging.have_target) {
+        if (drivetrain_status_fetcher_->line_follow_logging()->have_target()) {
           SendColors(1.0, 0.0, 1.0);
         } else {
           SendColors(1.0, 1.0, 1.0);
         }
       } else {
         // And then flash with green if we have a game piece.
-        if (status->has_piece) {
+        if (status_flatbuffer->has_piece()) {
           SendColors(0.0, 1.0, 0.0);
         } else {
           SendColors(0.0, 0.0, 0.0);
@@ -130,15 +175,17 @@
       }
     } else {
       line_blink_count_ = 0;
-      if (status->has_piece) {
+      if (status_flatbuffer->has_piece()) {
         // Green if we have a game piece.
         SendColors(0.0, 1.0, 0.0);
-      } else if (unsafe_goal->suction.gamepiece_mode == 0 &&
-                 !status->has_piece) {
+      } else if ((!unsafe_goal->has_suction() ||
+                  unsafe_goal->suction()->gamepiece_mode() == 0) &&
+                 !status_flatbuffer->has_piece()) {
         // Ball mode is orange
         SendColors(1.0, 0.1, 0.0);
-      } else if (unsafe_goal->suction.gamepiece_mode == 1 &&
-                 !status->has_piece) {
+      } else if (unsafe_goal->has_suction() &&
+                 unsafe_goal->suction()->gamepiece_mode() == 1 &&
+                 !status_flatbuffer->has_piece()) {
         // Disk mode is deep blue
         SendColors(0.05, 0.1, 0.5);
       } else {
@@ -146,15 +193,20 @@
       }
     }
   }
+
+  status->Send(status_offset);
 }
 
 void Superstructure::SendColors(float red, float green, float blue) {
-  auto new_status_light = status_light_sender_.MakeMessage();
-  new_status_light->red = red;
-  new_status_light->green = green;
-  new_status_light->blue = blue;
+  auto builder = status_light_sender_.MakeBuilder();
 
-  if (!new_status_light.Send()) {
+  StatusLight::Builder status_light_builder =
+      builder.MakeBuilder<StatusLight>();
+  status_light_builder.add_red(red);
+  status_light_builder.add_green(green);
+  status_light_builder.add_blue(blue);
+
+  if (!builder.Send(status_light_builder.Finish())) {
     AOS_LOG(ERROR, "Failed to send lights.\n");
   }
 }
diff --git a/y2019/control_loops/superstructure/superstructure.h b/y2019/control_loops/superstructure/superstructure.h
index aab8e7d..f4a23d9 100644
--- a/y2019/control_loops/superstructure/superstructure.h
+++ b/y2019/control_loops/superstructure/superstructure.h
@@ -2,26 +2,27 @@
 #define Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
 
 #include "aos/controls/control_loop.h"
-#include "aos/events/event-loop.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "aos/events/event_loop.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
 #include "y2019/constants.h"
 #include "y2019/control_loops/superstructure/collision_avoidance.h"
-#include "y2019/control_loops/superstructure/superstructure.q.h"
+#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_status_generated.h"
 #include "y2019/control_loops/superstructure/vacuum.h"
-#include "y2019/status_light.q.h"
+#include "y2019/status_light_generated.h"
 
 namespace y2019 {
 namespace control_loops {
 namespace superstructure {
 
 class Superstructure
-    : public ::aos::controls::ControlLoop<SuperstructureQueue> {
+    : public ::aos::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
-  explicit Superstructure(
-      ::aos::EventLoop *event_loop,
-      const ::std::string &name =
-          ".y2019.control_loops.superstructure.superstructure_queue");
+  explicit Superstructure(::aos::EventLoop *event_loop,
+                          const ::std::string &name = "/superstructure");
 
   using PotAndAbsoluteEncoderSubsystem =
       ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
@@ -39,16 +40,15 @@
   const Vacuum &vacuum() const { return vacuum_; }
 
  protected:
-  virtual void RunIteration(const SuperstructureQueue::Goal *unsafe_goal,
-                            const SuperstructureQueue::Position *position,
-                            SuperstructureQueue::Output *output,
-                            SuperstructureQueue::Status *status) override;
+  virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
+                            aos::Sender<Output>::Builder *output,
+                            aos::Sender<Status>::Builder *status) override;
 
  private:
   void SendColors(float red, float green, float blue);
 
   ::aos::Sender<::y2019::StatusLight> status_light_sender_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Status>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Status>
       drivetrain_status_fetcher_;
 
