diff --git a/README.md b/README.md
index e572ea9..87254ed 100644
--- a/README.md
+++ b/README.md
@@ -98,7 +98,7 @@
 ```console
 # Freshly imaged roboRIOs need to be configured to run the 971 code
 # at startup.  This is done by using the setup_roborio.sh script.
-bazel run -c opt //aos/config:setup_roborio -- roboRIO-XXX-frc.local
+bazel run -c opt //frc971/config:setup_roborio -- roboRIO-XXX-frc.local
 ```
 
 ### Some other useful packages
diff --git a/WORKSPACE b/WORKSPACE
index eded67f..3eacd10 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -50,10 +50,6 @@
     "//debian:python_gtk.bzl",
     python_gtk_debs = "files",
 )
-load(
-    "//debian:ruby.bzl",
-    ruby_debs = "files",
-)
 load("//debian:packages.bzl", "generate_repositories_for_debs")
 
 generate_repositories_for_debs(python_debs)
@@ -80,8 +76,6 @@
 
 generate_repositories_for_debs(python_gtk_debs)
 
-generate_repositories_for_debs(ruby_debs)
-
 http_archive(
     name = "python_repo",
     build_file = "@//debian:python.BUILD",
@@ -101,6 +95,11 @@
     path = "third_party/abseil",
 )
 
+local_repository(
+    name = "org_tuxfamily_eigen",
+    path = "third_party/eigen",
+)
+
 # C++ rules for Bazel.
 http_archive(
     name = "rules_cc",
@@ -126,13 +125,6 @@
 )
 
 http_archive(
-    name = "ruby_repo",
-    build_file = "@//debian:ruby.BUILD",
-    sha256 = "d3e21cca0abcad933de0d4095da35344a60475d1f5828ee99283ed4250ee1320",
-    url = "http://www.frc971.org/Build-Dependencies/ruby.tar.gz",
-)
-
-http_archive(
     name = "arm_frc_linux_gnueabi_repo",
     build_file = "@//tools/cpp/arm-frc-linux-gnueabi:arm-frc-linux-gnueabi.BUILD",
     sha256 = "d627c5e437db99780a938392499ef71aecbfb0e9b3fffd53bde7e402a6af4f32",
@@ -356,6 +348,11 @@
     path = "third_party/google-glog",
 )
 
+local_repository(
+    name = "com_google_googletest",
+    path = "third_party/googletest",
+)
+
 # External dependency: Google Benchmark; has no Bazel build.
 local_repository(
     name = "com_github_google_benchmark",
@@ -459,28 +456,26 @@
 )
 
 emscripten_version = "1.38.31"
+
 http_archive(
     name = "emscripten_toolchain",
-    urls = ["https://github.com/emscripten-core/emscripten/archive/" + emscripten_version + ".tar.gz"],
-    strip_prefix = "emscripten-" + emscripten_version,
+    build_file_content = """
+filegroup(
+    name = 'all',
+    visibility = ['//visibility:public'],
+    srcs = glob(['**']),
+)
+""",
     # TODO(james): Once a functioning release contains this patch, convert
     # to that. See https://github.com/emscripten-core/emscripten/pull/9048
     patches = ["@//debian:emscripten_toolchain.patch"],
     sha256 = "c87e42cb6a104094e7daf2b7e61ac835f83674ac0168f533455838a1129cc764",
-    build_file_content = """
-filegroup(
-    name = 'all',
-    visibility = ['//visibility:public'],
-    srcs = glob(['**']),
-)
-""",
+    strip_prefix = "emscripten-" + emscripten_version,
+    urls = ["https://github.com/emscripten-core/emscripten/archive/" + emscripten_version + ".tar.gz"],
 )
 
 new_http_archive(
     name = "emscripten_clang",
-    sha256 = "a0c2f2c5a897577f40af0fdf68dcf3cf65557ff20c081df26678c066a4fed4b1",
-    strip_prefix = "emscripten-llvm-e" + emscripten_version,
-    url = "https://s3.amazonaws.com/mozilla-games/emscripten/packages/llvm/tag/linux_64bit/emscripten-llvm-e" + emscripten_version + ".tar.gz",
     build_file_content = """
 filegroup(
     name = 'all',
@@ -488,6 +483,9 @@
     srcs = glob(['**']),
 )
 """,
+    sha256 = "a0c2f2c5a897577f40af0fdf68dcf3cf65557ff20c081df26678c066a4fed4b1",
+    strip_prefix = "emscripten-llvm-e" + emscripten_version,
+    url = "https://s3.amazonaws.com/mozilla-games/emscripten/packages/llvm/tag/linux_64bit/emscripten-llvm-e" + emscripten_version + ".tar.gz",
 )
 
 # Fetch our Bazel dependencies that aren't distributed on npm
diff --git a/aos/BUILD b/aos/BUILD
index e918d7f..a2c7134 100644
--- a/aos/BUILD
+++ b/aos/BUILD
@@ -1,6 +1,5 @@
 load("//tools:environments.bzl", "mcu_cpus")
 load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-load("//aos/build:queues.bzl", "queue_library")
 
 filegroup(
     name = "prime_binaries",
@@ -116,100 +115,6 @@
     visibility = ["//visibility:public"],
 )
 
-genrule(
-    name = "gen_print_field",
-    outs = ["print_field.cc"],
-    cmd = "$(location //aos/build/queues:print_field) $@",
-    tools = ["//aos/build/queues:print_field"],
-    visibility = ["//visibility:private"],
-)
-
-cc_library(
-    name = "queue_types",
-    srcs = [
-        "print_field_helpers.h",
-        "queue_types.cc",
-        ":gen_print_field",
-    ],
-    hdrs = [
-        "queue_types.h",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [
-        ":generated_queue_headers",
-        "//aos:byteorder",
-        "//aos/ipc_lib:core_lib",
-        "//aos/ipc_lib:shared_mem",
-        "//aos/logging:printf_formats",
-        "//aos/mutex",
-        "//aos/time",
-    ],
-)
-
-cc_test(
-    name = "queue_types_test",
-    srcs = [
-        "queue_types_test.cc",
-    ],
-    deps = [
-        ":queue_types",
-        ":test_queue",
-        "//aos/logging",
-        "//aos/testing:googletest",
-        "//aos/testing:test_logging",
-    ],
-)
-
-cc_library(
-    name = "queues",
-    hdrs = [
-        "queue.h",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [
-        "//aos:queue",
-        "//aos/ipc_lib:queue",
-        "//aos/messages",
-    ],
-)
-
-queue_library(
-    name = "test_queue",
-    srcs = [
-        "test_queue.q",
-    ],
-)
-
-genrule(
-    name = "gen_queue_primitives",
-    outs = ["queue_primitives.h"],
-    cmd = "$(location //aos/build/queues:queue_primitives) $@",
-    tools = ["//aos/build/queues:queue_primitives"],
-    visibility = ["//visibility:private"],
-)
-
-cc_library(
-    name = "generated_queue_headers",
-    hdrs = [
-        ":gen_queue_primitives",
-    ],
-    visibility = ["//aos/logging:__pkg__"],
-)
-
-cc_test(
-    name = "queue_test",
-    srcs = [
-        "queue_test.cc",
-    ],
-    deps = [
-        ":test_queue",
-        "//aos:die",
-        "//aos/testing:googletest",
-        "//aos/testing:test_shm",
-        "//aos/util:thread",
-    ],
-)
-
 cc_library(
     name = "unique_malloc_ptr",
     hdrs = [
@@ -229,8 +134,8 @@
     visibility = ["//visibility:public"],
     deps = [
         "//aos/ipc_lib:aos_sync",
-        "//aos/logging",
         "//aos/mutex",
+        "@com_github_google_glog//:glog",
     ],
 )
 
@@ -291,8 +196,8 @@
     visibility = ["//visibility:public"],
     deps = [
         "//aos/ipc_lib:aos_sync",
-        "//aos/logging",
         "//aos/time",
+        "@com_github_google_glog//:glog",
     ],
 )
 
@@ -322,14 +227,6 @@
 )
 
 cc_library(
-    name = "queue",
-    hdrs = [
-        "queue-tmpl.h",
-    ],
-    visibility = ["//aos:__pkg__"],
-)
-
-cc_library(
     name = "complex_thread_local",
     srcs = [
         "complex_thread_local.cc",
@@ -370,15 +267,31 @@
     ],
     visibility = ["//visibility:public"],
     deps = [
+        ":realtime",
         "//aos:die",
         "//aos/ipc_lib:shared_mem",
         "//aos/logging:implementations",
     ],
 )
 
+cc_library(
+    name = "realtime",
+    srcs = [
+        "realtime.cc",
+    ],
+    hdrs = [
+        "realtime.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "@com_github_google_glog//:glog",
+    ],
+)
+
 flatbuffer_cc_library(
-    name = "configuration_flatbuffer",
+    name = "configuration_fbs",
     srcs = ["configuration.fbs"],
+    visibility = ["//visibility:public"],
 )
 
 cc_library(
@@ -391,13 +304,12 @@
     ],
     visibility = ["//visibility:public"],
     deps = [
-        ":configuration_flatbuffer",
+        ":configuration_fbs",
         ":flatbuffer_merge",
         ":flatbuffers",
         ":json_to_flatbuffer",
         "@com_google_absl//absl/base",
         "//aos:unique_malloc_ptr",
-        "//aos/logging",
         "//aos/util:file",
         "@com_github_google_glog//:glog",
         "@com_google_absl//absl/container:btree",
@@ -443,6 +355,7 @@
     srcs = ["json_tokenizer.cc"],
     hdrs = ["json_tokenizer.h"],
     deps = [
+        "@com_github_google_glog//:glog",
         "@com_google_absl//absl/strings",
     ],
 )
@@ -451,11 +364,11 @@
     name = "json_to_flatbuffer",
     srcs = ["json_to_flatbuffer.cc"],
     hdrs = ["json_to_flatbuffer.h"],
+    visibility = ["//visibility:public"],
     deps = [
         ":flatbuffer_utils",
         ":flatbuffers",
         ":json_tokenizer",
-        "//aos/logging",
         "@com_github_google_flatbuffers//:flatbuffers",
         "@com_github_google_glog//:glog",
         "@com_google_absl//absl/strings",
@@ -479,6 +392,7 @@
     srcs = ["flatbuffer_merge.cc"],
     hdrs = ["flatbuffer_merge.h"],
     copts = ["-Wno-cast-align"],
+    visibility = ["//visibility:public"],
     deps = [
         ":flatbuffer_utils",
         ":flatbuffers",
@@ -511,6 +425,7 @@
     deps = [
         "@com_github_google_flatbuffers//:flatbuffers",
         "@com_github_google_glog//:glog",
+        "@com_google_absl//absl/strings",
     ],
 )
 
@@ -520,11 +435,14 @@
         "configuration_test.cc",
     ],
     data = [
+        "testdata/backwards.json",
         "testdata/config1.json",
         "testdata/config1_bad.json",
         "testdata/config2.json",
         "testdata/config3.json",
         "testdata/expected.json",
+        "//aos/events:config.fb.json",
+        "//aos/events:pingpong.bfbs",
     ],
     deps = [
         ":configuration",
@@ -532,3 +450,17 @@
         "//aos/testing:test_logging",
     ],
 )
+
+cc_binary(
+    name = "config_flattener",
+    srcs = [
+        "config_flattener.cc",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":configuration",
+        ":init",
+        "//aos/util:file",
+        "@com_github_google_glog//:glog",
+    ],
+)
diff --git a/aos/actions/BUILD b/aos/actions/BUILD
index 25cc6e3..fe79a4a 100644
--- a/aos/actions/BUILD
+++ b/aos/actions/BUILD
@@ -1,6 +1,6 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 
 cc_library(
     name = "action_lib",
@@ -13,30 +13,22 @@
         "actor.h",
     ],
     deps = [
-        "//aos:queues",
+        ":actions_fbs",
         "//aos/controls:control_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
         "//aos/time",
         "//aos/util:phased_loop",
     ],
 )
 
-queue_library(
-    name = "action_queue",
-    srcs = [
-        "actions.q",
-    ],
+flatbuffer_cc_library(
+    name = "actions_fbs",
+    srcs = ["actions.fbs"],
 )
 
-queue_library(
-    name = "test_action_queue",
-    srcs = [
-        "test_action.q",
-    ],
-    deps = [
-        ":action_queue",
-    ],
+flatbuffer_cc_library(
+    name = "test_action_fbs",
+    srcs = ["test_action.fbs"],
 )
 
 cc_test(
@@ -44,15 +36,14 @@
     srcs = [
         "action_test.cc",
     ],
+    data = ["action_test_config.json"],
     deps = [
         ":action_lib",
-        ":action_queue",
-        ":test_action_queue",
+        ":actions_fbs",
+        ":test_action_fbs",
         "//aos:event",
-        "//aos:queues",
         "//aos/events:simulated_event_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
         "//aos/testing:googletest",
         "//aos/testing:test_shm",
         "//aos/time",
diff --git a/aos/actions/action_test.cc b/aos/actions/action_test.cc
index 178b2b0..aa0e6d2 100644
--- a/aos/actions/action_test.cc
+++ b/aos/actions/action_test.cc
@@ -7,11 +7,10 @@
 #include "gtest/gtest.h"
 
 #include "aos/actions/actions.h"
-#include "aos/actions/actions.q.h"
+#include "aos/actions/actions_generated.h"
 #include "aos/actions/actor.h"
-#include "aos/actions/test_action.q.h"
-#include "aos/events/simulated-event-loop.h"
-#include "aos/queue.h"
+#include "aos/actions/test_action_generated.h"
+#include "aos/events/simulated_event_loop.h"
 #include "aos/testing/test_logging.h"
 #include "aos/testing/test_shm.h"
 
@@ -20,24 +19,24 @@
 namespace actions {
 namespace testing {
 
-
 namespace chrono = ::std::chrono;
 
 class TestActorIndex
-    : public aos::common::actions::ActorBase<actions::TestActionQueueGroup> {
+    : public aos::common::actions::ActorBase<actions::TestActionGoal> {
  public:
-  typedef TypedActionFactory<actions::TestActionQueueGroup> Factory;
+  typedef TypedActionFactory<actions::TestActionGoal> Factory;
 
   explicit TestActorIndex(::aos::EventLoop *event_loop)
-      : aos::common::actions::ActorBase<actions::TestActionQueueGroup>(
-            event_loop, ".aos.common.actions.test_action") {}
+      : aos::common::actions::ActorBase<actions::TestActionGoal>(
+            event_loop, "/test_action") {}
 
   static Factory MakeFactory(::aos::EventLoop *event_loop) {
-    return Factory(event_loop, ".aos.common.actions.test_action");
+    return Factory(event_loop, "/test_action");
   }
 
-  bool RunAction(const uint32_t &new_index) override {
-    index = new_index;
+  bool RunAction(const UInt *new_index) override {
+    VLOG(1) << "New index " << FlatbufferToJson(new_index);
+    index = new_index->val();
     return true;
   }
 
@@ -45,35 +44,35 @@
 };
 
 class TestActorNOP
-    : public aos::common::actions::ActorBase<actions::TestActionQueueGroup> {
+    : public aos::common::actions::ActorBase<actions::TestActionGoal> {
  public:
-  typedef TypedActionFactory<actions::TestActionQueueGroup> Factory;
+  typedef TypedActionFactory<actions::TestActionGoal> Factory;
 
   explicit TestActorNOP(::aos::EventLoop *event_loop)
-      : actions::ActorBase<actions::TestActionQueueGroup>(
-            event_loop, ".aos.common.actions.test_action") {}
+      : actions::ActorBase<actions::TestActionGoal>(
+            event_loop, "/test_action") {}
 
   static Factory MakeFactory(::aos::EventLoop *event_loop) {
-    return Factory(event_loop, ".aos.common.actions.test_action");
+    return Factory(event_loop, "/test_action");
   }
 
-  bool RunAction(const uint32_t &) override { return true; }
+  bool RunAction(const UInt *) override { return true; }
 };
 
 class TestActorShouldCancel
-    : public aos::common::actions::ActorBase<actions::TestActionQueueGroup> {
+    : public aos::common::actions::ActorBase<actions::TestActionGoal> {
  public:
-  typedef TypedActionFactory<actions::TestActionQueueGroup> Factory;
+  typedef TypedActionFactory<actions::TestActionGoal> Factory;
 
   explicit TestActorShouldCancel(::aos::EventLoop *event_loop)
-      : aos::common::actions::ActorBase<actions::TestActionQueueGroup>(
-            event_loop, ".aos.common.actions.test_action") {}
+      : aos::common::actions::ActorBase<actions::TestActionGoal>(
+            event_loop, "/test_action") {}
 
   static Factory MakeFactory(::aos::EventLoop *event_loop) {
-    return Factory(event_loop, ".aos.common.actions.test_action");
+    return Factory(event_loop, "/test_action");
   }
 
-  bool RunAction(const uint32_t &) override {
+  bool RunAction(const UInt *) override {
     while (!ShouldCancel()) {
       AOS_LOG(FATAL, "NOT CANCELED!!\n");
     }
@@ -82,37 +81,41 @@
 };
 
 class TestActor2Nop
-    : public aos::common::actions::ActorBase<actions::TestAction2QueueGroup> {
+    : public aos::common::actions::ActorBase<actions::TestAction2Goal> {
  public:
-  typedef TypedActionFactory<actions::TestAction2QueueGroup> Factory;
+  typedef TypedActionFactory<actions::TestAction2Goal> Factory;
 
   explicit TestActor2Nop(::aos::EventLoop *event_loop)
-      : actions::ActorBase<actions::TestAction2QueueGroup>(
-            event_loop, ".aos.common.actions.test_action2") {}
+      : actions::ActorBase<actions::TestAction2Goal>(
+            event_loop, "/test_action2") {}
 
   static Factory MakeFactory(::aos::EventLoop *event_loop) {
-    return Factory(event_loop, ".aos.common.actions.test_action2");
+    return Factory(event_loop, "/test_action2");
   }
 