   PotAndAbsoluteEncoderSubsystem elevator_;
diff --git a/y2019/control_loops/superstructure/superstructure.q b/y2019/control_loops/superstructure/superstructure.q
deleted file mode 100644
index d19c2b8..0000000
--- a/y2019/control_loops/superstructure/superstructure.q
+++ /dev/null
@@ -1,115 +0,0 @@
-package y2019.control_loops.superstructure;
-
-import "aos/controls/control_loops.q";
-import "frc971/control_loops/profiled_subsystem.q";
-
-struct SuctionGoal {
-  // True = apply suction
-  bool grab_piece;
-
-  // 0 = ball mode
-  // 1 = disk mode
-
-  int32_t gamepiece_mode;
-};
-
-// Published on ".y2019.control_loops.superstructure.superstructure_queue"
-queue_group SuperstructureQueue {
-  implements aos.control_loops.ControlLoop;
-
-  message Goal {
-    // Meters, 0 = lowest position - mechanical hard stop,
-    // positive = upward
-    .frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal elevator;
-    // 0 = linkage on the sprocket is pointing straight up,
-    // positive = forward
-    .frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal intake;
-    // 0 = Straight up parallel to elevator
-    // Positive rotates toward intake from 0
-    .frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal wrist;
-
-    // Distance stilts extended out of the bottom of the robot. Positive = down.
-    // 0 is the height such that the bottom of the stilts is tangent to the
-    // bottom of the middle wheels.
-    .frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal stilts;
-
-    // Positive is rollers intaking inward.
-    double roller_voltage;
-
-    SuctionGoal suction;
-  };
-
-  message Status {
-    // All subsystems know their location.
-    bool zeroed;
-
-    // If true, we have aborted. This is the or of all subsystem estops.
-    bool estopped;
-
-    // Whether suction_pressure indicates cargo is held
-    bool has_piece;
-
-    // Status of each subsystem.
-    .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus elevator;
-    .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus wrist;
-    .frc971.control_loops.AbsoluteEncoderProfiledJointStatus intake;
-    .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus stilts;
-  };
-
-  message Position {
-    // Input from pressure sensor in bar
-    // 1 = 1 atm, 0 = full vacuum
-    float suction_pressure;
-
-    // Position of the elevator, 0 at lowest position, positive when up.
-    .frc971.PotAndAbsolutePosition elevator;
-
-    // Position of wrist, 0 when up, positive is rotating toward the front,
-    // over the top.
-    .frc971.PotAndAbsolutePosition wrist;
-
-    // Position of the intake. 0 when rollers are retracted, positive extended.
-    .frc971.AbsolutePosition intake_joint;
-
-    // Position of the stilts, 0 when retracted (defualt), positive lifts robot.
-    .frc971.PotAndAbsolutePosition stilts;
-
-    // True if the platform detection sensors detect the platform directly
-    // below the robot right behind the left and right wheels.  Useful for
-    // determining when the robot is all the way on the platform.
-    bool platform_left_detect;
-    bool platform_right_detect;
-  };
-
-  message Output {
-    // Voltage sent to motors moving elevator up/down. Positive is up.
-    double elevator_voltage;
-
-    // Voltage sent to wrist motors on elevator to rotate.
-    // Positive rotates over the top towards the front of the robot.
-    double wrist_voltage;
-
-    // Voltage sent to motors on intake joint. Positive extends rollers.
-    double intake_joint_voltage;
-
-    // Voltage sent to rollers on intake. Positive rolls inward.
-    double intake_roller_voltage;
-
-    // Voltage sent to motors to move stilts height. Positive moves robot
-    // upward.
-    double stilts_voltage;
-
-    // True opens solenoid (applies suction)
-    // Top/bottom are when wrist is toward the front of the robot
-    bool intake_suction_top;
-    bool intake_suction_bottom;
-
-    // Voltage sent to the vacuum pump motors.
-    double pump_voltage;
-  };
-
-  queue Goal goal;
-  queue Output output;
-  queue Status status;
-  queue Position position;
-};
diff --git a/y2019/control_loops/superstructure/superstructure_goal.fbs b/y2019/control_loops/superstructure/superstructure_goal.fbs
new file mode 100644
index 0000000..77e7c8d
--- /dev/null
+++ b/y2019/control_loops/superstructure/superstructure_goal.fbs
@@ -0,0 +1,37 @@
+include "frc971/control_loops/profiled_subsystem.fbs";
+
+namespace y2019.control_loops.superstructure;
+
+table SuctionGoal {
+  // True = apply suction
+  grab_piece:bool;
+
+  // 0 = ball mode
+  // 1 = disk mode
+
+  gamepiece_mode:int;
+}
+
+table Goal {
+  // Meters, 0 = lowest position - mechanical hard stop,
+  // positive = upward
+  elevator:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+  // 0 = linkage on the sprocket is pointing straight up,
+  // positive = forward
+  intake:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+  // 0 = Straight up parallel to elevator
+  // Positive rotates toward intake from 0
+  wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+
+  // Distance stilts extended out of the bottom of the robot. Positive = down.
+  // 0 is the height such that the bottom of the stilts is tangent to the
+  // bottom of the middle wheels.
+  stilts:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+
+  // Positive is rollers intaking inward.
+  roller_voltage:float;
+
+  suction:SuctionGoal;
+}
+
+root_type Goal;
diff --git a/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index bad771e..7af8ffd 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -4,7 +4,6 @@
 #include <memory>
 
 #include "aos/controls/control_loop_test.h"
-#include "aos/queue.h"
 #include "frc971/control_loops/capped_test_plant.h"
 #include "frc971/control_loops/position_sensor_sim.h"
 #include "frc971/control_loops/team_number_test_environment.h"
@@ -27,8 +26,12 @@
 
 namespace chrono = ::std::chrono;
 using ::aos::monotonic_clock;
+using ::frc971::CreateProfileParameters;
 using ::frc971::control_loops::CappedTestPlant;
+using ::frc971::control_loops::
+    CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
 using ::frc971::control_loops::PositionSensorSimulator;
+using ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
 typedef Superstructure::PotAndAbsoluteEncoderSubsystem
     PotAndAbsoluteEncoderSubsystem;
 typedef Superstructure::AbsoluteEncoderSubsystem AbsoluteEncoderSubsystem;
@@ -41,15 +44,11 @@
       : event_loop_(event_loop),
         dt_(dt),
         superstructure_position_sender_(
-            event_loop_->MakeSender<SuperstructureQueue::Position>(
-                ".y2019.control_loops.superstructure.superstructure_queue."
-                "position")),
-        superstructure_status_fetcher_(event_loop_->MakeFetcher<
-                                       SuperstructureQueue::Status>(
-            ".y2019.control_loops.superstructure.superstructure_queue.status")),
-        superstructure_output_fetcher_(event_loop_->MakeFetcher<
-                                       SuperstructureQueue::Output>(
-            ".y2019.control_loops.superstructure.superstructure_queue.output")),
+            event_loop_->MakeSender<Position>("/superstructure")),
+        superstructure_status_fetcher_(
+            event_loop_->MakeFetcher<Status>("/superstructure")),
+        superstructure_output_fetcher_(
+            event_loop_->MakeFetcher<Output>("/superstructure")),
         elevator_plant_(
             new CappedTestPlant(::y2019::control_loops::superstructure::
                                     elevator::MakeElevatorPlant())),
@@ -136,16 +135,38 @@
 
   // Sends a queue message with the position of the superstructure.
   void SendPositionMessage() {
-    ::aos::Sender<SuperstructureQueue::Position>::Message position =
-        superstructure_position_sender_.MakeMessage();
+    ::aos::Sender<Position>::Builder builder =
+        superstructure_position_sender_.MakeBuilder();
 
-    elevator_pot_encoder_.GetSensorValues(&position->elevator);
-    wrist_pot_encoder_.GetSensorValues(&position->wrist);
-    intake_pot_encoder_.GetSensorValues(&position->intake_joint);
-    stilts_pot_encoder_.GetSensorValues(&position->stilts);
-    position->suction_pressure = simulated_pressure_;
+    frc971::PotAndAbsolutePosition::Builder elevator_builder =
+        builder.MakeBuilder<frc971::PotAndAbsolutePosition>();
+    flatbuffers::Offset<frc971::PotAndAbsolutePosition> elevator_offset =
+        elevator_pot_encoder_.GetSensorValues(&elevator_builder);
 
-    position.Send();
+    frc971::PotAndAbsolutePosition::Builder wrist_builder =
+        builder.MakeBuilder<frc971::PotAndAbsolutePosition>();
+    flatbuffers::Offset<frc971::PotAndAbsolutePosition> wrist_offset =
+        wrist_pot_encoder_.GetSensorValues(&wrist_builder);
+
+    frc971::AbsolutePosition::Builder intake_builder =
+        builder.MakeBuilder<frc971::AbsolutePosition>();
+    flatbuffers::Offset<frc971::AbsolutePosition> intake_offset =
+        intake_pot_encoder_.GetSensorValues(&intake_builder);
+
+    frc971::PotAndAbsolutePosition::Builder stilts_builder =
+        builder.MakeBuilder<frc971::PotAndAbsolutePosition>();
+    flatbuffers::Offset<frc971::PotAndAbsolutePosition> stilts_offset =
+        stilts_pot_encoder_.GetSensorValues(&stilts_builder);
+
+    Position::Builder position_builder = builder.MakeBuilder<Position>();
+
+    position_builder.add_elevator(elevator_offset);
+    position_builder.add_wrist(wrist_offset);
+    position_builder.add_intake_joint(intake_offset);
+    position_builder.add_stilts(stilts_offset);
+    position_builder.add_suction_pressure(simulated_pressure_);
+
+    builder.Send(position_builder.Finish());
   }
 
   double elevator_position() const { return elevator_plant_->X(0, 0); }
@@ -183,58 +204,58 @@
 
     const double voltage_check_elevator =
         (static_cast<PotAndAbsoluteEncoderSubsystem::State>(
-             superstructure_status_fetcher_->elevator.state) ==
+             superstructure_status_fetcher_->elevator()->state()) ==
          PotAndAbsoluteEncoderSubsystem::State::RUNNING)
             ? constants::GetValues().elevator.subsystem_params.operating_voltage
             : constants::GetValues().elevator.subsystem_params.zeroing_voltage;
 
     const double voltage_check_wrist =
         (static_cast<PotAndAbsoluteEncoderSubsystem::State>(
-             superstructure_status_fetcher_->wrist.state) ==
+             superstructure_status_fetcher_->wrist()->state()) ==
          PotAndAbsoluteEncoderSubsystem::State::RUNNING)
             ? constants::GetValues().wrist.subsystem_params.operating_voltage
             : constants::GetValues().wrist.subsystem_params.zeroing_voltage;
 
     const double voltage_check_intake =
         (static_cast<AbsoluteEncoderSubsystem::State>(
-             superstructure_status_fetcher_->intake.state) ==
+             superstructure_status_fetcher_->intake()->state()) ==
          AbsoluteEncoderSubsystem::State::RUNNING)
             ? constants::GetValues().intake.operating_voltage
             : constants::GetValues().intake.zeroing_voltage;
 
     const double voltage_check_stilts =
         (static_cast<PotAndAbsoluteEncoderSubsystem::State>(
-             superstructure_status_fetcher_->stilts.state) ==
+             superstructure_status_fetcher_->stilts()->state()) ==
          PotAndAbsoluteEncoderSubsystem::State::RUNNING)
             ? constants::GetValues().stilts.subsystem_params.operating_voltage
             : constants::GetValues().stilts.subsystem_params.zeroing_voltage;
 
-    EXPECT_NEAR(superstructure_output_fetcher_->elevator_voltage, 0.0,
+    EXPECT_NEAR(superstructure_output_fetcher_->elevator_voltage(), 0.0,
                 voltage_check_elevator);
 
-    EXPECT_NEAR(superstructure_output_fetcher_->wrist_voltage, 0.0,
+    EXPECT_NEAR(superstructure_output_fetcher_->wrist_voltage(), 0.0,
                 voltage_check_wrist);
 
-    EXPECT_NEAR(superstructure_output_fetcher_->intake_joint_voltage, 0.0,
+    EXPECT_NEAR(superstructure_output_fetcher_->intake_joint_voltage(), 0.0,
                 voltage_check_intake);
 
-    EXPECT_NEAR(superstructure_output_fetcher_->stilts_voltage, 0.0,
+    EXPECT_NEAR(superstructure_output_fetcher_->stilts_voltage(), 0.0,
                 voltage_check_stilts);
 