-  bool RunAction(const actions::MyParams &) { return true; }
+  bool RunAction(const actions::MyParams *) { return true; }
 };
 
 class ActionTest : public ::testing::Test {
  protected:
   ActionTest()
-      : actor1_event_loop_(event_loop_factory_.MakeEventLoop()),
+      : configuration_(
+            configuration::ReadConfig("aos/actions/action_test_config.json")),
+        event_loop_factory_(&configuration_.message()),
+        actor1_event_loop_(event_loop_factory_.MakeEventLoop()),
         actor2_event_loop_(event_loop_factory_.MakeEventLoop()),
         test_event_loop_(event_loop_factory_.MakeEventLoop()) {
     ::aos::testing::EnableTestLogging();
   }
 
+  FlatbufferDetachedBuffer<Configuration> configuration_;
+
   // Bring up and down Core.
   ::aos::SimulatedEventLoopFactory event_loop_factory_;
 
   ::std::unique_ptr<::aos::EventLoop> actor1_event_loop_;
   ::std::unique_ptr<::aos::EventLoop> actor2_event_loop_;
   ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
-
 };
 
 // Tests that the the actions exist in a safe state at startup.
@@ -130,11 +133,10 @@
 TEST_F(ActionTest, StartWithOldGoal) {
   ::std::unique_ptr<::aos::EventLoop> test2_event_loop =
       event_loop_factory_.MakeEventLoop();
-  ::aos::Sender<TestActionQueueGroup::Goal> goal_sender =
-      test2_event_loop->MakeSender<TestActionQueueGroup::Goal>(
-          ".aos.common.actions.test_action.goal");
-  ::aos::Fetcher<Status> status_fetcher = test2_event_loop->MakeFetcher<Status>(
-      ".aos.common.actions.test_action.status");
+  ::aos::Sender<TestActionGoal> goal_sender =
+      test2_event_loop->MakeSender<TestActionGoal>("/test_action");
+  ::aos::Fetcher<Status> status_fetcher =
+      test2_event_loop->MakeFetcher<Status>("/test_action");
 
   TestActorIndex::Factory nop_actor_factory =
       TestActorNOP::MakeFactory(test_event_loop_.get());
@@ -142,9 +144,14 @@
   ActionQueue action_queue;
 
   {
-    auto goal_message = goal_sender.MakeMessage();
-    goal_message->run = 971;
-    ASSERT_TRUE(goal_message.Send());
+    ::aos::Sender<TestActionGoal>::Builder builder =
+        goal_sender.MakeBuilder();
+
+    TestActionGoal::Builder goal_builder =
+        builder.MakeBuilder<TestActionGoal>();
+
+    goal_builder.add_run(971);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   TestActorNOP nop_act(actor1_event_loop_.get());
@@ -154,10 +161,14 @@
   event_loop_factory_.RunFor(chrono::seconds(1));
 
   ASSERT_TRUE(status_fetcher.Fetch());
-  EXPECT_EQ(0u, status_fetcher->running);
-  EXPECT_EQ(0u, status_fetcher->last_running);
+  EXPECT_EQ(0u, status_fetcher->running());
+  EXPECT_EQ(0u, status_fetcher->last_running());
 
-  action_queue.EnqueueAction(nop_actor_factory.Make(0));
+  {
+    UIntT uint;
+    uint.val = 0;
+    action_queue.EnqueueAction(nop_actor_factory.Make(uint));
+  }
 
   // We started an action and it should be running.
   EXPECT_TRUE(action_queue.Running());
@@ -189,7 +200,11 @@
   action_queue.Tick();
   EXPECT_FALSE(action_queue.Running());
 
-  action_queue.EnqueueAction(nop_actor_factory.Make(0));
+  {
+    UIntT uint;
+    uint.val = 0;
+    action_queue.EnqueueAction(nop_actor_factory.Make(uint));
+  }
 
   // We started an action and it should be running.
   EXPECT_TRUE(action_queue.Running());
@@ -223,8 +238,12 @@
 
   // Enqueue two actions to test both cancel. We can have an action and a next
   // action so we want to test that.
-  action_queue.EnqueueAction(nop_actor_factory.Make(0));
-  action_queue.EnqueueAction(nop_actor_factory.Make(0));
+  {
+    UIntT uint;
+    uint.val = 0;
+    action_queue.EnqueueAction(nop_actor_factory.Make(uint));
+    action_queue.EnqueueAction(nop_actor_factory.Make(uint));
+  }
 
   action_queue.Tick();
 
@@ -274,7 +293,11 @@
   action_queue.Tick();
 
   // Enqueue blocking action.
-  action_queue.EnqueueAction(cancel_action_factory.Make(0));
+  {
+    UIntT uint;
+    uint.val = 0;
+    action_queue.EnqueueAction(cancel_action_factory.Make(uint));
+  }
 
   action_queue.Tick();
   EXPECT_TRUE(action_queue.Running());
@@ -306,7 +329,11 @@
   EXPECT_FALSE(action_queue.Running());
 
   // Enqueue action to be canceled.
-  action_queue.EnqueueAction(nop_actor_factory.Make(0));
+  {
+    UIntT uint;
+    uint.val = 0;
+    action_queue.EnqueueAction(nop_actor_factory.Make(uint));
+  }
   action_queue.Tick();
 
   // Should still be running as the actor could not have signalled.
@@ -325,7 +352,11 @@
   ASSERT_NE(0u, nop_actor_id);
 
   // Add the next action which should ensure the first stopped.
-  action_queue.EnqueueAction(nop_actor_factory.Make(0));
+  {
+    UIntT uint;
+    uint.val = 0;
+    action_queue.EnqueueAction(nop_actor_factory.Make(uint));
+  }
 
   // id for the second run.
   uint32_t nop_actor2_id = 0;
@@ -382,13 +413,17 @@
   EXPECT_FALSE(action_queue.Running());
 
   // Enqueue action to post index.
-  action_queue.EnqueueAction(test_actor_index_factory.Make(5));
-  ::aos::Fetcher<actions::TestActionQueueGroup::Goal> goal_fetcher_ =
-      test_event_loop_->MakeFetcher<actions::TestActionQueueGroup::Goal>(
-          ".aos.common.actions.test_action.goal");
+  {
+    UIntT uint;
+    uint.val = 5;
+    action_queue.EnqueueAction(test_actor_index_factory.Make(uint));
+  }
+  ::aos::Fetcher<actions::TestActionGoal> goal_fetcher_ =
+      test_event_loop_->MakeFetcher<actions::TestActionGoal>(
+          "/test_action");
 
   ASSERT_TRUE(goal_fetcher_.Fetch());
-  EXPECT_EQ(5u, goal_fetcher_->params);
+  EXPECT_EQ(5u, goal_fetcher_->params()->val());
   EXPECT_EQ(0u, idx_actor.index);
 
   action_queue.Tick();
@@ -400,9 +435,13 @@
   EXPECT_EQ(5u, idx_actor.index);
 
   // Enqueue action to post index.
-  action_queue.EnqueueAction(test_actor_index_factory.Make(3));
+  {
+    UIntT uint;
+    uint.val = 3;
+    action_queue.EnqueueAction(test_actor_index_factory.Make(uint));
+  }
   ASSERT_TRUE(goal_fetcher_.Fetch());
-  EXPECT_EQ(3u, goal_fetcher_->params);
+  EXPECT_EQ(3u, goal_fetcher_->params()->val());
 
   // Run the next action so it can accomplish signal completion.
   event_loop_factory_.RunFor(chrono::seconds(1));
@@ -423,7 +462,7 @@
   action_queue.Tick();
   EXPECT_FALSE(action_queue.Running());
 
-  actions::MyParams p;
+  actions::MyParamsT p;
   p.param1 = 5.0;
   p.param2 = 7;
 
diff --git a/aos/actions/action_test_config.json b/aos/actions/action_test_config.json
new file mode 100644
index 0000000..e9b6f16
--- /dev/null
+++ b/aos/actions/action_test_config.json
@@ -0,0 +1,20 @@
+{
+  "channels": [
+    {
+      "name": "/test_action",
+      "type": "aos.common.actions.TestActionGoal"
+    },
+    {
+      "name": "/test_action",
+      "type": "aos.common.actions.Status"
+    },
+    {
+      "name": "/test_action2",
+      "type": "aos.common.actions.TestAction2Goal"
+    },
+    {
+      "name": "/test_action2",
+      "type": "aos.common.actions.Status"
+    }
+  ]
+}
diff --git a/aos/actions/actions.fbs b/aos/actions/actions.fbs
new file mode 100644
index 0000000..0ce41fc
--- /dev/null
+++ b/aos/actions/actions.fbs
@@ -0,0 +1,24 @@
+namespace aos.common.actions;
+
+table Status {
+  // The run value of the instance we're currently running or 0.
+  running:uint;
+  // A run value we were previously running or 0.
+  last_running:uint;
+  // If false the action failed to complete and may be in a bad state,
+  // this is a critical problem not a cancellation.
+  success:bool;
+}
+
+table DoubleParam {
+  val:double;
+}
+
+table Goal {
+  // The unique value to put into status.running while running this instance or
+  // 0 to cancel.
+  run:uint;
+  // Default parameter.  The more useful thing to do would be to define your own
+  // goal type to change param to a useful structure.
+  params:DoubleParam;
+}
diff --git a/aos/actions/actions.h b/aos/actions/actions.h
index e2b9ca8..d01b3f5 100644
--- a/aos/actions/actions.h
+++ b/aos/actions/actions.h
@@ -9,10 +9,10 @@
 #include <atomic>
 #include <memory>
 
-#include "aos/events/event-loop.h"
+#include "aos/actions/actions_generated.h"
+#include "aos/events/event_loop.h"
+#include "aos/json_to_flatbuffer.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
-#include "aos/queue.h"
 
 namespace aos {
 namespace common {
@@ -105,31 +105,28 @@
 class TypedAction : public Action {
  public:
   // A convenient way to refer to the type of our goals.
+  typedef T GoalType;
   typedef typename std::remove_reference<decltype(
-      *(static_cast<T*>(nullptr)->goal.MakeMessage().get()))>::type GoalType;
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<T*>(nullptr)->status.MakeMessage().get()))>::type StatusType;
-  typedef typename std::remove_reference<
-      decltype(static_cast<GoalType*>(nullptr)->params)>::type ParamType;
+      *static_cast<GoalType *>(nullptr)->params())>::type ParamType;
 
-  TypedAction(typename ::aos::Fetcher<StatusType> *status_fetcher,
+  TypedAction(typename ::aos::Fetcher<Status> *status_fetcher,
               typename ::aos::Sender<GoalType> *goal_sender,
-              const ParamType &params)
+              const typename ParamType::NativeTableType &params)
       : status_fetcher_(status_fetcher),
         goal_sender_(goal_sender),
-        goal_(goal_sender_->MakeMessage()),
         // This adds 1 to the counter (atomically because it's potentially
         // shared across threads) and then bitwise-ORs the bottom of the PID to
         // differentiate it from other processes's values (ie a unique id).
         run_value_(run_counter_.fetch_add(1, ::std::memory_order_relaxed) |
                    ((getpid() & 0xFFFF) << 16)),
         params_(params) {
-    AOS_LOG(DEBUG, "Action %" PRIx32 " created on queue %s\n", run_value_,
-            goal_sender_->name());
+    AOS_LOG(DEBUG, "Action %" PRIx32 " created on queue %.*s\n", run_value_,
+            static_cast<int>(goal_sender_->name().size()),
+            goal_sender_->name().data());
     // Clear out any old status messages from before now.
     status_fetcher_->Fetch();
     if (status_fetcher_->get()) {
-      AOS_LOG_STRUCT(DEBUG, "have status", *status_fetcher_->get());
+      VLOG(1) << "have status" << FlatbufferToJson(status_fetcher_->get());
     }
   }
 
@@ -164,9 +161,8 @@
     if (old_run_value != nullptr) *old_run_value = old_run_value_;
   }
 
-  typename ::aos::Fetcher<StatusType> *status_fetcher_;
+  typename ::aos::Fetcher<Status> *status_fetcher_;
   typename ::aos::Sender<GoalType> *goal_sender_;
-  typename ::aos::Sender<GoalType>::Message goal_;
 
   // Track if we have seen a response to the start message.
   bool has_started_ = false;
@@ -182,7 +178,7 @@
   const uint32_t run_value_;
 
   // flag passed to action in order to have differing types
-  const ParamType params_;
+  const typename ParamType::NativeTableType params_;
 
   // The old value for running that we may have seen. If we see any value other
   // than this or run_value_, somebody else got in the way and we're done. 0 if
@@ -196,20 +192,18 @@
 template <typename T>
 class TypedActionFactory {
  public:
+  typedef T GoalType;
   typedef typename std::remove_reference<decltype(
-      *(static_cast<T*>(nullptr)->goal.MakeMessage().get()))>::type GoalType;
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<T*>(nullptr)->status.MakeMessage().get()))>::type StatusType;
-  typedef typename std::remove_reference<decltype(
-      static_cast<GoalType *>(nullptr)->params)>::type ParamType;
+      *static_cast<GoalType *>(nullptr)->params())>::type ParamType;
 
   explicit TypedActionFactory(::aos::EventLoop *event_loop,
                               const ::std::string &name)
       : name_(name),
-        status_fetcher_(event_loop->MakeFetcher<StatusType>(name + ".status")),
-        goal_sender_(event_loop->MakeSender<GoalType>(name + ".goal")) {}
+        status_fetcher_(event_loop->MakeFetcher<Status>(name)),
+        goal_sender_(event_loop->MakeSender<GoalType>(name)) {}
 
-  ::std::unique_ptr<TypedAction<T>> Make(const ParamType &param) {
+  ::std::unique_ptr<TypedAction<T>> Make(
+      const typename ParamType::NativeTableType &param) {
     return ::std::unique_ptr<TypedAction<T>>(
         new TypedAction<T>(&status_fetcher_, &goal_sender_, param));
   }
@@ -221,7 +215,7 @@
 
  private:
   const ::std::string name_;
-  typename ::aos::Fetcher<StatusType> status_fetcher_;
+  typename ::aos::Fetcher<Status> status_fetcher_;
   typename ::aos::Sender<GoalType> goal_sender_;
 };
 
@@ -231,25 +225,31 @@
 template <typename T>
 void TypedAction<T>::DoCancel() {
   if (!sent_started_) {
-    AOS_LOG(INFO, "Action %" PRIx32 " on queue %s was never started\n",
-            run_value_, goal_sender_->name());
+    AOS_LOG(INFO, "Action %" PRIx32 " on queue %.*s was never started\n",
+            run_value_, static_cast<int>(goal_sender_->name().size()),
+            goal_sender_->name().data());
   } else {
     if (interrupted_) {
       AOS_LOG(INFO,
               "Action %" PRIx32
-              " on queue %s was interrupted -> not cancelling\n",
-              run_value_, goal_sender_->name());
+              " on queue %.*s was interrupted -> not cancelling\n",
+              run_value_, static_cast<int>(goal_sender_->name().size()),
+              goal_sender_->name().data());
     } else {
       if (sent_cancel_) {
-        AOS_LOG(DEBUG, "Action %" PRIx32 " on queue %s already cancelled\n",
-                run_value_, goal_sender_->name());
+        AOS_LOG(DEBUG, "Action %" PRIx32 " on queue %.*s already cancelled\n",
+                run_value_, static_cast<int>(goal_sender_->name().size()),
+                goal_sender_->name().data());
       } else {
-        AOS_LOG(DEBUG, "Canceling action %" PRIx32 " on queue %s\n", run_value_,
-                goal_sender_->name());
+        AOS_LOG(DEBUG, "Canceling action %" PRIx32 " on queue %.*s\n",
+                run_value_, static_cast<int>(goal_sender_->name().size()),
+                goal_sender_->name().data());
         {
-          auto goal_message = goal_sender_->MakeMessage();
-          goal_message->run = 0;
-          goal_message.Send();
+          auto builder = goal_sender_->MakeBuilder();
+          typename GoalType::Builder goal_builder =
+              builder.template MakeBuilder<GoalType>();
+          goal_builder.add_run(0);
+          builder.Send(goal_builder.Finish());
         }
         sent_cancel_ = true;
       }
@@ -268,7 +268,7 @@
     CheckInterrupted();
   } else {
     while (status_fetcher_->FetchNext()) {
-      AOS_LOG_STRUCT(DEBUG, "got status", *status_fetcher_->get());
+      VLOG(1) << "got status" << FlatbufferToJson(status_fetcher_->get());
       CheckStarted();
       if (has_started_) CheckInterrupted();
     }
@@ -278,7 +278,7 @@
   // yet.
   if (!has_started_) return true;
   return status_fetcher_->get() &&
-         status_fetcher_->get()->running == run_value_;
+         status_fetcher_->get()->running() == run_value_;
 }
 