     ::Eigen::Matrix<double, 1, 1> elevator_U;
-    elevator_U << superstructure_output_fetcher_->elevator_voltage +
+    elevator_U << superstructure_output_fetcher_->elevator_voltage() +
                       elevator_plant_->voltage_offset();
 
     ::Eigen::Matrix<double, 1, 1> wrist_U;
-    wrist_U << superstructure_output_fetcher_->wrist_voltage +
+    wrist_U << superstructure_output_fetcher_->wrist_voltage() +
                    wrist_plant_->voltage_offset();
 
     ::Eigen::Matrix<double, 1, 1> intake_U;
-    intake_U << superstructure_output_fetcher_->intake_joint_voltage +
+    intake_U << superstructure_output_fetcher_->intake_joint_voltage() +
                     intake_plant_->voltage_offset();
 
     ::Eigen::Matrix<double, 1, 1> stilts_U;
-    stilts_U << superstructure_output_fetcher_->stilts_voltage +
+    stilts_U << superstructure_output_fetcher_->stilts_voltage() +
                     stilts_plant_->voltage_offset();
 
     elevator_plant_->Update(elevator_U);
@@ -330,19 +351,19 @@
   }
 
  private:
-  void CheckCollisions(const SuperstructureQueue::Status *status) {
-    ASSERT_FALSE(
-        collision_avoidance_.IsCollided(wrist_position(), elevator_position(),
-                                        intake_position(), status->has_piece));
+  void CheckCollisions(const Status *status) {
+    ASSERT_FALSE(collision_avoidance_.IsCollided(
+        wrist_position(), elevator_position(), intake_position(),
+        status->has_piece()));
   }
 
   ::aos::EventLoop *event_loop_;
   const chrono::nanoseconds dt_;
   ::aos::PhasedLoopHandler *phased_loop_handle_ = nullptr;
 
-  ::aos::Sender<SuperstructureQueue::Position> superstructure_position_sender_;
-  ::aos::Fetcher<SuperstructureQueue::Status> superstructure_status_fetcher_;
-  ::aos::Fetcher<SuperstructureQueue::Output> superstructure_output_fetcher_;
+  ::aos::Sender<Position> superstructure_position_sender_;
+  ::aos::Fetcher<Status> superstructure_status_fetcher_;
+  ::aos::Fetcher<Output> superstructure_output_fetcher_;
 
   bool first_ = true;
 
@@ -381,24 +402,20 @@
 class SuperstructureTest : public ::aos::testing::ControlLoopTest {
  protected:
   SuperstructureTest()
-      : ::aos::testing::ControlLoopTest(chrono::microseconds(5050)),
+      : ::aos::testing::ControlLoopTest(
+            aos::configuration::ReadConfig("y2019/config.json"),
+            chrono::microseconds(5050)),
         test_event_loop_(MakeEventLoop()),
-        superstructure_goal_fetcher_(test_event_loop_->MakeFetcher<
-                                     SuperstructureQueue::Goal>(
-            ".y2019.control_loops.superstructure.superstructure_queue.goal")),
-        superstructure_goal_sender_(test_event_loop_->MakeSender<
-                                    SuperstructureQueue::Goal>(
-            ".y2019.control_loops.superstructure.superstructure_queue.goal")),
-        superstructure_status_fetcher_(test_event_loop_->MakeFetcher<
-                                       SuperstructureQueue::Status>(
-            ".y2019.control_loops.superstructure.superstructure_queue.status")),
-        superstructure_output_fetcher_(test_event_loop_->MakeFetcher<
-                                       SuperstructureQueue::Output>(
-            ".y2019.control_loops.superstructure.superstructure_queue.output")),
+        superstructure_goal_fetcher_(
+            test_event_loop_->MakeFetcher<Goal>("/superstructure")),
+        superstructure_goal_sender_(
+            test_event_loop_->MakeSender<Goal>("/superstructure")),
+        superstructure_status_fetcher_(
+            test_event_loop_->MakeFetcher<Status>("/superstructure")),
+        superstructure_output_fetcher_(
+            test_event_loop_->MakeFetcher<Output>("/superstructure")),
         superstructure_position_fetcher_(
-            test_event_loop_->MakeFetcher<SuperstructureQueue::Position>(
-                ".y2019.control_loops.superstructure.superstructure_queue."
-                "position")),
+            test_event_loop_->MakeFetcher<Position>("/superstructure")),
         superstructure_event_loop_(MakeEventLoop()),
         superstructure_(superstructure_event_loop_.get()),
         superstructure_plant_event_loop_(MakeEventLoop()),
@@ -410,13 +427,13 @@
     superstructure_goal_fetcher_.Fetch();
     superstructure_status_fetcher_.Fetch();
 
-    EXPECT_NEAR(superstructure_goal_fetcher_->elevator.unsafe_goal,
-                superstructure_status_fetcher_->elevator.position, 0.001);
-    EXPECT_NEAR(superstructure_goal_fetcher_->wrist.unsafe_goal,
+    EXPECT_NEAR(superstructure_goal_fetcher_->elevator()->unsafe_goal(),
+                superstructure_status_fetcher_->elevator()->position(), 0.001);
+    EXPECT_NEAR(superstructure_goal_fetcher_->wrist()->unsafe_goal(),
                 superstructure_plant_.wrist_position(), 0.001);
-    EXPECT_NEAR(superstructure_goal_fetcher_->intake.unsafe_goal,
-                superstructure_status_fetcher_->intake.position, 0.001);
-    EXPECT_NEAR(superstructure_goal_fetcher_->stilts.unsafe_goal,
+    EXPECT_NEAR(superstructure_goal_fetcher_->intake()->unsafe_goal(),
+                superstructure_status_fetcher_->intake()->position(), 0.001);
+    EXPECT_NEAR(superstructure_goal_fetcher_->stilts()->unsafe_goal(),
                 superstructure_plant_.stilts_position(), 0.001);
   }
 