 template <typename T>
@@ -289,11 +289,11 @@
   if (!status_fetcher_->FetchNext()) {
     return false;
   }
-  AOS_LOG_STRUCT(DEBUG, "got status", *status_fetcher_->get());
+  VLOG(1) << "got status" << FlatbufferToJson(status_fetcher_->get());
   CheckStarted();
   CheckInterrupted();
   if (has_started_ && (status_fetcher_->get() &&
-                       status_fetcher_->get()->running != run_value_)) {
+                       status_fetcher_->get()->running() != run_value_)) {
     return true;
   }
   return false;
@@ -303,23 +303,24 @@
 void TypedAction<T>::CheckStarted() {
   if (has_started_) return;
   if (status_fetcher_->get()) {
-    if (status_fetcher_->get()->running == run_value_ ||
-        (status_fetcher_->get()->running == 0 &&
-         status_fetcher_->get()->last_running == run_value_)) {
+    if (status_fetcher_->get()->running() == run_value_ ||
+        (status_fetcher_->get()->running() == 0 &&
+         status_fetcher_->get()->last_running() == run_value_)) {
       // It's currently running our instance.
       has_started_ = true;
-      AOS_LOG(DEBUG, "Action %" PRIx32 " on queue %s has been started\n",
-              run_value_, goal_sender_->name());
+      AOS_LOG(DEBUG, "Action %" PRIx32 " on queue %.*s has been started\n",
+              run_value_, static_cast<int>(goal_sender_->name().size()),
+              goal_sender_->name().data());
     } else if (old_run_value_ != 0 &&
-               status_fetcher_->get()->running == old_run_value_) {
+               status_fetcher_->get()->running() == old_run_value_) {
       AOS_LOG(DEBUG, "still running old instance %" PRIx32 "\n",
               old_run_value_);
     } else {
       AOS_LOG(WARNING,
-              "Action %" PRIx32 " on queue %s interrupted by %" PRIx32
+              "Action %" PRIx32 " on queue %.*s interrupted by %" PRIx32
               " before starting\n",
-              run_value_, goal_sender_->name(),
-              status_fetcher_->get()->running);
+              run_value_, static_cast<int>(goal_sender_->name().size()),
+              goal_sender_->name().data(), status_fetcher_->get()->running());
       has_started_ = true;
       interrupted_ = true;
     }
@@ -331,13 +332,13 @@
 template <typename T>
 void TypedAction<T>::CheckInterrupted() {
   if (!interrupted_ && has_started_ && status_fetcher_->get()) {
-    if (status_fetcher_->get()->running != 0 &&
-        status_fetcher_->get()->running != run_value_) {
+    if (status_fetcher_->get()->running() != 0 &&
+        status_fetcher_->get()->running() != run_value_) {
       AOS_LOG(WARNING,
-              "Action %" PRIx32 " on queue %s interrupted by %" PRIx32
+              "Action %" PRIx32 " on queue %.*s interrupted by %" PRIx32
               " after starting\n",
-              run_value_, goal_sender_->name(),
-              status_fetcher_->get()->running);
+              run_value_, static_cast<int>(goal_sender_->name().size()),
+              goal_sender_->name().data(), status_fetcher_->get()->running());
     }
   }
 }
@@ -346,29 +347,38 @@
 void TypedAction<T>::DoStart() {
   if (!sent_started_) {
     AOS_LOG(DEBUG, "Starting action %" PRIx32 "\n", run_value_);
-    goal_->run = run_value_;
-    goal_->params = params_;
+    auto builder = goal_sender_->MakeBuilder();
+    auto params_offset = ParamType::Pack(*builder.fbb(), &params_);
+
+    auto goal_builder = builder.template MakeBuilder<GoalType>();
+    goal_builder.add_params(params_offset);
+    goal_builder.add_run(run_value_);
+
     sent_started_ = true;
-    if (!goal_.Send()) {
-      AOS_LOG(ERROR, "sending goal for action %" PRIx32 " on queue %s failed\n",
-              run_value_, goal_sender_->name());
+    if (!builder.Send(goal_builder.Finish())) {
+      AOS_LOG(ERROR,
+              "sending goal for action %" PRIx32 " on queue %.*s failed\n",
+              run_value_, static_cast<int>(goal_sender_->name().size()),
+              goal_sender_->name().data());
       // Don't wait to see a message with it.
       has_started_ = true;
     }
     status_fetcher_->FetchNext();
     if (status_fetcher_->get()) {
-      AOS_LOG_STRUCT(DEBUG, "got status", *status_fetcher_->get());
+      VLOG(1) << "got status" << FlatbufferToJson(status_fetcher_->get());
     }
-    if (status_fetcher_->get() && status_fetcher_->get()->running != 0) {
-      old_run_value_ = status_fetcher_->get()->running;
-      AOS_LOG(INFO, "Action %" PRIx32 " on queue %s already running\n",
-              old_run_value_, goal_sender_->name());
+    if (status_fetcher_->get() && status_fetcher_->get()->running() != 0) {
+      old_run_value_ = status_fetcher_->get()->running();
+      AOS_LOG(INFO, "Action %" PRIx32 " on queue %.*s already running\n",
+              old_run_value_, static_cast<int>(goal_sender_->name().size()),
+              goal_sender_->name().data());
     } else {
       old_run_value_ = 0;
     }
   } else {
-    AOS_LOG(WARNING, "Action %" PRIx32 " on queue %s already started\n",
-            run_value_, goal_sender_->name());
+    AOS_LOG(WARNING, "Action %" PRIx32 " on queue %.*s already started\n",
+            run_value_, static_cast<int>(goal_sender_->name().size()),
+            goal_sender_->name().data());
   }
 }
 
diff --git a/aos/actions/actions.q b/aos/actions/actions.q
deleted file mode 100644
index e3046c9..0000000
--- a/aos/actions/actions.q
+++ /dev/null
@@ -1,35 +0,0 @@
-package aos.common.actions;
-
-interface StatusInterface {
-  // 0 if the action isn't running or the value from goal.run.
-  uint32_t running;
-};
-
-interface GoalInterface {
-  // 0 to stop or an arbitrary value to put in status.running.
-  uint32_t run;
-};
-
-message Status {
-  // The run value of the instance we're currently running or 0.
-  uint32_t running;
-  // A run value we were previously running or 0.
-  uint32_t last_running;
-  // If false the action failed to complete and may be in a bad state,
-  // this is a critical problem not a cancellation.
-  bool success;
-};
-
-message Goal {
-  // The unique value to put into status.running while running this instance or
-  // 0 to cancel.
-  uint32_t run;
-  // Default parameter.  The more useful thing to do would be to define your own
-  // goal type to change param to a useful structure.
-  double params;
-};
-
-interface ActionQueueGroup {
-  queue Status status;
-  queue Goal goal;
-};
diff --git a/aos/actions/actor.h b/aos/actions/actor.h
index a9b75e6..f5629a6 100644
--- a/aos/actions/actor.h
+++ b/aos/actions/actor.h
@@ -7,9 +7,9 @@
 #include <chrono>
 #include <functional>
 
+#include "aos/actions/actions_generated.h"
 #include "aos/controls/control_loop.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/time/time.h"
 #include "aos/util/phased_loop.h"
 
@@ -20,29 +20,27 @@
 template <class T>
 class ActorBase {
  public:
+  typedef T GoalType;
   typedef typename std::remove_reference<decltype(
-      *(static_cast<T *>(nullptr)->goal.MakeMessage().get()))>::type GoalType;
-  typedef typename std::remove_reference<decltype(*(
-      static_cast<T *>(nullptr)->status.MakeMessage().get()))>::type StatusType;
-  typedef typename std::remove_reference<decltype(
-      static_cast<GoalType *>(nullptr)->params)>::type ParamType;
+      *static_cast<GoalType *>(nullptr)->params())>::type ParamType;
 
   ActorBase(::aos::EventLoop *event_loop, const ::std::string &name)
       : event_loop_(event_loop),
-        status_sender_(event_loop->MakeSender<StatusType>(name + ".status")),
-        goal_fetcher_(event_loop->MakeFetcher<GoalType>(name + ".goal")) {
+        status_sender_(event_loop->MakeSender<Status>(name)),
+        goal_fetcher_(event_loop->MakeFetcher<GoalType>(name)) {
     AOS_LOG(INFO, "Constructing action %s\n", name.c_str());
-    event_loop->MakeWatcher(name + ".goal",
+    event_loop->MakeWatcher(name,
                             [this](const GoalType &goal) { HandleGoal(goal); });
 
     // Send out an inital status saying we aren't running to wake up any users
     // who might be waiting forever for the previous action.
     event_loop->OnRun([this]() {
-      auto status_message = status_sender_.MakeMessage();
-      status_message->running = 0;
-      status_message->last_running = 0;
-      status_message->success = !abort_;
-      if (!status_message.Send()) {
+      auto builder = status_sender_.MakeBuilder();
+      Status::Builder status_builder = builder.template MakeBuilder<Status>();
+      status_builder.add_running(0);
+      status_builder.add_last_running(0);
+      status_builder.add_success(!abort_);
+      if (!builder.Send(status_builder.Finish())) {
         AOS_LOG(ERROR, "Failed to send the status.\n");
       }
     });
@@ -99,7 +97,7 @@
   // Will return true if finished or asked to cancel.
   // Will return false if it failed accomplish its goal
   // due to a problem with the system.
-  virtual bool RunAction(const ParamType& params) = 0;
+  virtual bool RunAction(const ParamType *params) = 0;
 
   void HandleGoal(const GoalType &goal);
 
@@ -110,7 +108,7 @@
 
   uint32_t current_id_ = 0;
 
-  ::aos::Sender<StatusType> status_sender_;
+  ::aos::Sender<Status> status_sender_;
   ::aos::Fetcher<GoalType> goal_fetcher_;
 
   State state_ = State::WAITING_FOR_ACTION;
@@ -118,48 +116,51 @@
 
 template <class T>
 void ActorBase<T>::HandleGoal(const GoalType &goal) {
-  AOS_LOG_STRUCT(DEBUG, "action goal", goal);
+  VLOG(1) << "action goal " << FlatbufferToJson(&goal);
   switch (state_) {
     case State::WAITING_FOR_ACTION:
-      if (goal.run) {
+      if (goal.run()) {
         state_ = State::RUNNING_ACTION;
       } else {
-        auto status_message = status_sender_.MakeMessage();
-        status_message->running = 0;
-        status_message->last_running = 0;
-        status_message->success = !abort_;
-        if (!status_message.Send()) {
+        auto builder = status_sender_.MakeBuilder();
+        Status::Builder status_builder = builder.template MakeBuilder<Status>();
+        status_builder.add_running(0);
+        status_builder.add_last_running(0);
+        status_builder.add_success(!abort_);
+        if (!builder.Send(status_builder.Finish())) {
           AOS_LOG(ERROR, "Failed to send the status.\n");
         }
         break;
       }
     case State::RUNNING_ACTION: {
       ++running_count_;
-      const uint32_t running_id = goal.run;
+      const uint32_t running_id = goal.run();
       current_id_ = running_id;
       AOS_LOG(INFO, "Starting action %" PRIx32 "\n", running_id);
       {
-        auto status_message = status_sender_.MakeMessage();
-        status_message->running = running_id;
-        status_message->last_running = 0;
-        status_message->success = !abort_;
-        if (!status_message.Send()) {
+        auto builder = status_sender_.MakeBuilder();
+        Status::Builder status_builder = builder.template MakeBuilder<Status>();
+        status_builder.add_running(running_id);
+        status_builder.add_last_running(0);
+        status_builder.add_success(!abort_);
+        if (!builder.Send(status_builder.Finish())) {
           AOS_LOG(ERROR, "Failed to send the status.\n");
         }
       }
 
-      AOS_LOG_STRUCT(INFO, "goal", goal);
-      abort_ = !RunAction(goal.params);
+      VLOG(1) << "goal " << FlatbufferToJson(&goal);
+      abort_ = !RunAction(goal.params());
       AOS_LOG(INFO, "Done with action %" PRIx32 "\n", running_id);
       current_id_ = 0u;
 
       {
-        auto status_message = status_sender_.MakeMessage();
-        status_message->running = 0;
-        status_message->last_running = running_id;
-        status_message->success = !abort_;
+        auto builder = status_sender_.MakeBuilder();
+        Status::Builder status_builder = builder.template MakeBuilder<Status>();
+        status_builder.add_running(0);
+        status_builder.add_last_running(running_id);
+        status_builder.add_success(!abort_);
 
-        if (!status_message.Send()) {
+        if (!builder.Send(status_builder.Finish())) {
           AOS_LOG(ERROR, "Failed to send the status.\n");
         } else {
           AOS_LOG(INFO, "Sending Done status %" PRIx32 "\n", running_id);
@@ -171,7 +172,7 @@
               running_id);
     } break;
     case State::WAITING_FOR_STOPPED:
-      if (goal.run == 0) {
+      if (goal.run() == 0) {
         AOS_LOG(INFO, "Action stopped.\n");
         state_ = State::WAITING_FOR_ACTION;
       }
@@ -211,9 +212,9 @@
 template <class T>
 bool ActorBase<T>::ShouldCancel() {
   if (goal_fetcher_.Fetch()) {
-    AOS_LOG_STRUCT(DEBUG, "goal queue", *goal_fetcher_);
+    VLOG(1) << "goal queue " << FlatbufferToJson(goal_fetcher_.get());
   }
-  bool ans = !goal_fetcher_->run || goal_fetcher_->run != current_id_;
+  bool ans = !goal_fetcher_->run() || goal_fetcher_->run() != current_id_;
   if (ans) {
     AOS_LOG(INFO, "Time to stop action\n");
   }
diff --git a/aos/actions/test_action.fbs b/aos/actions/test_action.fbs
new file mode 100644
index 0000000..f7f8052
--- /dev/null
+++ b/aos/actions/test_action.fbs
@@ -0,0 +1,20 @@
+namespace aos.common.actions;
+
+table UInt {
+  val:uint;
+}
+
+table TestActionGoal {
+  run:uint;
+  params:UInt;
+}
+
+table MyParams {
+  param1:double;
+  param2:int;
+}
+
+table TestAction2Goal {
+  run:uint;
+  params:MyParams;
+}
diff --git a/aos/actions/test_action.q b/aos/actions/test_action.q
deleted file mode 100644
index f2d268d..0000000
--- a/aos/actions/test_action.q
+++ /dev/null
@@ -1,32 +0,0 @@
-package aos.common.actions;
-
-import "aos/actions/actions.q";
-
-queue_group TestActionQueueGroup {
-  implements aos.common.actions.ActionQueueGroup;
-
-  message Goal {
-    uint32_t run;
-    uint32_t params;
-  };
-
-  queue Goal goal;
-  queue aos.common.actions.Status status;
-};
-
-struct MyParams {
-  double param1;
-  int32_t param2;
-};
-
-queue_group TestAction2QueueGroup {
-  implements aos.common.actions.ActionQueueGroup;
-
-  message Goal {
-    uint32_t run;
-    MyParams params;
-  };
-
-  queue Goal goal;
-  queue aos.common.actions.Status status;
-};
diff --git a/aos/build/BUILD b/aos/build/BUILD
deleted file mode 100644
index e69de29..0000000
--- a/aos/build/BUILD
+++ /dev/null
diff --git a/aos/build/queues.bzl b/aos/build/queues.bzl
deleted file mode 100644
index 07a91e4..0000000
--- a/aos/build/queues.bzl
+++ /dev/null
@@ -1,117 +0,0 @@
-def _single_queue_file_impl(ctx):
-  args = [
-    '-h_file_path', ctx.outputs.header.path,
-    '-cc_file_path', ctx.outputs.cc.path,
-    '-src_filename', ctx.file.src.short_path,
-    '-I', '.',
-    ctx.file.src.path,
-  ]
-  ctx.action(
-    outputs = [
-      ctx.outputs.header,
-      ctx.outputs.cc,
-    ],
-    inputs = [ ctx.file.src ] + ctx.attr.q_deps.transitive_q_files,
-    executable = ctx.executable._queue_compiler,
-    arguments = args,
-    mnemonic = 'QGen',
-    progress_message = 'Generating C++ code for %s' % ctx.file.src.short_path,
-  )
-
-def _single_queue_file_outputs(src):
-  return {
-    'header': src.name + '.h',
-    'cc': src.name + '.cc',
-  }
-
-_single_queue_file = rule(
-    attrs = {
-        "src": attr.label(
-            mandatory = True,
-            single_file = True,
-            allow_files = [".q"],
-        ),
-        "q_deps": attr.label(
-            providers = ["transitive_q_files"],
-            mandatory = True,
-        ),
-        "package_name": attr.string(
-            mandatory = True,
-        ),
-        "_queue_compiler": attr.label(
-            executable = True,
-            default = Label("//aos/build/queues:compiler"),
-            cfg = "host",
-        ),
-    },
-    output_to_genfiles = True,
-    outputs = _single_queue_file_outputs,
-    implementation = _single_queue_file_impl,
-)
-
-def _q_deps_impl(ctx):
-  transitive_q_files = ctx.files.srcs
-  for dep in ctx.attr.deps:
-    transitive_q_files = transitive_q_files + dep.transitive_q_files
-  return struct(transitive_q_files = transitive_q_files)
-
-_q_deps = rule(
-    attrs = {
-        "srcs": attr.label_list(
-            mandatory = True,
-            non_empty = True,
-            allow_files = [".q"],
-        ),
-        "deps": attr.label_list(
-            mandatory = True,
-            non_empty = False,
-            providers = ["transitive_q_files"],
-        ),
-    },
-    implementation = _q_deps_impl,
-)
-
-"""Creates a C++ library from a set of .q files.
-
-Attrs:
-  srcs: A list of .q files.
-  deps: Other queue_library rules this one depends on.
-"""
-
-def queue_library(name, srcs, deps = [],
-                  compatible_with = None, restricted_to = None,
-                  visibility = None):
-  q_deps = _q_deps(
-    name = name + '__q_deps',
-    srcs = srcs,
-    deps = [dep + '__q_deps' for dep in deps],
-    visibility = visibility,
-    compatible_with = compatible_with,
-    restricted_to = restricted_to,
-  )
-
-  for src in srcs:
-    _single_queue_file(
-      name = name + '_' + src,
-      src = src,
-      q_deps = ':%s__q_deps' % name,
-      package_name = native.package_name(),
-      visibility = ['//visibility:private'],
-      compatible_with = compatible_with,
-      restricted_to = restricted_to,
-    )
-
-  native.cc_library(
-    name = name,
-    srcs = [src + '.cc' for src in srcs],
-    hdrs = [src + '.h' for src in srcs],
-    deps = deps + [
-      '//aos:once',
-      '//aos:queues',
-      '//aos:queue_types',
-      '//aos/logging:printf_formats',
-    ],
-    visibility = visibility,
-    compatible_with = compatible_with,
-    restricted_to = restricted_to,
-  )
diff --git a/aos/build/queues/BUILD b/aos/build/queues/BUILD
deleted file mode 100644
index 0ff6a87..0000000
--- a/aos/build/queues/BUILD
+++ /dev/null
@@ -1,45 +0,0 @@
-load("//tools/build_rules:ruby.bzl", "ruby_library", "ruby_binary")
-
-ruby_library(
-    name = "lib",
-    srcs = [
-        "load.rb",
-        "write_iff_changed.rb",
-    ] + glob(["*/*.rb"]),
-)
-
-ruby_binary(
-    name = "compiler",
-    srcs = [
-        "compiler.rb",
-    ],
-    data = [
-        "@clang_3p6_repo//:clang-format",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [
-        ":lib",
-    ],
-)
-
-ruby_binary(
-    name = "queue_primitives",
-    srcs = [
-        "queue_primitives.rb",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [
-        ":lib",
-    ],
-)
-
-ruby_binary(
-    name = "print_field",
-    srcs = [
-        "print_field.rb",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [
-        ":lib",
-    ],
-)
diff --git a/aos/build/queues/compiler.rb b/aos/build/queues/compiler.rb
deleted file mode 100644
index 6ca141d..0000000
--- a/aos/build/queues/compiler.rb
+++ /dev/null
@@ -1,152 +0,0 @@
-require_relative "load.rb"
-
-def parse_args(globals,args)
-  i = 0
-  while(i < args.length)
-    if(args[i] == "-I")
-      args.delete_at(i)
-      if(!args[i])
-        $stderr.puts "hey! -I is followed by nothing."
-        $stderr.puts "\tnot a supported usage..."
-        $stderr.puts "\tWot. Wot."
-        exit!(-1)
-      end
-      path = args.delete_at(i)
-      globals.add_path(path)
-    elsif(args[i] == "-cpp_out")
-      args.delete_at(i)
-      path = args.delete_at(i)
-      if(path =~ /\./)
-        $stderr.puts "hey! path #{path} has a \".\" char which is "
-        $stderr.puts "\tnot a supported usage..."
-        $stderr.puts "\tWot. Wot."
-        exit!(-1)
-      elsif(!path)
-        $stderr.puts "hey! No cpp_out path provided."
-        $stderr.puts "\tumm, you could try -cpp_out \"\""
-        $stderr.puts "\tThat might do the trick"
-        $stderr.puts "\tWot. Wot."
-        exit!(-1)
-      end
-      $cpp_out = path.split(/\\|\//)
-    elsif(args[i] == "-cpp_base")
-      args.delete_at(i)
-      path = args.delete_at(i)
-      $cpp_base = File.expand_path(path)
-      if(!File.exists?($cpp_base))
-        $stderr.puts "output directory #{$cpp_base.inspect} does not exist."
-        $stderr.puts "\tI'm not going to make that! sheesh, who do you think I am?"
-        $stderr.puts "\tWot. Wot."
-        exit!(-1)
-      end
-    elsif(args[i] == "-src_filename")
-      args.delete_at(i)
-      $src_filename = args.delete_at(i)
-    elsif(args[i] == "-h_file_path")
-      args.delete_at(i)
-      path = args.delete_at(i)
-      $h_file_path = File.expand_path(path)
-      if(!File.exists?(File.dirname($h_file_path)))
-        $stderr.puts "directory of output #{$h_file_path.inspect} does not exist."
-        $stderr.puts "\tI'm not going to make that! sheesh, who do you think I am?"
-        $stderr.puts "\tWot. Wot."
-        exit!(-1)
-      end
-    elsif(args[i] == "-cc_file_path")
-      args.delete_at(i)
-      path = args.delete_at(i)
-      $cc_file_path = File.expand_path(path)
-      if(!File.exists?(File.dirname($cc_file_path)))
-        $stderr.puts "directory of output #{$cc_file_path.inspect} does not exist."
-        $stderr.puts "\tI'm not going to make that! sheesh, who do you think I am?"
-        $stderr.puts "\tWot. Wot."
-        exit!(-1)
-      end
-    elsif(args[i] =~ /^-/)
-      $stderr.puts "hey! unknown argument #{args[i]}."
-      $stderr.puts "\tWot. Wot."
-      exit!(-1)
-    else
-      i += 1
-    end
-  end
-  if ($cpp_base && $cpp_out) == ($src_filename && $h_file_path && $cc_file_path)
-    $stderr.puts "hey! I'm not sure where to write the output files!"
-    exit!(-1)
-  end
-end
-def format_pipeline(output)
-  read_in, write_in = IO.pipe()
-  # TODO(phil): Is there a better way to use the sandboxed clang-format here?
-  child = Process.spawn({'LD_LIBRARY_PATH' => './bazel-out/host/bin/aos/build/queues/compiler.runfiles/org_frc971/external/clang_3p6_repo/usr/lib/x86_64-linux-gnu'},
-                        './bazel-out/host/bin/aos/build/queues/compiler.runfiles/org_frc971/external/clang_3p6_repo/usr/bin/clang-format-3.6 --style=google',
-                        {:in=>read_in, write_in=>:close,
-                         :out=>output.fileno})
-  read_in.close
-  [child, write_in]
-end
-def build(filename,globals_template)
-  globals = Globals.new()
-  globals_template.paths.each do |path|
-    globals.add_path(path)
-  end
-  filename = File.expand_path(filename)
-  q_file = QFile.parse(filename)
-  output_file = q_file.q_eval(globals)
-  q_filename = File.basename(filename)
-
-  if $cpp_base && $cpp_out
-    $src_filename = ($cpp_out + [q_filename]).join("/")
-    $h_file_path = $cpp_base + "/" + $src_filename + ".h"
-    $cc_file_path = $cpp_base + "/" + $src_filename + ".cc"
-    FileUtils.mkdir_p(Pathname.new($cpp_base) + $cpp_out.join("/"))
-  end
-
-  cpp_tree = output_file.make_cpp_tree($src_filename)
-
-  cpp_tree.add_cc_include(($src_filename + ".h").inspect)
-  cpp_tree.add_cc_include("aos/byteorder.h".inspect)
-  cpp_tree.add_cc_include("<inttypes.h>")
-  cpp_tree.add_cc_include("aos/queue_types.h".inspect)
-  cpp_tree.add_cc_include("aos/once.h".inspect)
-  cpp_tree.add_cc_include("aos/logging/printf_formats.h".inspect)
-  cpp_tree.add_cc_using("::aos::to_network")
-  cpp_tree.add_cc_using("::aos::to_host")
-
-  header_file = WriteIffChanged.new($h_file_path)
-  cc_file = WriteIffChanged.new($cc_file_path)
-  header_child, header_output = format_pipeline(header_file)
-  cc_child, cc_output = format_pipeline(cc_file)
-  cpp_tree.write_header_file($cpp_base,header_output)
-  cpp_tree.write_cc_file($cpp_base,cc_output)
-  header_output.close()
-  cc_output.close()
-  if !Process.wait2(cc_child)[1].success?
-    $stderr.puts "Formatting cc file failed."
-    exit 1
-  end
-  if !Process.wait2(header_child)[1].success?
-    $stderr.puts "Formatting header file failed."
-    exit 1
-  end
-  header_file.close()
-  cc_file.close()
-end
-begin
-  args = ARGV.dup
-  globals = Globals.new()
-  parse_args(globals,args)
-  if(args.length == 0)
-    $stderr.puts "hey! you want me to do something,"
-    $stderr.puts "\tbut you gave me no q files to build!"
-    $stderr.puts "\tWot. Wot."
-    exit!(-1)
-  end
-  args.each do |filename|
-    build(filename,globals)
-  end
-  exit(0)
-rescue QError => e
-  $stderr.print(e.to_s)
-  exit!(-1)
-end
diff --git a/aos/build/queues/cpp_pretty_print/auto_gen.rb b/aos/build/queues/cpp_pretty_print/auto_gen.rb
deleted file mode 100644
index d3fb480..0000000
--- a/aos/build/queues/cpp_pretty_print/auto_gen.rb
+++ /dev/null
@@ -1,306 +0,0 @@
-module CPP
-end
-class CPP::Comment
-	def initialize(text)
-		@text = text
-	end
-	def pp(state)
-		state.needs_semi = false
-		if(@text.include?("\n"))
-			state.print("/* #{@text} */")
-		else
-			state.print("// #{@text}")
-		end
-	end
-end
-class CPP::TODO < CPP::Comment
-	def initialize(owner,text)
-		@text = "TODO(#{owner}): #{text}"
-	end
-end
-class CPP::StaticVar
-	class ForwardDec
-		def initialize(func) ; @func = func ; end
-		def pp(state) ; @func.pp_forward_dec(state) ; end
-	end
-	attr_accessor :args, :static
-	def initialize(type_class, val_type, name, args = CPP::Args.new())
-		@type_class = type_class
-		@val_type = val_type
-		@name = name
-		@args = args
-		@static = true
-	end
-	def forward_dec() ; ForwardDec.new(self) ; end
-	def pp_forward_dec(state)
-    if (@static)
-      state.print("static ")
-		end
-		state.print("#{@val_type} #{@name}")
-	end
-	def pp(state)
-		state.print("#{@val_type} #{@type_class.chop_method_prefix}#{@name}(")
-		state.pp(@args)
-		state.print(")")
-	end
-	alias_method :pp_header_file, :pp_forward_dec
-	alias_method :pp_cc_file, :pp
-end
-class CPP::MemberFunc
-	class ForwardDec
-		def initialize(func) ; @func = func ; end
-		def pp(state) ; @func.pp_forward_dec(state) ; end
-	end
-	attr_accessor :args,:suite,:return_type,:name,:pre_func_types,:const,:static,:virtual
-	def initialize(type_class,return_type,name)
-		@type_class = type_class
-		@return_type = return_type
-		@name = name
-		@const = false
-		@static = false
-		@virtual = false
-		@args = CPP::Args.new()
-		@suite = CPP::Suite.new()
-	end
-	attr_accessor :inline
-	def forward_dec() ; ForwardDec.new(self) ; end
-	def pp_forward_dec(state)
-		return self.pp_inline(state) if(@inline)
-        if (@static)
-          state.print("static ")
-				elsif (@virtual)
-          state.print("virtual ")
-        end
-		state.print("#{@return_type} #{@pre_func_types}#{@name}(")
-		state.pp(@args)
-		state.print(")")
-        if (@const)
-          state.print(" const")
-        end
-	end
-	def pp_inline(state)
-        if (@static)
-          state.print("static ")
-				elsif (@virtual)
-          state.print("virtual ")
-        end
-		state.print("#{@return_type} #{@pre_func_types}#{@name}(")
-		state.pp(@args)
-		state.print(") ")
-        if (@const)
-          state.print(" const")
-        end
-		@suite.pp_one_line(state)
-	end
-	def pp(state)
-		return if(@inline)
-		state.print("#{@return_type} #{@pre_func_types}#{@type_class.chop_method_prefix}#{@name}(")
-		state.pp(@args)
-		state.print(") ")
-		if (@const)
-			state.print("const ")
-		end
-		state.pp(@suite)
-		state.v_pad(2)
-	end
-	alias_method :pp_header_file, :pp_forward_dec
-	alias_method :pp_cc_file, :pp
-	
-end
-class CPP::Constructor
-	class ForwardDec
-		def initialize(func) ; @func = func ; end
-		def pp(state) ; @func.pp_forward_dec(state) ; end
-	end
-	attr_accessor :args,:suite,:return_type,:name
-	def initialize(type_class)
-		@type_class = type_class
-		@args = CPP::Args.new()
-		@suite = CPP::Suite.new()
-		@var_cons = CPP::Args.new()
-	end
-	def forward_dec() ; ForwardDec.new(self) ; end
-	def add_cons(*args)
-		@var_cons.push(CPP::FuncCall.build(*args))
-	end
-	def pp_forward_dec(state)
-		state.print("#{@type_class.name}(")
-		state.pp(@args)
-		state.print(")")
-	end
-	def pp_inline(state)
-		pp(state,false)
-	end
-	def pp(state,prefix = true)
-		state.needs_semi = false
-		state.print(@type_class.chop_method_prefix) if(prefix)
-		state.print("#{@type_class.name}(")
-		state.pp(@args)
-		if(@var_cons.length >= 1)
-			state.print(")")
-			state.endline()
-			state.indent += 4
-			state.print(": ")
-			state.pp(@var_cons)
-			state.indent -= 4
-			state.print(" ")
-		else
-			state.print(") ")
-		end
-		state.pp(@suite)
-		state.v_pad(2)
-	end
-	alias_method :pp_header_file, :pp_forward_dec
-	alias_method :pp_cc_file, :pp
-end
-class CPP::Destructor
-	class ForwardDec
-		def initialize(func) ; @func = func ; end
-		def pp(state) ; @func.pp_forward_dec(state) ; end
-	end
-	attr_accessor :args,:suite,:return_type,:name
-	def initialize(type_class)
-		@type_class = type_class
-		@args = CPP::Args.new()
-		@suite = CPP::Suite.new()
-	end
-	def forward_dec() ; ForwardDec.new(self) ; end