@@ -428,17 +445,16 @@
       superstructure_status_fetcher_.Fetch();
       // 2 Seconds
       ASSERT_LE(i, 2 * 1.0 / .00505);
-    } while (!superstructure_status_fetcher_.get()->zeroed);
+    } while (!superstructure_status_fetcher_.get()->zeroed());
   }
 
   ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
 
-  ::aos::Fetcher<SuperstructureQueue::Goal> superstructure_goal_fetcher_;
-  ::aos::Sender<SuperstructureQueue::Goal> superstructure_goal_sender_;
-  ::aos::Fetcher<SuperstructureQueue::Status> superstructure_status_fetcher_;
-  ::aos::Fetcher<SuperstructureQueue::Output> superstructure_output_fetcher_;
-  ::aos::Fetcher<SuperstructureQueue::Position>
-      superstructure_position_fetcher_;
+  ::aos::Fetcher<Goal> superstructure_goal_fetcher_;
+  ::aos::Sender<Goal> superstructure_goal_sender_;
+  ::aos::Fetcher<Status> superstructure_status_fetcher_;
+  ::aos::Fetcher<Output> superstructure_output_fetcher_;
+  ::aos::Fetcher<Position> superstructure_position_fetcher_;
 
   // Create a control loop and simulation.
   ::std::unique_ptr<::aos::EventLoop> superstructure_event_loop_;
@@ -459,13 +475,29 @@
   WaitUntilZeroed();
 
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    goal->elevator.unsafe_goal = 1.4;
-    goal->wrist.unsafe_goal = 1.0;
-    goal->intake.unsafe_goal = 1.1;
-    goal->stilts.unsafe_goal = 0.1;
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.4);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.0);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.1);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        stilts_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 0.1);
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_elevator(elevator_offset);
+    goal_builder.add_wrist(wrist_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_stilts(stilts_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(10));
   VerifyNearGoal();
@@ -485,24 +517,36 @@
 
   WaitUntilZeroed();
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->elevator.unsafe_goal = 1.4;
-    goal->elevator.profile_params.max_velocity = 1;
-    goal->elevator.profile_params.max_acceleration = 0.5;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    goal->wrist.unsafe_goal = 1.0;
-    goal->wrist.profile_params.max_velocity = 1;
-    goal->wrist.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.4,
+            CreateProfileParameters(*builder.fbb(), 1.0, 0.5));
 
-    goal->intake.unsafe_goal = 1.1;
-    goal->intake.profile_params.max_velocity = 1;
-    goal->intake.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.0,
+            CreateProfileParameters(*builder.fbb(), 1.0, 0.5));
 
-    goal->stilts.unsafe_goal = 0.1;
-    goal->stilts.profile_params.max_velocity = 1;
-    goal->stilts.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.1,
+            CreateProfileParameters(*builder.fbb(), 1.0, 0.5));
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        stilts_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 0.1,
+            CreateProfileParameters(*builder.fbb(), 1.0, 0.5));
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_elevator(elevator_offset);
+    goal_builder.add_wrist(wrist_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_stilts(stilts_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Give it a lot of time to get there.
@@ -520,13 +564,33 @@
   // Zero it before we move.
   WaitUntilZeroed();
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->elevator.unsafe_goal = constants::Values::kElevatorRange().upper;
-    goal->wrist.unsafe_goal = constants::Values::kWristRange().upper;
-    goal->intake.unsafe_goal = constants::Values::kIntakeRange().upper;
-    goal->stilts.unsafe_goal = constants::Values::kStiltsRange().upper;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    ASSERT_TRUE(goal.Send());
+
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), constants::Values::kElevatorRange().upper);
+
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), constants::Values::kWristRange().upper);
+
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), constants::Values::kIntakeRange().upper);
+
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        stilts_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), constants::Values::kStiltsRange().upper);
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_elevator(elevator_offset);
+    goal_builder.add_wrist(wrist_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_stilts(stilts_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(8));
   VerifyNearGoal();
@@ -534,24 +598,36 @@
   // Try a low acceleration move with a high max velocity and verify the
   // acceleration is capped like expected.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->elevator.unsafe_goal = constants::Values::kElevatorRange().upper;
-    goal->elevator.profile_params.max_velocity = 20.0;
-    goal->elevator.profile_params.max_acceleration = 0.1;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    goal->wrist.unsafe_goal = constants::Values::kWristRange().upper;
-    goal->wrist.profile_params.max_velocity = 20.0;
-    goal->wrist.profile_params.max_acceleration = 0.1;
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), constants::Values::kElevatorRange().upper,
+            CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
 
-    goal->intake.unsafe_goal = constants::Values::kIntakeRange().upper;
-    goal->intake.profile_params.max_velocity = 20.0;
-    goal->intake.profile_params.max_acceleration = 0.1;
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), constants::Values::kWristRange().upper,
+            CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
 
-    goal->stilts.unsafe_goal = constants::Values::kStiltsRange().lower;
-    goal->stilts.profile_params.max_velocity = 20.0;
-    goal->stilts.profile_params.max_acceleration = 0.1;
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), constants::Values::kIntakeRange().upper,
+            CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        stilts_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), constants::Values::kStiltsRange().lower,
+            CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_elevator(elevator_offset);
+    goal_builder.add_wrist(wrist_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_stilts(stilts_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   superstructure_plant_.set_peak_elevator_velocity(23.0);
   superstructure_plant_.set_peak_elevator_acceleration(0.2);
@@ -564,36 +640,6 @@
 
   RunFor(chrono::seconds(8));
   VerifyNearGoal();
-
-  // Now do a high acceleration move with a low velocity limit.
-  {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->elevator.unsafe_goal = constants::Values::kElevatorRange().lower;
-    goal->elevator.profile_params.max_velocity = 0.1;
-    goal->elevator.profile_params.max_acceleration = 10.0;
-
-    goal->wrist.unsafe_goal = constants::Values::kWristRange().lower;
-    goal->wrist.profile_params.max_velocity = 0.1;
-    goal->wrist.profile_params.max_acceleration = 10.0;
-
-    goal->intake.unsafe_goal = constants::Values::kIntakeRange().lower;
-    goal->intake.profile_params.max_velocity = 0.1;
-    goal->intake.profile_params.max_acceleration = 10.0;
-
-    goal->stilts.unsafe_goal = constants::Values::kStiltsRange().lower;
-    goal->stilts.profile_params.max_velocity = 0.1;
-    goal->stilts.profile_params.max_acceleration = 10.0;
-  }
-  superstructure_plant_.set_peak_elevator_velocity(0.2);
-  superstructure_plant_.set_peak_elevator_acceleration(11.0);
-  superstructure_plant_.set_peak_wrist_velocity(0.2);
-  superstructure_plant_.set_peak_wrist_acceleration(11.0);
-  superstructure_plant_.set_peak_intake_velocity(0.2);
-  superstructure_plant_.set_peak_intake_acceleration(11.0);
-  superstructure_plant_.set_peak_stilts_velocity(0.2);
-  superstructure_plant_.set_peak_stilts_acceleration(11.0);
-
-  VerifyNearGoal();
 }
 
 // Tests if the robot zeroes properly... maybe redundant?
@@ -604,25 +650,36 @@
   superstructure_plant_.InitializeStiltsPosition(0.1);
 
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    goal->elevator.unsafe_goal = 1.4;
-    goal->elevator.profile_params.max_velocity = 1;
-    goal->elevator.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.4,
+            CreateProfileParameters(*builder.fbb(), 1.0, 0.5));
 
-    goal->wrist.unsafe_goal = 1.0;
-    goal->wrist.profile_params.max_velocity = 1;
-    goal->wrist.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.0,
+            CreateProfileParameters(*builder.fbb(), 1.0, 0.5));
 
-    goal->intake.unsafe_goal = 1.1;
-    goal->intake.profile_params.max_velocity = 1;
-    goal->intake.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.1,
+            CreateProfileParameters(*builder.fbb(), 1.0, 0.5));
 
-    goal->stilts.unsafe_goal = 0.1;
-    goal->stilts.profile_params.max_velocity = 1;
-    goal->stilts.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        stilts_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 0.1,
+            CreateProfileParameters(*builder.fbb(), 1.0, 0.5));
 
-    ASSERT_TRUE(goal.Send());
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_elevator(elevator_offset);
+    goal_builder.add_wrist(wrist_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_stilts(stilts_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitUntilZeroed();
   VerifyNearGoal();
@@ -660,13 +717,30 @@
 
   WaitUntilZeroed();
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->elevator.unsafe_goal = constants::Values::kElevatorRange().lower;
-    goal->wrist.unsafe_goal = -M_PI / 3.0;
-    goal->intake.unsafe_goal =
-        CollisionAvoidance::kIntakeInAngle - CollisionAvoidance::kEpsIntake;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), constants::Values::kElevatorRange().lower);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), -M_PI / 3.0);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), CollisionAvoidance::kIntakeInAngle -
+                                CollisionAvoidance::kEpsIntake);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        stilts_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 0.1);
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_elevator(elevator_offset);
+    goal_builder.add_wrist(wrist_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_stilts(stilts_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Give it a lot of time to get there.
@@ -683,37 +757,71 @@
   // Get the elevator and wrist out of the way and set the Intake to where
   // we should be able to spin and verify that they do
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->elevator.unsafe_goal = constants::Values::kElevatorRange().upper;
-    goal->wrist.unsafe_goal = 0.0;
-    goal->intake.unsafe_goal = constants::Values::kIntakeRange().upper;
-    goal->roller_voltage = 6.0;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), constants::Values::kElevatorRange().upper);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 0.0);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), constants::Values::kIntakeRange().upper);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        stilts_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 0.1);
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_elevator(elevator_offset);
+    goal_builder.add_wrist(wrist_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_stilts(stilts_offset);
+    goal_builder.add_roller_voltage(6.0);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(5));
   superstructure_goal_fetcher_.Fetch();
   superstructure_output_fetcher_.Fetch();
-  EXPECT_EQ(superstructure_output_fetcher_->intake_roller_voltage,
-            superstructure_goal_fetcher_->roller_voltage);
+  EXPECT_EQ(superstructure_output_fetcher_->intake_roller_voltage(),
+            superstructure_goal_fetcher_->roller_voltage());
   VerifyNearGoal();
 
   // Move the intake where we oughtn't to spin the rollers and verify they don't
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->elevator.unsafe_goal = constants::Values::kElevatorRange().upper;
-    goal->wrist.unsafe_goal = 0.0;
-    goal->intake.unsafe_goal = constants::Values::kIntakeRange().lower;
-    goal->roller_voltage = 6.0;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), constants::Values::kElevatorRange().upper);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 0.0);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), constants::Values::kIntakeRange().lower);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        stilts_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 0.1);
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_elevator(elevator_offset);
+    goal_builder.add_wrist(wrist_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_stilts(stilts_offset);
+    goal_builder.add_roller_voltage(6.0);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(5));
   superstructure_goal_fetcher_.Fetch();
   superstructure_output_fetcher_.Fetch();
-  EXPECT_EQ(superstructure_output_fetcher_->intake_roller_voltage, 0.0);
+  EXPECT_EQ(superstructure_output_fetcher_->intake_roller_voltage(), 0.0);
   VerifyNearGoal();
 }
 