-	def pp_forward_dec(state)
-		state.print("~#{@type_class.name}(")
-		state.pp(@args)
-		state.print(")")
-	end
-	def pp(state)
-		state.print("#{@type_class.chop_method_prefix}~#{@type_class.name}(")
-		state.pp(@args)
-		state.print(") ")
-		state.pp(@suite)
-		state.v_pad(2)
-	end
-	alias_method :pp_header_file, :pp_forward_dec
-	alias_method :pp_cc_file, :pp
-end
-class CPP::Include
-	attr_accessor :filename
-	def initialize(filename)
-		@filename = filename
-	end
-	def pp(state)
-		state.needs_semi = false
-		state.suppress_indent()
-		state.print("#include #{@filename}")
-		state.endline()
-	end
-end
-class CPP::IncludeGuard
-	attr_accessor :name,:suite
-	def initialize(suite = CPP::Suite.new())
-		@suite = suite
-	end
-	def self.rand_name(len = 40)
-		str = ""
-		len.times { str += ((rand(26) + ?A).chr)}
-		return str
-	end
-	def pp(state)
-		@name ||= IncludeGuard.rand_name
-		state.needs_semi = false
-		state.suppress_indent()
-		state.print("#ifndef #{@name}")
-		state.endline()
-		state.suppress_indent()
-		state.print("#define #{@name}")
-		state.endline()
-		if(@suite.respond_to?(:pp_no_braces))
-			@suite.pp_no_braces(state)
-		else
-			state.pp(@suite)
-		end
-		state.endline()
-		state.needs_semi = false
-		state.suppress_indent()
-		state.print("#endif  // #{@name}")
-		state.endline()
-	end
-end
-class CPP::IfnDef
-	attr_accessor :name,:suite
-	def initialize(suite = CPP::Suite.new())
-		@suite = suite
-	end
-	def pp(state)
-		state.needs_semi = false
-		state.suppress_indent()
-		state.print("#ifndef #{@name}")
-		state.endline()
-		if(@suite.respond_to?(:pp_no_braces))
-			@suite.pp_no_braces(state)
-		else
-			state.pp(@suite)
-		end
-		state.endline()
-		state.needs_semi = false
-		state.suppress_indent()
-		state.print("#endif  // #{@name}")
-		state.endline()
-	end
-end
-class CPP::PreprocessorIf
-	attr_accessor :name,:suite
-	def initialize(ifsuite, elsesuite)
-		@ifsuite = ifsuite
-		@elsesuite = elsesuite
-	end
-	def write_if(state)
-		state.needs_semi = false
-		state.suppress_indent()
-		state.print("#if #{@name}")
-		state.endline()
-	end
-	def write_else(state)
-		state.needs_semi = false
-		state.suppress_indent()
-		state.print("#else  // #{@name}")
-		state.endline()
-	end
-	def write_endif(state)
-		state.needs_semi = false
-		state.suppress_indent()
-		state.print("#endif  // #{@name}")
-		state.endline()
-	end
-	def pp_inline(state)
-		self.write_if(state)
-		@ifsuite.pp_inline(state)
-		if(@elsesuite != nil)
-			self.write_else(state)
-			@elsesuite.pp_inline(state)
-		end
-		self.write_endif(state)
-	end
-	def pp(state)
-		self.write_if(state)
-		if(@ifsuite.respond_to?(:pp_no_braces))
-			@ifsuite.pp_no_braces(state)
-		else
-			state.pp(@ifsuite)
-		end
-		if(@elsesuite != nil)
-			self.write_else(state)
-			if(@elsesuite.respond_to?(:pp_no_braces))
-				@elsesuite.pp_no_braces(state)
-			else
-				state.pp(@elsesuite)
-			end
-		end
-		self.write_endif(state)
-	end
-end
-class CPP::Using
-	def initialize(using)
-		@using = using
-	end
-	def pp(state)
-		state.print("using #{@using}")
-	end
-end
diff --git a/aos/build/queues/cpp_pretty_print/dep_file_pair.rb b/aos/build/queues/cpp_pretty_print/dep_file_pair.rb
deleted file mode 100644
index 02233d4..0000000
--- a/aos/build/queues/cpp_pretty_print/dep_file_pair.rb
+++ /dev/null
@@ -1,470 +0,0 @@
-class GroupElement
-	def add_group_dep(group_dep)
-		@group_dep = group_dep
-	end
-	def adjust_group(state,old_group)
-		if(@group_dep != old_group)
-			@group_dep.adjust_from(state,old_group)
-		end
-		return @group_dep
-	end
-end
-class DepMask < GroupElement
-	def initialize(elem)
-		@elem = elem
-		@deps = []
-	end
-	def add_dep(dep)
-		@deps << dep
-		self
-	end
-	def method_missing(method,*args,&blk)
-		@elem.send(method,*args,&blk)
-	end
-	alias_method :old_respond_to, :respond_to?
-	def respond_to?(method)
-		old_respond_to(method) || @elem.respond_to?(method)
-	end
-end
-
-class MemberElementHeader < GroupElement
-	def initialize(elem)
-		@elem = elem
-	end
-	def pp(state)
-		if(@elem.respond_to?(:pp_header_file))
-			@elem.pp_header_file(state)
-		else
-			state.pp(@elem)
-		end
-	end
-	def self.check(plan,elem)
-		plan.push(self.new(elem))
-	end
-end
-class MemberElementInline < GroupElement
-	def initialize(elem)
-		@elem = elem
-	end
-	def pp(state)
-		if(@elem.respond_to?(:pp_inline))
-			@elem.pp_inline(state)
-		else
-			state.pp(@elem)
-		end
-	end
-end
-class MemberElementCC < GroupElement
-	attr_accessor :pp_override
-	def initialize(elem)
-		@elem = elem
-	end
-	def pp(state)
-		return state.pp(@elem) if(@pp_override)
-		@elem.pp_cc_file(state)
-	end
-	def self.check(plan,elem)
-		plan.push(self.new(elem)) if(elem.respond_to?(:pp_cc_file))
-	end
-end
-class ImplicitName
-	attr_accessor :parent
-	def initialize(name,parent)
-		@name = name
-		@parent = parent
-	end
-	def close(state)
-		state.endline()
-		state.needs_semi = false
-		state.print("}  // namespace #{@name}\n")
-	end
-	def name()
-		if(@parent)
-			return @parent.name + "." + @name
-		else
-			return "." + @name
-		end
-	end
-	def open(state)
-		state.endline()
-		state.needs_semi = false
-		state.print("namespace #{@name} {\n")
-	end
-	def adjust_from(state,old_group)
-		close_grps = []
-		grp = old_group
-		while(grp)
-			close_grps << grp
-			grp = grp.parent
-		end
-		open_grps = []
-		grp = self
-		while(grp)
-			open_grps << grp
-			grp = grp.parent
-		end
-		while(open_grps[-1] == close_grps[-1] && close_grps[-1])
-			close_grps.pop()
-			open_grps.pop()
-		end
-		close_grps.each do |grp|
-			grp.close(state)
-		end
-		open_grps.reverse.each do |grp|
-			grp.open(state)
-		end
-	end
-	def adjust_to(state,new_group)
-		grp = self
-		while(grp)
-			grp.close(state)
-			grp = grp.parent
-		end
-	end
-end
-class GroupPlan < GroupElement
-	attr_accessor :implicit
-	def initialize(group_elem,members = [])
-		@group_elem = group_elem
-		@members = CPP::Suite.new(members)
-	end
-	def push(mem)
-		mem.add_group_dep(@implicit) if(@implicit)
-		@members << mem
-	end
-	def pp(state)
-		if(@group_elem)
-			@group_elem.open(state)
-		end
-		group = nil
-		@members.each do |member|
-			group = member.adjust_group(state,group)
-			#puts "at:#{group.name}" if(group.respond_to?(:name))
-			state.endline()
-			state.needs_semi = true
-			state.pp(member)
-			state.endline()
-		end
-		group.adjust_to(state,nil) if(group)
-		if(@group_elem)
-			@group_elem.close(state)
-		end
-	end
-end
-class CC_Mask
-	def initialize(elem)
-		@elem = elem
-	end
-	def plan_cc(plan)
-		elem = MemberElementCC.new(@elem)
-		elem.pp_override = true
-		plan.push(elem)
-	end
-	def plan_header(plan);
-	end
-end
-module Types
-	class TypeDef
-		def initialize(type,name)
-			@type = type
-			@name = name
-		end
-		def pp(state)
-			state.pp("typedef #{@type.name} #{@name}")
-		end
-	end
-	class Type
-		attr_accessor :name,:static,:dec,:space
-		def initialize(namespace,name)
-			@space = namespace
-			@name = name
-			@members = []
-			@protections = {}
-			@deps = []
-		end
-    def parent_class
-      @parent.split(' ')[1] if @parent
-    end
-		class ProtectionGroup
-			def initialize(name)
-				@name = name
-			end
-			def adjust_from(state,other)
-				state.indent -= 1
-				state.pp("#@name:")
-				state.endline
-				state.indent += 1
-			end
-			def adjust_to(state,other)
-				other.adjust_from(state,self) if other
-			end
-		end
-		ProtectionGroups = { :public => ProtectionGroup.new(:public),
-			:protected => ProtectionGroup.new(:protected),
-		 	:private => ProtectionGroup.new(:private)}
-		def set_parent(parent)
-			@parent = parent
-		end
-		def chop_method_prefix()
-			@space.chop_method_prefix + "#@name::"
-		end
-		def def_func(*args)
-			func = CPP::MemberFunc.new(self,*args)
-			@protections[func] = @protection
-			@members << func
-			return func
-		end
-		def add_cc_comment(*args)
-			args.each do |arg|
-				@members.push(CC_Mask.new(CPP::Comment.new(arg)))
-			end
-		end
-		def plan_cc(plan)
-			@members.each do |member|
-				if(member.respond_to?(:plan_cc))
-					member.plan_cc(plan)
-				elsif(member.respond_to?(:pp_cc_file))
-					plan.push(MemberElementCC.new(member))
-				end
-			end
-		end
-		def plan_header(plan)
-			group_plan = GroupPlan.new(self)
-			plan.push(group_plan)
-			@members.each do |member|
-				group_plan.implicit = ProtectionGroups[@protections[member]]
-				if(member.respond_to?(:plan_header))
-					member.plan_header(group_plan)
-				else
-					group_plan.push(MemberElementHeader.new(member))
-				end
-				#member.plan_cc(plan)
-			end
-		end
-		def open(state)
-			state.needs_semi = false
-			state.v_pad(2)
-			if(@static)
-				state.print("static ")
-			end
-			self.template_header(state) if(self.respond_to?(:template_header))
-			state.print("#{self.class.type_name} #{@name}")
-			self.template_spec_args(state) if(self.respond_to?(:template_spec_args))
-			if(@parent)
-				state.print(" : #{@parent} {\n")
-			else
-				state.print(" {\n")
-			end
-			state.indent += 2
-		end
-		def close(state)
-			state.indent -= 2
-			state.needs_semi = true
-			if(@dec)
-				state.print("\n} #{@dec}")
-			else
-				state.print("\n}")
-			end
-			state.v_pad(2)
-		end
-		def add_dep(other)
-			@deps << other
-			self
-		end
-	end
-	class Class < Type
-		def add_member(protection,member)
-			@protection = protection
-			@members.push(member)
-			@protections[member] = protection
-			return member
-		end
-		def add_struct(*args)
-			add_member(:public, Types::Struct.new(self,*args))
-		end
-		def public() ; @protection = :public ; end 
-		def protected() ; @protection = :protected ; end 
-		def private() ; @protection = :private ; end 
-		def self.type_name() ; "class" ; end
-	end
-	class PreprocessorIf < Type
-		def initialize(*args)
-			super(*args)
-		end
-		def add_member(member)
-			@members.push(member)
-			return member
-		end
-		def self.type_name() ; "#if" ; end
-		def open(state)
-			state.needs_semi = false
-			state.print("\n#if #{@name}")
-		end
-		def close(state)
-			state.needs_semi = false
-			state.print("\n#endif  // #{@name}")
-		end
-	end
-	class Struct < Type
-		attr_accessor :members
-		def add_member(member)
-			@members.push(member)
-			return member
-		end
-		def self.type_name() ; "struct" ; end
-	end
-	class TemplateClass < Class
-		def initialize(*args)
-			super(*args)
-			@t_args = CPP::Args.new()
-		end
-		def spec_args()
-			return @spec_args ||= CPP::Args.new()
-		end
-		def template_header(state)
-			if(@t_args.length > 0)
-				state.pp("template < ")
-				state.pp(@t_args)
-			else
-				state.pp("template < ")
-			end
-			state.pp(">\n")
-		end
-		def plan_cc(plan)
-
-		end
-		def plan_header(plan)
-			group_plan = GroupPlan.new(self)
-			plan.push(group_plan)
-			@members.each do |member|
-				group_plan.implicit = ProtectionGroups[@protections[member]]
-				if(member.respond_to?(:plan_header))
-					member.plan_header(group_plan)
-				else
-					group_plan.push(MemberElementInline.new(member))
-				end
-			end
-		end
-		def template_spec_args(state)
-			if(@spec_args)
-				state.pp("< ")
-				state.pp(@spec_args)
-				state.pp(">")
-			end
-		end
-	end
-end
-class DepFilePair
-	class NameSpace
-		def initialize(name,parent)
-			@name,@parent = name,parent
-			@members = []
-		end
-		def add_struct(*args)
-			add Types::Struct.new(self,*args)
-		end
-		def add_template(*args)
-			add Types::TemplateClass.new(self,*args)
-		end
-		def add_class(*args)
-			add Types::Class.new(self,*args)
-		end
-		def add_cc(arg)
-			@members.push(CC_Mask.new(arg))
-		end
-		def chop_method_prefix()
-			""
-		end
-		def class_comment(*args)
-			add CPP::Comment.new(*args)
-		end
-		def var_dec_comment(*args)
-			add CPP::Comment.new(*args)
-		end
-		def add_var_dec(arg)
-			add DepMask.new(arg)
-		end
-		def plan_cc(plan)
-			plan.implicit = ImplicitName.new(@name,plan.implicit)
-			@members.each do |member|
-				if(member.respond_to?(:plan_cc))
-					member.plan_cc(plan)
-				else
-					MemberElementCC.check(plan,member)
-				end
-			end
-			plan.implicit = plan.implicit.parent
-		end
-		def plan_header(plan)
-			plan.implicit = ImplicitName.new(@name,plan.implicit)
-			@members.each do |member|
-				if(member.respond_to?(:plan_header))
-					member.plan_header(plan)
-				else
-					MemberElementHeader.check(plan,member)
-				end
-			end
-			plan.implicit = plan.implicit.parent
-		end
-		def add val
-			@members << val
-			val
-		end
-	end
-	def initialize(rel_path)
-		@rel_path = rel_path
-		@cc_includes = []
-		@header_includes = []
-		@spaces = []
-		@cc_usings = []
-		@cache = {}
-	end
-	def add_cc_include(inc_path)
-		@cc_includes << CPP::Include.new(inc_path)
-	end
-	def add_cc_using(using)
-		@cc_usings << CPP::Using.new(using)
-	end
-	def add_header_include(inc_path)
-		@header_includes << CPP::Include.new(inc_path)
-	end
-	def add_namespace(name,parent)
-		space = NameSpace.new(name,parent)
-		if(parent != self)
-			parent.add(space)
-		else
-			@spaces.push(space)
-		end
-		return space
-	end
-	def set(type,cached)
-		@cache[type] = cached
-	end
-	def get(type)
-		cached = @cache[type]
-		return cached if cached
-		cached = type.create(self)
-		cached_check = @cache[type]
-		return cached_check if cached_check
-		set(type,cached)
-		return cached
-	end
-	def write_cc_file(cpp_base,cc_file)
-		plan_cc = GroupPlan.new(nil,elems_cc = [])
-		@spaces.each do |space|
-			space.plan_cc(plan_cc)
-		end
-		suite = CPP::Suite.new(@cc_includes + @cc_usings + [plan_cc])
-		CPP.pretty_print(suite,cc_file)
-	end
-	def write_header_file(cpp_base,header_file)
-		plan_header = GroupPlan.new(nil,elems_cc = [])
-		@spaces.each do |space|
-			space.plan_header(plan_header)
-		end
-		suite = CPP::Suite.new(@header_includes + [plan_header])
-		include_guard = CPP::IncludeGuard.new(suite)
-		include_guard.name = @rel_path.upcase.gsub(/[\.\/\\]/,"_") + "_H_"
-		CPP.pretty_print(include_guard,header_file)
-	end
-end
diff --git a/aos/build/queues/cpp_pretty_print/file_pair_types.rb b/aos/build/queues/cpp_pretty_print/file_pair_types.rb
deleted file mode 100644
index 25ce4fe..0000000
--- a/aos/build/queues/cpp_pretty_print/file_pair_types.rb
+++ /dev/null
@@ -1,204 +0,0 @@
-module CPP
-end
-class CPP::TypePair
-	attr_accessor :name,:static,:dec
-	def initialize(namespace,name)
-		@space,@name = namespace,name
-		@members = []
-		@protections = {}
-		@dont_sort = {}
-	end
-	ProtectionTable = { :public => 0,:protected => 1,:private => 2 }
-	def comp(m1,m2)
-		if(!(@dont_sort[m1] || @dont_sort[m2]))
-			if(@protections[m1] && @protections[m2])
-				comp = ProtectionTable[@protections[m1]] <=> ProtectionTable[@protections[m2]]
-				return comp if(comp != 0)
-			end
-			comp = TypeTable[m1.class] <=> TypeTable[m2.class]
-			return comp if(comp != 0)
-		end
-		return @stable[m1] <=> @stable[m2]
-	end
-	def set_parent(parent)
-		@parent = parent
-	end
-	def add_class(name)
-		return add_member(:public,CPP::ClassPair.new(self,name))
-	end
-	def add_struct(name)
-		return add_member(:public,CPP::StructPair.new(self,name))
-	end
-	def add_cc_comment(*strs)
-		strs.each do |str|
-			@members << comment = CPP::CCMemberWrapper.new(CPP::Comment.new(str))
-			@protections[comment] = @protection
-		end
-		#@dont_sort[comment] = true
-	end
-	def method_prefix()
-		@space.method_prefix + "#@name::"
-	end
-	def chop_method_prefix()
-		@space.chop_method_prefix + "#@name::"
-	end
-	def pp(state)
-		@stable = {}
-		@members.each_with_index { |mem,i| @stable[mem] = i }
-		members = @members.sort { |m1,m2| comp(m1,m2) }
-
-		state.needs_semi = false
-		state.v_pad(2)
-		if(@static)
-			state.print("static ")
-		end
-		if(@parent)
-			state.print("#{self.class.type_name} #{@name} : #{@parent} {\n")
-		else
-			state.print("#{self.class.type_name} #{@name} {\n")
-		end 
-		state.indent += 2
-		protection = nil 
-		members.each do |member|
-			if(protection != @protections[member])
-				state.indent -= 1
-				state.needs_semi = false
-				state.v_pad(2) if(protection)
-				protection = @protections[member]
-				state.print("#{protection}:\n")
-				state.indent += 1
-				state.endline()
-			end
-			state.endline()
-			state.needs_semi = true
-			if(member.respond_to?(:pp_header_file))
-				member.pp_header_file(state)
-			else
-				state.pp(member)
-			end
-			state.endline()
-		end 
-		state.indent -= 2
-		state.needs_semi = true
-		if(@dec)
-		state.print("\n} #{@dec}")
-		else
-		state.print("\n}")
-		end
-		state.v_pad(2)
-	end
-	def pp_header_file(state)
-		pp(state)
-	end
-	def pp_cc_file(state)
-		@members.each do |member|
-			state.needs_semi = true
-			member.pp_cc_file(state) if(member.respond_to?(:pp_cc_file))
-			state.endline()
-		end
-	end
-	def def_func(*args)
-		func = CPP::MemberFunc.new(self,*args)
-		@protections[func] = @protection
-		@members << func
-		return func
-	end
-end
-class CPP::CCMemberWrapper
-	def initialize(member)
-		@member = member
-	end
-	def pp_header_file(state) ; end
-	def pp_cc_file(state)
-		state.pp(@member)
-	end
-end
-class CPP::ClassPair < CPP::TypePair
-	attr_accessor :name
-	def initialize(namespace,name)
-		super(namespace,name)
-		@protection = :public #default to public
-	end
-	def add_member(protection,member)
-		@protection = protection
-		@members << member
-		@protections[member] = protection
-		return member
-	end
-	def public() ; @protection = :public ; end
-	def protected() ; @protection = :protected ; end
-	def private() ; @protection = :private ; end
-	def self.type_name() ; "class" ; end
-end
-class CPP::StructPair < CPP::TypePair
-	def self.type_name() ; "struct" ; end
-	def add_member(member)
-		@members << member
-		return member
-	end
-end
-CPP::TypePair::TypeTable = { CPP::StructPair => 0, CPP::ClassPair => 1,CPP::Constructor => 2 }
-CPP::TypePair::TypeTable.default = 3
-class CPP::TemplateClass < CPP::ClassPair
-	def initialize(namespace,name)
-		super(namespace,name)
-		@t_args = CPP::Args.new()
-	end
-	def spec_args()
-		return @spec_args ||= CPP::Args.new()
-	end
-	def pp(state)
-		@stable = {}
-		@members.each_with_index { |mem,i| @stable[mem] = i }
-		members = @members.sort { |m1,m2| comp(m1,m2) }
-		state.needs_semi = false
-		state.v_pad(2)
-		if(@t_args.length > 0)
-			state.pp("template < ")
-			state.pp(@t_args)
-		else
-			state.pp("template < ")
-		end
-		state.pp(">\n")
-		state.pp("class #@name")
-		if(@spec_args)
-			state.pp("< ")
-			state.pp(@spec_args)
-			state.pp("> {")
-		else
-			state.pp(" {")
-		end
-		state.endline()
-		state.indent += 2
-		protection = nil 
-		members.each do |member|
-			if(protection != @protections[member])
-				state.indent -= 1
-				state.needs_semi = false
-				state.v_pad(2) if(protection)
-				protection = @protections[member]
-				state.print("#{protection}:\n")
-				state.indent += 1
-				state.endline()
-			end
-			state.endline()
-			state.needs_semi = true
-			if(member.respond_to?(:pp_inline))
-				member.pp_inline(state)
-			else
-				state.pp(member)
-			end
-			state.endline()
-		end 
-		state.indent -= 2
-		state.needs_semi = true
-		if(@dec)
-			state.print("\n} #{@dec}")
-		else
-			state.print("\n}")
-		end
-		state.v_pad(2)
-	end
-	def pp_cc_file(state); end
-end
-
diff --git a/aos/build/queues/cpp_pretty_print/standard_types.rb b/aos/build/queues/cpp_pretty_print/standard_types.rb
deleted file mode 100644
index 997059a..0000000
--- a/aos/build/queues/cpp_pretty_print/standard_types.rb
+++ /dev/null
@@ -1,365 +0,0 @@
-module CPP
-	class Class
-
-	end
-	class Funct
-		attr_accessor :retval,:name,:args,:suite
-		def initialize(retval = nil,name = nil,args = Args.new(),suite = Suite.new())
-			@retval,@name,@args,@suite = retval,name,args,suite
-		end
-		def pp(state)
-			state.pp(@retval)
-			state.print(" ")
-			state.pp(@name)
-			state.print("(")
-			state.pp(@args)
-			state.print(")")
-			state.pp(@suite)
-		end
-	end
-	class If
-		attr_accessor :cond,:suite,:else_suite
-		def initialize(cond = nil,suite = Suite.new(),else_suite = nil)
-			@cond,@suite,@else_suite = cond,suite,else_suite
-		end
-		def pp(state)
-			state.print("if (")
-			state.pp(@cond)
-			state.print(") ")
-			state.needs_semi = false
-			state.pp(@suite)
-			if(@else_suite)
-				state.print(" else ")
-				state.pp(@else_suite)
-			end
-		end
-		def else_suite()
-			return(@else_suite ||= Suite.new())
-		end
-	end
-	class For
-		attr_accessor :init,:cond,:update,:suite
-		def initialize(init = nil,cond = nil,update = nil,suite = Suite.new())
-			@init,@cond,@update,@suite = init,cond,update,suite
-		end
-		def pp(state)
-			state.print("for (")
-			Args.new([@init,@cond,@update]).pp(state,";")
-			state.print(") ")
-			state.needs_semi = false
-			state.pp(@suite)
-		end
-	end
-	class Args < Array
-		attr_accessor :dont_wrap
-		def pp(state,sep = ",")
-			pos = start = state.col
-			self.each_with_index do |arg,i|
-				#puts "#{state.col - start} , #{start}"
-				state.print(sep) if(i != 0)
-				if(pos > 80)
-					state.wrap(state.indent + 4)
-					pos = start = state.col
-				elsif(state.col * 2 - pos > 80 && !@dont_wrap)
-					state.wrap(start)
-					start = pos
-				else
-					state.print(" ") if(i != 0)
-					pos = state.col
-				end
-				state.pp(arg)
-			end
-		end
-	end
-	class Suite < Array
-		def pp(state)
-			state.print("{")
-			state.>>
-			state.needs_semi = false
-			self.pp_no_braces(state)
-			state.<<
-			state.print("}")
-		end
-		def pp_no_braces(state)
-			self.each do |arg,i|
-				state.endline()
-				state.needs_semi = true
-				state.pp(arg)
-				state.endline()
-			end
-		end
-		def pp_one_line(state)
-			if(self.length == 1)
-				state.needs_semi = true
-				state.print("{ ")
-				state.pp(self[0])
-				state.print(";") if(state.needs_semi)
-				state.needs_semi = false
-				state.print(" }")
-			else
-				self.pp(state)
-			end
-		end
-	end
-	class FuncCall
-		attr_accessor :name,:args
-		def initialize(name = nil,args = Args.new())
-			@name,@args = name,args
-		end
-		def self.build(name,*args)
-			self.new(name,Args.new(args))
-		end
-		def pp(state)
-			state.pp(@name)
-			state.print("(")
-			state.pp(@args)
-			state.print(")")
-		end
-	end
-	class BIT_OR
-		attr_accessor :val1,:val2
-		def initialize(val1,val2)
-			@val1,@val2 = val1,val2
-		end
-		def pp(state)
-			state.pp(@val1)
-			state.print(" | ")
-			state.pp(@val2)
-		end
-	end
-	class LT
-		attr_accessor :val1,:val2
-		def initialize(val1,val2)
-			@val1,@val2 = val1,val2
-		end
-		def pp(state)
-			state.pp(@val1)
-			state.print(" < ")
-			state.pp(@val2)
-		end
-	end
-	class Div
-		attr_accessor :val1,:val2
-		def initialize(val1,val2)
-			@val1,@val2 = val1,val2
-		end
-		def pp(state)
-			state.pp(@val1)
-			state.print(" / ")
-			state.pp(@val2)
-		end
-	end
-	class Add
-		attr_accessor :val1,:val2
-		def initialize(val1,val2)
-			@val1,@val2 = val1,val2
-		end
-		def pp(state)
-			state.pp(@val1)
-			state.print(" + ")
-			state.pp(@val2)
-		end
-	end
-	class Member
-		attr_accessor :obj,:name
-		def initialize(obj,name)
-			@obj,@name = obj,name
-		end
-		def pp(state)
-			state.pp(@obj)
-			state.print(".")
-			state.pp(@name)
-		end
-	end
-	class PointerMember
-		attr_accessor :obj,:name
-		def initialize(obj,name)
-			@obj,@name = obj,name
-		end
-		def pp(state)
-			state.pp(@obj)
-			state.print("->")
-			state.pp(@name)
-		end
-	end
-	class Minus
-		attr_accessor :val
-		def initialize(val)
-			@val = val
-		end
-		def pp(state)
-			state.print("-")
-			state.pp(@val)
-		end
-	end
-	class Not
-		attr_accessor :val
-		def initialize(val)
-			@val = val
-		end
-		def pp(state)
-			state.print("!")
-			state.pp(@val)
-		end
-	end
-	class Address
-		attr_accessor :val
-		def initialize(val)
-			@val = val
-		end
-		def pp(state)
-			state.print("&")
-			state.pp(@val)
-		end
-	end
-	class Paran
-		attr_accessor :val
-		def initialize(val)
-			@val = val
-		end
-		def pp(state)
-			state.print("(")
-			state.pp(@val)
-			state.print(")")
-		end
-	end
-	class Assign
-		attr_accessor :lval,:rval
-		def initialize(lval = nil,rval = Args.new())
-			@lval,@rval = lval,rval
-		end
-		def pp(state)
-			state.pp(@lval)
-			state.print(" = ")
-			state.pp(@rval)
-		end
-	end
-	class PointerDeref
-		attr_accessor :val
-		def initialize(val)
-			@val = val
-		end
-		def pp(state)
-			state.print("*")
-			state.pp(@val)
-		end
-	end
-	class Cast
-		attr_accessor :to,:val
-		def initialize(to,val)
-			@to,@val = to,val
-		end
-		def pp(state)
-			state.print("(")
-			state.pp(@to)
-			state.print(")")
-			state.pp(@val)
-		end
-	end
-	class VarDec
-		attr_accessor :type,:name
-		def initialize(type = nil,name = nil)
-			@type,@name = type,name
-		end
-		def pp(state)
-			state.pp(@type)
-			state.print(" ")
-			state.pp(@name)
-		end
-	end
-	class Return
-		attr_accessor :val
-		def initialize(val = nil)
-			@val = val
-		end
-		def pp(state)
-			state.print("return ")
-			state.pp(@val)
-		end
-	end
-	class TraversalState
-		attr_accessor :needs_semi,:indent,:col
-		def initialize(file)
-			@file = file
-			@indent = 0
-			@not_indented = true
-			@just_endlined = true
-			@hold_points = []
-			@col = 0
-		end
-		def set_hold_point()
-			@hold_points.push(@col)
-		end
-		def wrap(col)
-			@file.print("\n")
-			@file.print(" " * col)
-			@col = col
-		end
-		def suppress_indent()
-			@not_indented = false
-		end
-		def <<()
-			@indent -= 2
-		end
-		def >>()
-			@indent += 2
-		end
-		def pp(ast)
-			return ast.pp(self) if(ast.respond_to?(:pp) &&
-			                       ast.class != String &&
-			                       ast.class != Integer)
-			self.print(ast)
-		end
-		def print(chars)
-			return print_no_split(chars) if(!chars.respond_to?(:split))
-			chars.split(/\n/,-1).each_with_index do |line,i|
-				endline() if(i != 0)
-				print_no_split(line) if(line && line.length > 0)
-			end
-		end
-		def print_no_split(chars)
-			if(@not_indented)
-				@file.print(" "*@indent)
-				@col += @indent
-				@not_indented = false
-			end
-			if(chars)
-				chars = chars.to_s
-				if(chars.length > 0)
-					@col += chars.length
-					@file.print(chars)
-					@just_endlined = false
-					@v_pad = 0
-				end
-			end
-		end
-		def endline()
-			return if(@just_endlined)
-			@file.print(";") if(@needs_semi)
-			@needs_semi = false
-			@file.print("\n")
-			@not_indented = true
-			@just_endlined = true
-			@hold_points.clear()
-			@v_pad += 1
-			@col = 0
-		end
-		def v_pad(n)
-			while(@v_pad < n)
-				force_endline()
-			end
-		end
-		def force_endline()
-			@just_endlined = false
-			endline()
-		end
-	end
-	def self.pretty_print(ast,file)
-		state = TraversalState.new(file)
-		if(ast.respond_to?(:pp_no_braces))
-			ast.pp_no_braces(state) 
-		else
-			state.pp(ast)
-		end
-	end
-end
diff --git a/aos/build/queues/load.rb b/aos/build/queues/load.rb
deleted file mode 100644
index 50d59f8..0000000
--- a/aos/build/queues/load.rb
+++ /dev/null
@@ -1,17 +0,0 @@
-$LOAD_PATH.unshift(".")
-
-["tokenizer.rb","q_file.rb","queue_group.rb","queue.rb","namespaces.rb",
- "interface.rb","errors.rb", "q_struct.rb"].each do |name|
-  require_relative "objects/" + name
-end
-["standard_types.rb","auto_gen.rb","file_pair_types.rb",
-  "dep_file_pair.rb"].each do |name|
-	require_relative "cpp_pretty_print/" + name
-end
-["q_file.rb","message_dec.rb","queue_dec.rb", "q_struct.rb"].each do |name|
-	require_relative "output/" + name
-end
-require_relative "write_iff_changed.rb"
-
-require "fileutils"
-require "pathname"
diff --git a/aos/build/queues/objects/errors.rb b/aos/build/queues/objects/errors.rb
deleted file mode 100644
index d776a22..0000000
--- a/aos/build/queues/objects/errors.rb
+++ /dev/null
@@ -1,43 +0,0 @@
-class QError < Exception
-	def initialize(msg)
-		super()
-		@msg = msg
-		@qstacktrace = []
-	end
-	def self.set_name(name)
-		@pretty_name = name
-	end
-	def self.pretty_name()
-		@pretty_name
-	end
-	def to_s
-		msg = "Error:(#{self.class.pretty_name})\n\t"
-		msg += @msg
-		msg += "\n" if(msg[-1] != "\n")
-		@qstacktrace.each do |part|
-			part = part.q_stack_name if(part.respond_to?(:q_stack_name))
-			msg += "\tfrom: #{part}\n"
-		end
-		return msg
-	end
-	set_name("Base Level Exception.")
-	attr_accessor :qstacktrace
-end
-class QSyntaxError < QError
-	def initialize(msg)
-		super(msg)
-	end
-	set_name("Syntax Error")
-end
-class QNamespaceCollision < QError
-	def initialize(msg)
-		super(msg)
-	end
-	set_name("Namespace Collision")
-end
-class QImportNotFoundError < QError
-	def initialize(msg)
-		super(msg)
-	end
-	set_name("Couldn't Find Target of Import Statement")
-end
diff --git a/aos/build/queues/objects/interface.rb b/aos/build/queues/objects/interface.rb
deleted file mode 100644
index 52332b6..0000000
--- a/aos/build/queues/objects/interface.rb
+++ /dev/null
@@ -1,69 +0,0 @@
-class MessageElementReq
-	def initialize(type,name)
-		@type = type
-		@name = name
-	end
-	def self.parse(tokens)
-		type = tokens.expect(:tWord).data
-		name = tokens.expect(:tWord).data
-		tokens.expect(:tSemi)
-		return self.new(type,name)
-	end 
-end 
-class QueueReq
-	def initialize(name,type = nil)
-		@name = name
-		@type = type
-	end
-	def self.parse(tokens)
-		type_or_name = tokens.expect(:tWord).data
-		if(tokens.peak == :tSemi)
-			tokens.expect(:tSemi)
-			return self.new(type_or_name)
-		else
-			name = tokens.expect(:tWord).data
-			tokens.expect(:tSemi)
-			return self.new(name,type_or_name)
-		end
-	end
-end
-class InterfaceStmt < QStmt
-	def initialize(name,elements)
-		@name = name
-		@elements = elements
-	end
-	def q_eval(locals)
-
-	end
-	def self.check_type(tokens,new_type,old_type)
-		return new_type if(old_type == nil)
-		if(new_type != old_type)
-			tokens.qError(<<ERROR_MSG)
-error: intermixing queue definitions (a queue_group feature)
-	and type definitions (a message_group feature)
-	this results in an undefined type value.
-	Wot. Wot.
-ERROR_MSG
-		end
-		return old_type
-	end
-	def self.parse(tokens)
-		name = tokens.expect(:tWord).data
-		values = []
-		type = nil
-		tokens.expect(:tOpenB)
-		while(tokens.peak != :tCloseB)
-			if(tokens.peak.data == "queue")
-				tokens.expect(:tWord)
-				values << QueueReq.parse(tokens)
-				type = check_type(tokens,:queue_group,type)
-			else
-				values << MessageElementReq.parse(tokens)
-				type = check_type(tokens,:message_group,type)
-			end
-		end 
-		tokens.expect(:tCloseB)
-		tokens.expect(:tSemi)
-		self.new(name,values)
-	end
-end
diff --git a/aos/build/queues/objects/namespaces.rb b/aos/build/queues/objects/namespaces.rb
deleted file mode 100644
index ea3aa80..0000000
--- a/aos/build/queues/objects/namespaces.rb
+++ /dev/null
@@ -1,211 +0,0 @@
-class LocalSituation
-	attr_accessor :globals,:local
-	def initialize(globals)
-		@globals = globals
-		@local = nil
-	end
-	def package=(qualified)
-		if(@local)
-			raise QSyntaxError.new(<<ERROR_MSG)
-You are redefining the package path.
- Stuff might break if you do that.
- Other options include: using another header file, and just using the same namespace.
- If you are confident that you need this you can remove this check at
- 	#{__FILE__}:#{__LINE__}.
- Or file a feature request.
- But that would be weird...
- Wot. Wot.
-ERROR_MSG
-		end
-		@local = @globals.space
-		qualified.names.each do |name|
-			@local = @local.get_make(name)
-		end
-	end
-	def register(value)
-		if(!@local)
-			raise QError.new(<<ERROR_MSG)
-There is no package path defined, This is a big problem because
- we are kindof expecting you to have a package path...
- use a :
-    package my_super.cool.project;
- statement to remedy this situation. (or file a feature request)
- Wot. Wot.
-ERROR_MSG
-		end
-		@local[value.name] = value
-		value.parent = @local if(value.respond_to?(:parent=))
-		value.loc = @local
-	end
-	def bind(bind_to)
-		return BoundSituation.new(self,bind_to)
-	end
-end
-class BoundSituation < LocalSituation
-	def initialize(locals,bind_to)
-		@globals = locals.globals
-		@local = bind_to
-	end
-end
-class NameSpace
-	attr_accessor :parent,:name
-	def initialize(name = nil,parent = nil)
-		@name = name
-		@parent = parent
-		@spaces = {}
-	end
-	def []=(key,val)
-		if(old_val = @spaces[key])
-			old_val = old_val.created_by if(old_val.respond_to?(:created_by) && old_val.created_by)
-			if(old_val.respond_to?(:q_stack_name))
-				old_val = old_val.q_stack_name
-			else
-				old_val = "eh, it is a #{old_val.class} thats all I know..."
-			end
-			raise QNamespaceCollision.new(<<ERROR_MSG)
-Woah! The name #{queue_name(key).inspect} is already taken by some chap at #{old_val}.
-\tFind somewhere else to peddle your wares.
-\tWot. Wot.
-ERROR_MSG
-		end
-		@spaces[key] = val
-	end
-	def to_cpp_id(name)
-		txt = @name + "::" + name
-		return @parent.to_cpp_id(txt) if(@parent && parent.name)
-		return "::" + txt
-	end
-	def queue_name(queue)
-		get_name() + "." + queue
-	end
-	def [](key)
-		#puts "getting #{get_name}.#{key}"
-		@spaces[key]
-	end
-	def get_make(name)
-		@spaces[name] ||= self.class.new(name,self)
-	end
-	def get_name()
-		if(@parent)
-			return "#{@parent.get_name}.#{@name}"
-		else
-			return "#{@name}"
-		end
-	end
-	def create(cpp_tree)
-		if(@parent && @parent.name)
-			parent = cpp_tree.get(@parent)
-		else
-			parent = cpp_tree
-		end
-		return cpp_tree.add_namespace(@name,parent)
-	end
-	def to_s()
-		"<NameSpace: #{get_name()}>"
-	end