@@ -723,10 +831,33 @@
   WaitUntilZeroed();
   // Turn on suction
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->suction.grab_piece = true;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.4);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.0);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.1);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        stilts_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 0.1);
+
+    flatbuffers::Offset<SuctionGoal> suction_offset =
+        CreateSuctionGoal(*builder.fbb(), true);
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_elevator(elevator_offset);
+    goal_builder.add_wrist(wrist_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_stilts(stilts_offset);
+    goal_builder.add_suction(suction_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(Vacuum::kTimeAtHigherVoltage - chrono::milliseconds(10));
@@ -735,7 +866,7 @@
   superstructure_plant_.set_simulated_pressure(0.0);
   RunFor(chrono::seconds(2));
   superstructure_status_fetcher_.Fetch();
-  EXPECT_TRUE(superstructure_status_fetcher_->has_piece);
+  EXPECT_TRUE(superstructure_status_fetcher_->has_piece());
 }
 
 // Tests the Vacuum backs off after acquiring a gamepiece
@@ -744,23 +875,47 @@
   WaitUntilZeroed();
   // Turn on suction
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->suction.grab_piece = true;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.4);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.0);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.1);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        stilts_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 0.1);
+
+    flatbuffers::Offset<SuctionGoal> suction_offset =
+        CreateSuctionGoal(*builder.fbb(), true);
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_elevator(elevator_offset);
+    goal_builder.add_wrist(wrist_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_stilts(stilts_offset);
+    goal_builder.add_suction(suction_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Verify that at 0 pressure after short time voltage is still high
   superstructure_plant_.set_simulated_pressure(0.0);
   RunFor(Vacuum::kTimeAtHigherVoltage - chrono::milliseconds(10));
   superstructure_output_fetcher_.Fetch();
-  EXPECT_EQ(superstructure_output_fetcher_->pump_voltage, Vacuum::kPumpVoltage);
+  EXPECT_EQ(superstructure_output_fetcher_->pump_voltage(),
+            Vacuum::kPumpVoltage);
 
   // Verify that after waiting with a piece the pump voltage goes to the
   // has piece voltage
   RunFor(chrono::seconds(2));
   superstructure_output_fetcher_.Fetch();
-  EXPECT_EQ(superstructure_output_fetcher_->pump_voltage,
+  EXPECT_EQ(superstructure_output_fetcher_->pump_voltage(),
             Vacuum::kPumpHasPieceVoltage);
 }
 
@@ -770,30 +925,77 @@
   WaitUntilZeroed();
   // Turn on suction
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->suction.grab_piece = true;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.4);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.0);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.1);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        stilts_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 0.1);
+
+    flatbuffers::Offset<SuctionGoal> suction_offset =
+        CreateSuctionGoal(*builder.fbb(), true);
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_elevator(elevator_offset);
+    goal_builder.add_wrist(wrist_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_stilts(stilts_offset);
+    goal_builder.add_suction(suction_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Get a Gamepiece
   superstructure_plant_.set_simulated_pressure(0.0);
   RunFor(chrono::seconds(2));
   superstructure_status_fetcher_.Fetch();
-  EXPECT_TRUE(superstructure_status_fetcher_->has_piece);
+  EXPECT_TRUE(superstructure_status_fetcher_->has_piece());
 
   // Turn off suction
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->suction.grab_piece = false;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.4);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.0);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 1.1);
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        stilts_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+            *builder.fbb(), 0.1);
+
+    flatbuffers::Offset<SuctionGoal> suction_offset =
+        CreateSuctionGoal(*builder.fbb(), false);
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_elevator(elevator_offset);
+    goal_builder.add_wrist(wrist_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_stilts(stilts_offset);
+    goal_builder.add_suction(suction_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   superstructure_plant_.set_simulated_pressure(1.0);
   // Run for a short while and check that voltage dropped to 0
   RunFor(chrono::milliseconds(10));
   superstructure_output_fetcher_.Fetch();
-  EXPECT_EQ(superstructure_output_fetcher_->pump_voltage, 0.0);
+  EXPECT_EQ(superstructure_output_fetcher_->pump_voltage(), 0.0);
 }
 
 // Tests that running disabled, ya know, works
diff --git a/y2019/control_loops/superstructure/superstructure_main.cc b/y2019/control_loops/superstructure/superstructure_main.cc
index 27520c1..f831774 100644
--- a/y2019/control_loops/superstructure/superstructure_main.cc
+++ b/y2019/control_loops/superstructure/superstructure_main.cc
@@ -1,12 +1,15 @@
 #include "y2019/control_loops/superstructure/superstructure.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 
-int main() {
+int main(int /*argc*/, char * /*argv*/ []) {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2019::control_loops::superstructure::Superstructure superstructure(
       &event_loop);
 