-	def inspect()
-		"<NameSpace: #{get_name()}>"
-	end
-	def root()
-		return self if(@parent == nil)
-		return @parent.root
-	end
-end
-class Globals
-	attr_accessor :space
-	def initialize()
-		@space = NameSpace.new()
-		@space.get_make("aos")
-		@include_paths = []
-	end
-	def paths()
-		@include_paths
-	end
-	def add_path(path)
-		@include_paths << path
-	end
-	def find_file(filename)
-		@include_paths.each do |path_name|
-			new_path = File.expand_path(path_name) + "/" + filename
-			if(File.exists?(new_path))
-				return new_path 
-			end
-		end
-		raise QImportNotFoundError.new(<<ERROR_MSG)
-Problem Loading:#{filename.inspect} I looked in:
-\t#{(@include_paths.collect {|name| name.inspect}).join("\n\t")}
-\tbut alas, it was nowhere to be found.
-\tIt is popular to include the top of the repository as the include path start, 
-\tand then reference off of that. 
-\tI would suggest doing that and then trying to build again.
-\tWot. Wot.
-ERROR_MSG
-	end
-end
-class QualifiedName
-	attr_accessor :names,:off_root
-	def initialize(names,off_root = false)
-		@names = names
-		@off_root = off_root
-	end
-	def test_lookup(namespace)
-		@names.each do |name|
-			return nil if(!namespace.respond_to?(:[]))
-			namespace = namespace[name]
-			return nil if(!namespace)
-		end
-		return namespace
-	end
-	def is_simple?()
-		return !@off_root && @names.length == 1
-	end
-	def to_simple()
-		return @names[-1]
-	end
-	def to_s()
-		if(@off_root)
-			return ".#{@names.join(".")}"
-		else
-			return @names.join(".")
-		end
-	end
-	def lookup(locals)
-		if(@off_root)
-			local = locals.globals.space
-		else
-			local = locals.local
-		end
-		target = nil
-		while(!target && local)
-			target = test_lookup(local)
-			local = local.parent
-		end
-		return target if(target)
-		if(@off_root)
-			raise QError.new(<<ERROR_MSG)
-I was looking for .#{@names.join(".")}, but alas, it was not under
-\tthe root namespace.
-\tI'm really sorry old chap.
-\tWot. Wot.
-ERROR_MSG
-		else
-			raise QError.new(<<ERROR_MSG)
-I was looking for #{@names.join(".")}, but alas, I could not find
-\tit in #{locals.local.get_name} or any parent namespaces.
-\tI'm really sorry old chap.
-\tWot. Wot.
-ERROR_MSG
-		end
-	end
-	def self.parse(tokens)
-		names = []
-		off_root = (tokens.peak == :tDot)
-		tokens.next if(off_root)
-		names << tokens.expect(:tWord).data
-		while(tokens.peak == :tDot)
-			tokens.next
-			names << tokens.expect(:tWord).data
-		end
-		return self.new(names,off_root)
-	end
-end
diff --git a/aos/build/queues/objects/q_file.rb b/aos/build/queues/objects/q_file.rb
deleted file mode 100644
index f73b638..0000000
--- a/aos/build/queues/objects/q_file.rb
+++ /dev/null
@@ -1,150 +0,0 @@
-class QStmt
-	def set_line(val)
-		@file_line = val
-		return self
-	end
-	def q_stack_name()
-		@file_line
-	end
-	def self.method_added(name)
-		@wrapped ||= {}
-		return if(name != :q_eval && name != :q_eval_extern)
-		return if(@wrapped[name])
-		@wrapped[name] = true
-		method = self.instance_method(name)
-		define_method(name) do |*args,&blk|
-			begin 
-				method.bind(self).call(*args,&blk)
-			rescue QError => e
-				e.qstacktrace << self
-				raise e
-			end 
-		end 
-	end 
-
-end
-class ImportStmt < QStmt
-	def initialize(filename)
-		@filename = filename
-	end
-	def q_eval(locals)
-		filename = locals.globals.find_file(@filename)
-		#puts "importing #{filename.inspect}"
-		q_file = QFile.parse(filename)
-		q_output = q_file.q_eval_extern(locals.globals)
-		q_output.extern = true
-		return Target::QInclude.new(@filename + ".h")
-	end
-	def self.parse(tokens)
-		line = tokens.pos
-		to_import = (tokens.expect(:tString) do |token|
-			<<ERROR_MSG
-I found a #{token.humanize} at #{token.pos}.
-\tI was really looking for a "filename" for this import statement.
-\tSomething like: import "super_cool_file";
-\tWot.Wot
-ERROR_MSG
-		end).data
-		tokens.expect(:tSemi) do |token|
-			<<ERROR_MSG
-I found a #{token.humanize} at #{token.pos}.
-\tI was really looking for a ";" to finish off this import statement
-\tat line #{line};
-\tSomething like: import #{to_import.inspect};
-\tWot.Wot                #{" "*to_import.inspect.length}^
-ERROR_MSG
-		end
-		return self.new(to_import).set_line(line)
-	end
-end
-class PackageStmt < QStmt
-	def initialize(name)
-		@name = name
-	end
-	def q_eval(locals)
-		locals.package = @name
-		return nil
-	end
-	def self.parse(tokens)
-		line = tokens.pos
-		qualified_name = QualifiedName.parse(tokens)
-		tokens.expect(:tSemi)
-		return self.new(qualified_name).set_line(line)
-	end
-end
-class QFile
-	attr_accessor :namespace
-	def initialize(filename,suite)
-		@filename,@suite = filename,suite
-	end
-	def q_eval(globals = Globals.new())
-		local_pos = LocalSituation.new(globals)
-		q_file = Target::QFile.new()
-		@suite.each do |name|
-			val = name.q_eval(local_pos)
-			if(val)
-				if(val.respond_to?(:create))
-					q_file.add_type(val)
-				end
-			end
-		end
-		@namespace = local_pos.local
-		return q_file
-	end
-	def q_eval_extern(globals)
-		local_pos = LocalSituation.new(globals)
-		q_file = Target::QFile.new()
-		@suite.each do |name|
-			if(name.respond_to?(:q_eval_extern))
-				val = name.q_eval_extern(local_pos)
-			else
-				val = name.q_eval(local_pos)
-			end
-			if(val)
-				if(val.respond_to?(:create))
-					q_file.add_type(val)
-				end
-			end
-		end
-		return q_file
-	end
-	def self.parse(filename)
-		tokens = Tokenizer.new(filename)
-		suite = []
-		while(tokens.peak != :tEnd)
-			token = tokens.expect(:tWord) do |token| #symbol
-			<<ERROR_MSG
-I found a #{token.humanize} at #{token.pos}.
-\tI was really looking for a "package", "import", "queue_group",
-\t"message", or "queue" statement to get things moving.
-\tSomething like: import "super_cool_file";
-\tWot.Wot
-ERROR_MSG
-			end
-			case token.data
-			when "package"
-				suite << PackageStmt.parse(tokens)
-			when "import"
-				suite << ImportStmt.parse(tokens)
-			when "queue_group"
-				suite << QueueGroupStmt.parse(tokens)
-			when "message"
-				suite << MessageStmt.parse(tokens)
-			when "queue"
-				suite << QueueStmt.parse(tokens)
-			when "interface"
-				suite << InterfaceStmt.parse(tokens)
-			when "struct"
-				suite << StructStmt.parse(tokens)
-			else
-				tokens.qError(<<ERROR_MSG)
-expected a "package","import","queue","struct","queue_group", or "message" statement rather
-	than a #{token.data.inspect}, (whatever that is?)
-	oh! no! a feature request!?
-	Wot. Wot.
-ERROR_MSG
-			end
-		end
-		return self.new(filename,suite)
-	end
-end
diff --git a/aos/build/queues/objects/q_struct.rb b/aos/build/queues/objects/q_struct.rb
deleted file mode 100644
index cd47fe6..0000000
--- a/aos/build/queues/objects/q_struct.rb
+++ /dev/null
@@ -1,37 +0,0 @@
-
-class StructStmt 
-	def initialize(name,suite)
-		@name = name
-		@suite = suite
-	end
-	def q_eval(locals)
-		group = Target::StructDec.new(@name)
-		locals.register(group)
-		@suite.each do |stmt|
-			stmt.q_eval(locals.bind(group))
-		end 
-		return group
-	end
-	def self.parse(tokens)
-		name = tokens.expect(:tWord).data
-		values = []
-		tokens.expect(:tOpenB)
-		while(tokens.peak != :tCloseB)
-			values << MessageElementStmt.parse(tokens)
-		end
-		names = {}
-		values.each do |val|
-			if(names[val.name])
-				raise QSyntaxError.new(<<ERROR_MSG)
-Hey! duplicate name #{val.name.inspect} in your message declaration statement (message #{name}).
-\tI found them at: #{names[val.name].q_stack_name()} and #{val.q_stack_name()}.
-\tWot. Wot.
-ERROR_MSG
-			end
-			names[val.name] = val
-		end
-		tokens.expect(:tCloseB)
-		tokens.expect(:tSemi)
-		self.new(name,values)
-	end
-end
diff --git a/aos/build/queues/objects/queue.rb b/aos/build/queues/objects/queue.rb
deleted file mode 100644
index 7841411..0000000
--- a/aos/build/queues/objects/queue.rb
+++ /dev/null
@@ -1,173 +0,0 @@
-class MessageElementStmt < QStmt
-	attr_accessor :name
-	def initialize(type_name,name,length = nil) #lengths are for arrays
-		@type_name = type_name
-		@type = type_name.to_s
-    @type = '::aos::monotonic_clock::time_point' if @type == 'Time'
-		@name = name
-		@length = length
-	end
-	CommonMistakes = {"short" => "int16_t","int" => "int32_t","long" => "int64_t","time" => "Time"}
-	def check_type_error(locals)
-		if(!(Sizes[@type] || (@length != nil && @type == "char")) )
-			if(correction = CommonMistakes[@type])
-				raise QError.new(<<ERROR_MSG)
-Hey! you have a \"#{@type}\" in your message statement.
-\tplease use #{correction} instead. Your type is not supported because we
-\twant to guarantee that the sizes of the messages stay the same across platforms.
-\tWot. Wot.
-ERROR_MSG
-			elsif(@type == "char")
-				raise QError.new(<<ERROR_MSG)
-Hey! you have a \"#{@type}\" in your message statement.
-\tyou need your declaration to be a char array like: char[10].
-\tor, please use int8_t or uint8_t.
-\tWot. Wot.
-ERROR_MSG
-			else
-				@is_struct_type = true
-				return if(lookup_type(locals))
-				raise QError.new(<<ERROR_MSG)
-Hey! you have a \"#{@type}\" in your message statement.
-\tThat is not in the list of supported types.
-\there is the list of supported types:
-\tint{8,16,32,64}_t,uint{8,16,32,64}_t,bool,float,double
-\tWot. Wot.
-ERROR_MSG
-			end
-		end
-	end
-
-	PrintFormat = {"bool" => "%c",
-                       "float" => "%f",
-                       "char" => "%c",
-                       "double" => "%f",
-                       "uint8_t" => "%\" PRIu8 \"",
-                       "uint16_t" => "%\" PRIu16 \"",
-                       "uint32_t" => "%\" PRIu32 \"",
-                       "uint64_t" => "%\" PRIu64 \"",
-                       "int8_t" => "%\" PRId8 \"",
-                       "int16_t" => "%\" PRId16 \"",
-                       "int32_t" => "%\" PRId32 \"",
-                       "int64_t" => "%\" PRId64 \"",
-                       "::aos::monotonic_clock::time_point" => "\" AOS_TIME_FORMAT \""}
-        def toPrintFormat()
-		if(format = PrintFormat[@type])
-			return format;
-		end
-		raise QError.new(<<ERROR_MSG)
-Somehow this slipped past me, but
-\tI couldn't find the print format of #{@type}. Really, my bad.
-\tWot. Wot.
-ERROR_MSG
-	end
-
-	Sizes = {"bool" => 1, "float" => 4,"double" => 8,"::aos::monotonic_clock::time_point" => 8}
-	[8,16,32,64].each do |len|
-		Sizes["int#{len}_t"] = len / 8
-		Sizes["uint#{len}_t"] = len / 8
-	end
-	Zero = {"float" => "0.0f","double" => "0.0","bool" => "false","::aos::monotonic_clock::time_point" => "::aos::monotonic_clock::epoch()"}
-	def size()
-		if(size = Sizes[@type]); return size; end
-		return 1 if(@type == "char")
-		raise QError.new(<<ERROR_MSG)
-Somehow this slipped past me, but
-\tI couldn't find the size of #{@type}. Really, my bad.
-\tWot. Wot.
-ERROR_MSG
-	end
-	def lookup_type(locals)
-		return @type_name.lookup(locals)
-	end
-	def q_eval(locals)
-		check_type_error(locals)
-		if(@is_struct_type)
-			tval = lookup_type(locals)
-			member = Target::MessageStructElement.new(tval, @name)
-      if (@length != nil)
-        inner_member = member
-        member = Target::MessageArrayElement.new(inner_member, @length)
-      end
-		else
-			member = Target::MessageElement.new(@type,@name)
-			member.size = size()
-			member.zero = Zero[@type] || "0";
-			member.printformat = toPrintFormat()
-
-			if(@length != nil)
-        inner_member = member
-				member = Target::MessageArrayElement.new(inner_member,@length)
-			end
-		end
-		locals.local.add_member(member)
-	end
-	def self.parse(tokens)
-		line = tokens.pos
-		#type = tokens.expect(:tWord).data
-		type_name = QualifiedName.parse(tokens)
-		len = nil
-		if(tokens.peak == :tOpenB)
-			tokens.expect(:tOpenB)
-			len = tokens.expect(:tNumber).data
-			tokens.expect(:tCloseB)
-		end
-		name = tokens.expect(:tWord).data
-		tokens.expect(:tSemi)
-		return self.new(type_name,name,len).set_line(line)
-	end
-end
-class MessageStmt < QStmt
-	def initialize(name,suite)
-		@name = name
-		@suite = suite
-	end
-	def q_eval(locals)
-		group = Target::MessageDec.new(@name)
-		locals.register(group)
-		@suite.each do |stmt|
-			stmt.q_eval(locals.bind(group))
-		end 
-		return group
-	end
-	def self.parse(tokens)
-		name = tokens.expect(:tWord).data
-		values = []
-		tokens.expect(:tOpenB)
-		while(tokens.peak != :tCloseB)
-			values << MessageElementStmt.parse(tokens)
-		end
-		names = {}
-		values.each do |val|
-			if(names[val.name])
-				raise QSyntaxError.new(<<ERROR_MSG)
-Hey! duplicate name #{val.name.inspect} in your message declaration statement (message #{name}).
-\tI found them at: #{names[val.name].q_stack_name()} and #{val.q_stack_name()}.
-\tWot. Wot.
-ERROR_MSG
-			end
-			names[val.name] = val
-		end
-		tokens.expect(:tCloseB)
-		tokens.expect(:tSemi)
-		self.new(name,values)
-	end
-end
-class QueueStmt < QStmt
-	def initialize(type,name)
-		@type,@name = type,name
-	end
-	def q_eval(locals)
-		queue = Target::QueueDec.new(@type.lookup(locals),@name)
-		locals.register(queue)
-		locals.local.add_queue(queue) if(locals.local.respond_to?(:add_queue))
-		return queue
-	end
-	def self.parse(tokens)
-		line = tokens.pos
-		type_name = QualifiedName.parse(tokens)
-		name = tokens.expect(:tWord).data
-		tokens.expect(:tSemi)
-		return self.new(type_name,name).set_line(line)
-	end
-end
diff --git a/aos/build/queues/objects/queue_group.rb b/aos/build/queues/objects/queue_group.rb
deleted file mode 100644
index 136834f..0000000
--- a/aos/build/queues/objects/queue_group.rb
+++ /dev/null
@@ -1,115 +0,0 @@
-class QueueGroupTypeStmt < QStmt
-	def initialize(name,suite)
-		@name,@suite = name,suite
-	end
-	def q_eval(locals)
-		group = Target::QueueGroupDec.new(@name)
-		group.created_by = self
-		locals.register(group)
-		@suite.each do |stmt|
-			stmt.q_eval(locals.bind(group))
-		end
-		return group
-	end
-end
-class ImplementsStmt < QStmt
-	def initialize(name)
-		@name = name
-	end
-	def q_eval(locals)
-
-	end
-	def self.parse(tokens)
-		name = QualifiedName.parse(tokens)
-		tokens.expect(:tSemi)
-		return self.new(name)
-	end
-end
-class QueueGroupStmt < QStmt
-	def initialize(type,name)
-		@type,@name = type,name
-	end
-	def q_eval(locals)
-		group = Target::QueueGroup.new(@type.lookup(locals),@name)
-		group.created_by = self
-		locals.register(group)
-		return group
-	end
-	def self.parse(tokens)
-		line = tokens.pos
-		type_name = QualifiedName.parse(tokens)
-		if(type_name.names.include?("queue_group"))
-			tokens.qError(<<ERROR_MSG)
-I was looking at the identifier you gave 
-\tfor the queue group type between line #{line} and #{tokens.pos}
-\tThere shouldn't be a queue_group type called queue_group
-\tor including queue_group in it's path, it is a reserved keyword.
-\tWot. Wot.
-ERROR_MSG
-		end
-		if(tokens.peak == :tOpenB)
-			if(type_name.is_simple?())
-				type_name = type_name.to_simple
-			else
-				tokens.qError(<<ERROR_MSG)
-You gave the name: "#{type_name.to_s}" but you're only allowed to 
-\thave simple names like "#{type_name.names[-1]}" in queue_group definitions
-\ttry something like:
-\tqueue_group ControlLoop { }
-\tWot. Wot.
-ERROR_MSG
-			end
-			tokens.expect(:tOpenB)
-			suite = []
-			while(tokens.peak != :tCloseB)
-				token = tokens.expect(:tWord) do |token|
-					<<ERROR_MSG
-I'm a little confused, I found a #{token.humanize} at #{token.pos}
-\tbut what I really wanted was an identifier signifying a nested 
-\tmessage declaration, or queue definition, or an impliments statement.
-\tWot.Wot
-ERROR_MSG
-				end
-				case token.data
-				when "message"
-					suite << MessageStmt.parse(tokens)
-				when "queue"
-					suite << QueueStmt.parse(tokens)
-				when "implements"
-					suite << ImplementsStmt.parse(tokens)
-				else
-					tokens.qError(<<ERROR_MSG)
-expected a "queue","implements" or "message" statement rather
-\tthan a #{token.data.inspect}.
-\tWot. Wot.
-ERROR_MSG
-				end 
-			end
-			tokens.expect(:tCloseB)
-			obj = QueueGroupTypeStmt.new(type_name,suite).set_line(line)
-		else
-			name = (tokens.expect(:tWord) do |token|
-				<<ERROR_MSG
-I found a #{token.humanize} at #{token.pos}
-\tbut I was in the middle of parsing a queue_group statement, and
-\twhat I really wanted was an identifier to store the queue group.
-\tSomething like: queue_group control_loops.Drivetrain my_cool_group;
-\tWot.Wot
-ERROR_MSG
-			end).data
-			obj = QueueGroupStmt.new(type_name,name).set_line(line)
-			if(tokens.peak == :tDot)
-				tokens.qError(<<ERROR_MSG)
-Hey! It looks like you're trying to use a complex identifier at: #{tokens.pos}
-\tThats not going to work. Queue Group definitions have to be of the form:
-\tqueue_group ComplexID SimpleID
-\tWot. Wot.
-ERROR_MSG
-			end	