diff --git a/y2019/control_loops/superstructure/superstructure_output.fbs b/y2019/control_loops/superstructure/superstructure_output.fbs
new file mode 100644
index 0000000..b679347
--- /dev/null
+++ b/y2019/control_loops/superstructure/superstructure_output.fbs
@@ -0,0 +1,30 @@
+namespace y2019.control_loops.superstructure;
+
+table Output {
+  // Voltage sent to motors moving elevator up/down. Positive is up.
+  elevator_voltage:double;
+
+  // Voltage sent to wrist motors on elevator to rotate.
+  // Positive rotates over the top towards the front of the robot.
+  wrist_voltage:double;
+
+  // Voltage sent to motors on intake joint. Positive extends rollers.
+  intake_joint_voltage:double;
+
+  // Voltage sent to rollers on intake. Positive rolls inward.
+  intake_roller_voltage:double;
+
+  // Voltage sent to motors to move stilts height. Positive moves robot
+  // upward.
+  stilts_voltage:double;
+
+  // True opens solenoid (applies suction)
+  // Top/bottom are when wrist is toward the front of the robot
+  intake_suction_top:bool;
+  intake_suction_bottom:bool;
+
+  // Voltage sent to the vacuum pump motors.
+  pump_voltage:double;
+}
+
+root_type Output;
diff --git a/y2019/control_loops/superstructure/superstructure_position.fbs b/y2019/control_loops/superstructure/superstructure_position.fbs
new file mode 100644
index 0000000..80a851e
--- /dev/null
+++ b/y2019/control_loops/superstructure/superstructure_position.fbs
@@ -0,0 +1,30 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2019.control_loops.superstructure;
+
+table Position {
+  // Input from pressure sensor in bar
+  // 1 = 1 atm, 0 = full vacuum
+  suction_pressure:float;
+
+  // Position of the elevator, 0 at lowest position, positive when up.
+  elevator:frc971.PotAndAbsolutePosition;
+
+  // Position of wrist, 0 when up, positive is rotating toward the front,
+  // over the top.
+  wrist:frc971.PotAndAbsolutePosition;
+
+  // Position of the intake. 0 when rollers are retracted, positive extended.
+  intake_joint:frc971.AbsolutePosition;
+
+  // Position of the stilts, 0 when retracted (defualt), positive lifts robot.
+  stilts:frc971.PotAndAbsolutePosition;
+
+  // True if the platform detection sensors detect the platform directly
+  // below the robot right behind the left and right wheels.  Useful for
+  // determining when the robot is all the way on the platform.
+  platform_left_detect:bool;
+  platform_right_detect:bool;
+}
+
+root_type Position;
diff --git a/y2019/control_loops/superstructure/superstructure_status.fbs b/y2019/control_loops/superstructure/superstructure_status.fbs
new file mode 100644
index 0000000..9d3f44e
--- /dev/null
+++ b/y2019/control_loops/superstructure/superstructure_status.fbs
@@ -0,0 +1,23 @@
+include "frc971/control_loops/control_loops.fbs";
+include "frc971/control_loops/profiled_subsystem.fbs";
+
+namespace y2019.control_loops.superstructure;
+
+table Status {
+  // All subsystems know their location.
+  zeroed:bool;
+
+  // If true, we have aborted. This is the or of all subsystem estops.
+  estopped:bool;
+
+  // Whether suction_pressure indicates cargo is held
+  has_piece:bool;
+
+  // Status of each subsystem.
+  elevator:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;
+  wrist:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;
+  intake:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
+  stilts:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;
+}
+
+root_type Status;
diff --git a/y2019/control_loops/superstructure/vacuum.cc b/y2019/control_loops/superstructure/vacuum.cc
index 956bb79..6d4696b 100644
--- a/y2019/control_loops/superstructure/vacuum.cc
+++ b/y2019/control_loops/superstructure/vacuum.cc
@@ -2,7 +2,10 @@
 
 #include <chrono>
 
-#include "y2019/control_loops/superstructure/superstructure.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_output_generated.h"
 
 namespace y2019 {
 namespace control_loops {
@@ -16,7 +19,7 @@
 constexpr aos::monotonic_clock::duration Vacuum::kReleaseTime;
 
 void Vacuum::Iterate(const SuctionGoal *unsafe_goal, float suction_pressure,
-                     SuperstructureQueue::Output *output, bool *has_piece,
+                     OutputT *output, bool *has_piece,
                      aos::EventLoop *event_loop) {
   auto monotonic_now = event_loop->monotonic_now();
   bool low_pump_voltage = false;
@@ -46,7 +49,7 @@
   low_pump_voltage = *has_piece && filtered_pressure_ < kVacuumOnThreshold;
 
   if (unsafe_goal && output) {
-    const bool release = !unsafe_goal->grab_piece;
+    const bool release = !unsafe_goal->grab_piece();
 
     if (release) {
       last_release_time_ = monotonic_now;
@@ -58,10 +61,10 @@
     output->pump_voltage =
         release ? 0 : (low_pump_voltage ? kPumpHasPieceVoltage : kPumpVoltage);
 
-    if (unsafe_goal->grab_piece && unsafe_goal->gamepiece_mode == 0) {
+    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) {
+    } else if (unsafe_goal->grab_piece() && unsafe_goal->gamepiece_mode() == 1) {
       output->intake_suction_top = true;
       output->intake_suction_bottom = true;
     } else {
diff --git a/y2019/control_loops/superstructure/vacuum.h b/y2019/control_loops/superstructure/vacuum.h
index e793530..c4671ab 100644
--- a/y2019/control_loops/superstructure/vacuum.h
+++ b/y2019/control_loops/superstructure/vacuum.h
@@ -1,8 +1,11 @@
 #ifndef Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_VACUUM_H_
 #define Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_VACUUM_H_
 
-#include "aos/events/event-loop.h"
-#include "y2019/control_loops/superstructure/superstructure.q.h"
+#include "aos/events/event_loop.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_output_generated.h"
 
 namespace y2019 {
 namespace control_loops {
@@ -12,8 +15,7 @@
  public:
   Vacuum() {}
   void Iterate(const SuctionGoal *unsafe_goal, float suction_pressure,
-               SuperstructureQueue::Output *output, bool *has_piece,
-               aos::EventLoop *event_loop);
+               OutputT *output, bool *has_piece, aos::EventLoop *event_loop);
 
   // Voltage to the vaccum pump when we are attempting to acquire a piece
   static constexpr double kPumpVoltage = 8.0;