-		end
-		tokens.expect(:tSemi) do |token|
-			token.pos
-		end
-		return obj
-	end
-end
diff --git a/aos/build/queues/objects/tokenizer.rb b/aos/build/queues/objects/tokenizer.rb
deleted file mode 100644
index 2a33b90..0000000
--- a/aos/build/queues/objects/tokenizer.rb
+++ /dev/null
@@ -1,213 +0,0 @@
-class BufferedReader
-	def initialize(file)
-		@file = file
-		@line = 1
-		@chars = []
-		@col_nums = []
-		@col = 0
-	end
-	def filename
-		return File.basename(@file.path)
-	end
-	def pos()
-		"#{filename()}:#{lineno()},#{@col}"
-	end
-	def clear_comment()
-		@file.gets
-		@line += 1
-	end
-	def lineno()
-		return @line
-		return @file.lineno + 1
-	end
-	def pop_char()
-		val = @chars.pop() || @file.read(1)
-		@col_nums[@line] = @col += 1
-		if(val == "\n")
-			@line += 1
-			@col = 0
-		end
-
-		return val
-	end
-	def unpop_char(char)
-		if(char == "\n")
-			@line -= 1
-			@col = @col_nums[@line]
-		end
-		@col -= 1
-		@chars.push(char)
-	end
-end
-class Tokenizer
-	TOKEN_TYPES = {"{" => :tOpenB,"}"=> :tCloseB,";" => :tSemi,"," => :tComma,
-		"(" => :tOpenParan,")" => :tCloseParan,"=" => :tAssign,"." => :tDot,
-		"<<"=> :tLShift,"*" => :tMult,"+" => :tAdd,"[" => :tOpenB,
-		"]" => :tCloseB}
-	Humanize = TOKEN_TYPES.invert
-	class Token
-		attr_accessor :type,:data,:pos
-		def to_s
-			if(@type == :tString)
-				val = @data.inspect.to_s
-			elsif(@type == :tWord)
-				val = @data.to_s
-			else
-				val = @data.to_s
-			end
-			return "#{val.ljust(50)}:#{@type}"
-		end
-		def humanize()
-			if(@type == :tString)
-				return "#{@data.inspect.to_s} string"
-			elsif(@type == :tWord)
-				return "#{@data.inspect} identifier"
-			end
-			return Humanize[@type].inspect
-		end
-		def inspect()
-			data = ""
-			data = " #{@data.inspect}" if(@data)
-			"<Token :#{@type}#{data} at #{@pos}>"
-		end
-		def ==(other)
-			if(other.class == Symbol)
-				return @type == other
-			elsif(other.class == self.class)
-				return @type == other.type && @data == other.data
-			else
-				return nil
-			end
-		end
-	end
-	def initialize(file)
-		file = File.open(file,"r") if(file.class == String)
-		@read = BufferedReader.new(file)
-	end
-	def qError(error)
-		syntax_error(error)
-	end
-	def syntax_error(msg)
-		err = QSyntaxError.new(msg)
-		err.qstacktrace << "#{@read.lineno} of #{@read.filename}"
-		raise err
-	end
-	def peak_token()
-		@peak_token = next_token()
-	end
-	def peak()
-		peak_token()
-	end
-	def next()
-		next_token()
-	end
-	def pos()
-		@read.pos
-	end
-	def tokenize(string_token)
-		token = Token.new()
-		token.type = TOKEN_TYPES[string_token]
-		return token
-	end
-	def next_token()
-		if(token = @peak_token)
-			@peak_token = nil
-			return token
-		end
-		token = next_token_cache()
-		pos = self.pos()
-		token.pos = pos
-		return token
-	end
-	def next_token_cache()
-		token = Token.new()
-		token.data = ""
-		while (char = @read.pop_char())
-			#puts "#{char.inspect}:#{token.inspect}"
-			if(char == "/")
-				if(@read.pop_char == "/")
-					@read.clear_comment()
-				else
-					syntax_error("unexpected #{char.inspect}")
-				end
-			elsif(char == "#")
-				@read.clear_comment()
-			elsif(char =~ /[\s\r\n]/)
-				if(token.type)
-					return token
-				end
-			elsif(char =~ /\"/)
-				token.type = :tString
-				token.data = ""
-				while((char = @read.pop_char) != "\"")
-					token.data += char
-				end
-				return token
-			elsif(char =~ /[1-9]/)
-				token.type = :tNumber
-				token.data = char.to_i
-				while(char != ".")
-					char = @read.pop_char
-					if(char =~ /[0-9]/)
-						token.data = char.to_i + token.data * 10
-					elsif(char == ".")
-					else
-						@read.unpop_char(char)
-						return token
-					end
-				end
-				second_char = 0
-				man = 0
-				while(true)
-					char = @read.pop_char
-					if(char =~ /[0-9]/)
-						second_char = char.to_i + second_char * 10
-						man = man * 10
-					else
-						@read.unpop_char(char)
-						token.data += second_char / man.to_f
-						return token
-					end
-				end
-			elsif(char == ":")
-				if(@read.pop_char == "=")
-					return tokenize(":=")
-				end
-				syntax_error("unexpected \":\"")
-			elsif(char =~ /[;\{\}=()\",\*\+\.\[\]]/)
-				return(tokenize(char))
-			elsif(char =~ /[a-zA-Z_]/)
-				token.type = :tWord
-				token.data = char
-				while(true)
-					char = @read.pop_char()
-					if(char && char =~ /\w/)
-						token.data += char
-					else
-						@read.unpop_char(char)
-						return token
-					end
-				end
-			elsif(char == "<")
-				if((char = @read.pop_char()) == "<")
-					return tokenize("<<")
-				else
-					@read.unpop_char(char)
-					return tokenize("<")
-				end
-			else
-				syntax_error("unexpected #{char.inspect}")
-			end
-		end
-		token.type = :tEnd
-		return token
-	end
-	def expect(type,&blk)
-		token = self.next
-		if(token != type)
-			syntax_error(blk.call(token)) if(blk)
-			syntax_error("unexpected: #{token.type}")
-		end
-		return token
-	end
-end
diff --git a/aos/build/queues/output/message_dec.rb b/aos/build/queues/output/message_dec.rb
deleted file mode 100644
index 0f5694a..0000000
--- a/aos/build/queues/output/message_dec.rb
+++ /dev/null
@@ -1,434 +0,0 @@
-begin
-  require "sha1"
-rescue LoadError
-  require "digest/sha1"
-end
-
-class Target::StructBase < Target::Node
-  def create_DoGetType(type_class, cpp_tree)
-    member_func = CPP::MemberFunc.new(type_class,"const ::aos::MessageType*","DoGetType")
-    member_func.static = true
-    fields = []
-    register_members = []
-    @members.each do |member|
-      tId = member.getTypeID()
-      fieldName = member.name.inspect
-      if(member.respond_to?(:add_TypeRegister))
-        register_members.push(member)
-      end
-      fields << "new ::aos::MessageType::Field{#{tId}, #{member.respond_to?(:length) ? member.length : 0}, #{fieldName}}"
-    end
-    register_members.uniq do |member|
-      member.type
-    end.each do |member|
-      member.add_TypeRegister(cpp_tree, type_class, member_func)
-    end
-    id = getTypeID()
-    member_func.suite << ("static const ::aos::MessageType kMsgMessageType(#{type_class.parent_class ? type_class.parent_class + '::Size()' : 0}, #{id}, #{(@loc.respond_to?(:queue_name) ? @loc.queue_name(@name) : "#{@loc.get_name()}.#{@name}").inspect}, {" +
-                          "#{fields.join(", ")}})");
-                          type_class.add_member(member_func)
-                          member_func.suite << "::aos::type_cache::Add(kMsgMessageType)"
-                          member_func.suite << CPP::Return.new("&kMsgMessageType")
-  end
-  def create_InOrderConstructor(type_class, cpp_tree)
-    if @members.empty?
-      return
-    end
-    cons = CPP::Constructor.new(type_class)
-    type_class.add_member(cons)
-    @members.each do |member|
-      if member.respond_to?(:type_name)
-        type_name = "#{member.type_name(cpp_tree)} #{member.name}_in"
-      else
-        type_name = member.create_usage(cpp_tree, "#{member.name}_in")
-      end
-
-      cons.args << type_name
-      cons.add_cons(member.name, member.name + '_in')
-    end
-  end
-  def create_DefaultConstructor(type_class, cpp_tree)
-    cons = CPP::Constructor.new(type_class)
-    type_class.add_member(cons)
-    cons.add_cons(type_class.parent_class) if type_class.parent_class
-    cons.suite << CPP::FuncCall.build('Zero')
-  end
-  def create_Zero(type_class,cpp_tree)
-    member_func = CPP::MemberFunc.new(type_class,"void","Zero")
-    type_class.add_member(member_func)
-    @members.each do |elem|
-      elem.zeroCall(member_func.suite)
-    end
-    member_func.suite << CPP::FuncCall.new(type_class.parent_class + '::Zero') if type_class.parent_class
-  end
-  def create_Size(type_class,cpp_tree)
-    member_func = CPP::MemberFunc.new(type_class,"size_t","Size")
-    member_func.inline = true
-    member_func.static = true
-    type_class.add_member(member_func.forward_dec)
-    size = 0
-    @members.each do |elem|
-      size += elem.size
-    end
-    if type_class.parent_class
-      member_func.suite << CPP::Return.new(CPP::Add.new(size,
-                                                        "#{type_class.parent_class}::Size()"))
-    else
-      member_func.suite << CPP::Return.new(size)
-    end
-  end
-  def create_Serialize(type_class,cpp_tree)
-    member_func = CPP::MemberFunc.new(type_class,"size_t","Serialize")
-    type_class.add_member(member_func)
-    member_func.args << "char *buffer"
-    member_func.suite << "#{type_class.parent_class}::Serialize(buffer)" if type_class.parent_class
-    member_func.const = true
-    offset = type_class.parent_class ? type_class.parent_class + '::Size()' : '0'
-    @members.each do |elem|
-      elem.toNetwork(offset,member_func.suite)
-      offset += " + #{elem.size}";
-    end
-    member_func.suite << CPP::Return.new(CPP::FuncCall.new('Size'))
-  end
-  def create_Deserialize(type_class,cpp_tree)
-    member_func = CPP::MemberFunc.new(type_class,"size_t","Deserialize")
-    type_class.add_member(member_func)
-    member_func.args << "const char *buffer"
-    member_func.suite << "#{type_class.parent_class}::Deserialize(buffer)" if type_class.parent_class
-    offset = type_class.parent_class ? type_class.parent_class + '::Size()' : '0'
-    @members.each do |elem|
-      elem.toHost(offset,member_func.suite)
-      offset += " + #{elem.size}";
-    end
-    member_func.suite << CPP::Return.new(CPP::FuncCall.new('Size'))
-  end
-  def create_EqualsNoTime(type_class,cpp_tree)
-    member_func = CPP::MemberFunc.new(type_class,"bool","EqualsNoTime")
-    member_func.const = true
-    type_class.add_member(member_func)
-    member_func.args << "const #{type_class.name} &other"
-    member_func.suite << "if (!#{type_class.parent_class}::EqualsNoTime(other)) return false;" if type_class.parent_class
-    @members.each do |elem|
-      if elem.respond_to? :create_EqualsNoTime
-        member_func.suite << "if (!other.#{elem.name}.EqualsNoTime(#{elem.name})) return false;"
-      elsif elem.respond_to?(:length) && elem.member_type.respond_to?(:create_EqualsNoTime)
-        0.upto(elem.length - 1) do |i|
-          member_func.suite << "if (!other.#{elem.name}[#{i}].EqualsNoTime(#{elem.name}[#{i}])) return false;"
-        end
-      else
-        member_func.suite << "if (other.#{elem.name} != #{elem.name}) return false;"
-      end
-    end
-    member_func.suite << CPP::Return.new('true')
-  end
-  def simpleStr()
-    return "{\n" + @members.collect() { |elem| elem.simpleStr() + "\n"}.join("") + "}"
-  end
-  def getTypeID()
-    return "0x" + (((Digest::SHA1.hexdigest(simpleStr())[0..3].to_i(16)) << 16) | size).to_s(16)
-  end
-  def add_member(member)
-    @members << member
-  end
-  def size()
-    return @size if(@size)
-    @size = 0
-    @members.each do |elem|
-      @size += elem.size
-    end
-    return @size
-  end
-end
-
-class Target::MessageDec < Target::StructBase
-  attr_accessor :name,:loc,:parent,:msg_hash
-  def initialize(name)
-    @name = name
-    @members = []
-  end
-  def extern=(value)
-    @extern=value
-  end
-  def get_name()
-    if(@parent)
-      return "#{@parent.get_name}.#{@name}"
-    else
-      return "#{@name}"
-    end
-  end
-  def create_Print(type_class,cpp_tree)
-    member_func = CPP::MemberFunc.new(type_class,"size_t","Print")
-    type_class.add_member(member_func)
-    member_func.args << "char *buffer"
-    member_func.args << "size_t length"
-    member_func.const = true
-    format = "\""
-    args = []
-    @members.each do |elem|
-      format += ", "
-      format += elem.toPrintFormat()
-      elem.fetchPrintArgs(args)
-    end
-    format += "\""
-    member_func.suite << "size_t super_size = ::aos::Message::Print(buffer, length)"
-    member_func.suite << "buffer += super_size"
-    member_func.suite << "length -= super_size"
-    if !args.empty?
-      member_func.suite << "return super_size + snprintf(buffer, length, " + ([format] + args).join(", ") + ")";
-    else
-      # snprintf will return zero.
-      member_func.suite << "return super_size"
-    end
-  end
-  def create_GetType(type_class, cpp_tree)
-    member_func = CPP::MemberFunc.new(type_class,"const ::aos::MessageType*","GetType")
-    type_class.add_member(member_func)
-    member_func.static = true
-    member_func.suite << "static ::aos::Once<const ::aos::MessageType> getter(#{type_class.name}::DoGetType)"
-    member_func.suite << CPP::Return.new("getter.Get()")
-  end
-  def self.builder_loc(loc)
-    return @builder_loc if(@builder_loc)
-    return @builder_loc = loc.root.get_make("aos")
-  end
-  def type_name(builder_loc,name)
-    if(builder_loc == @loc) #use relative name
-      return name
-    else #use full name
-      return @loc.to_cpp_id(name)
-    end
-  end
-  def create(cpp_tree)
-    return self if(@extern)
-    orig_namespace = namespace = cpp_tree.get(@loc)
-    name = ""
-    if(namespace.class < Types::Type) #is nested
-      name = namespace.name + "_" + name
-      namespace = namespace.space
-    end
-    type_class = namespace.add_struct(name + @name)
-    if(name.length > 0)
-      orig_namespace.add_member(:public, Types::TypeDef.new(type_class,@name))
-    end
-    cpp_tree.set(self,type_class)
-    type_class.set_parent("public ::aos::Message")
-    ts = self.simpleStr()
-    self.msg_hash = "0x#{Digest::SHA1.hexdigest(ts)[-8..-1]}"
-    type_class.add_member("enum {kQueueLength = 100, kHash = #{self.msg_hash}}")
-    @members.each do |elem|
-      type_class.add_member(elem.create_usage(cpp_tree))
-    end
-
-    create_Serialize(type_class,cpp_tree)
-    create_Deserialize(type_class,cpp_tree)
-    create_Zero(type_class,cpp_tree)
-    create_Size(type_class,cpp_tree)
-    create_Print(type_class,cpp_tree)
-    create_GetType(type_class, cpp_tree)
-    create_DoGetType(type_class, cpp_tree)
-    create_DefaultConstructor(type_class, cpp_tree)
-    create_InOrderConstructor(type_class, cpp_tree)
-    create_EqualsNoTime(type_class, cpp_tree)
-
-    b_namespace = cpp_tree.get(b_loc = self.class.builder_loc(@loc))
-
-    template = b_namespace.add_template("MessageBuilder")
-    template.spec_args << t = @loc.to_cpp_id(@name)
-    msg_ptr_t = "ScopedMessagePtr< #{t}>"
-    msg_bld_t = "MessageBuilder< #{t}>"
-    template.add_member(:private,"#{msg_ptr_t} msg_ptr_")
-    template.add_member(:private,"#{msg_bld_t}(const #{msg_bld_t}&)")
-    template.add_member(:private,"void operator=(const #{msg_bld_t}&)")
-    template.add_member(:private,"friend class ::aos::Queue< #{t}>")
-
-    cons = CPP::Constructor.new(template)
-    template.add_member(:private,cons)
-    cons.args << "RawQueue *queue"
-    cons.args << "#{t} *msg"
-    cons.add_cons("msg_ptr_","queue","msg")
-    template.public
-    DefineMembers(cpp_tree, template, msg_bld_t)
-  end
-  def DefineMembers(cpp_tree, template, msg_bld_t) 
-    send = template.def_func("bool","Send")
-    send.suite << CPP::Return.new("msg_ptr_.Send()")
-    @members.each do |elem|
-=begin
-      MessageBuilder<frc971::control_loops::Drivetrain::Goal> &steering(
-              double steering) {
-            msg_ptr_->steering = steering;
-              return *this;
-              }
-=end
-      setter = template.def_func(msg_bld_t,"&#{elem.name}")
-        setter.args << elem.create_usage(cpp_tree)
-      elem.set_message_builder(setter.suite)
-      setter.suite << CPP::Return.new("*this")
-
-    end
-  end
-end
-class Target::MessageElement < Target::Node
-  attr_accessor :name,:loc,:size,:zero,:type,:printformat
-  def initialize(type,name)
-    @type,@name = type,name
-  end
-  def type()
-    return @type
-  end
-  def type_name(cpp_tree)
-    return type()
-  end
-  def toPrintFormat()
-    return printformat
-  end
-  def create_usage(cpp_tree, this_name=nil)
-    if (this_name == nil)
-      this_name = @name
-    end
-    "#{@type} #{this_name}"
-  end
-  def toNetwork(offset,suite, parent = "", this_name=nil)
-    if (this_name == nil)
-      this_name = @name
-    end
-    suite << f_call = CPP::FuncCall.build("to_network",
-                                          "&#{parent}#{this_name}",
-                                          "&buffer[#{offset}]")
-    f_call.args.dont_wrap = true
-  end
-  def toHost(offset,suite, parent = "", this_name=nil)
-    if (this_name == nil)
-      this_name = @name
-    end
-    suite << f_call = CPP::FuncCall.build("to_host",
-                                          "&buffer[#{offset}]",
-                                          "&#{parent}#{this_name}")
-                                            f_call.args.dont_wrap = true
-  end
-  def getTypeID()
-    '0x' + ((Digest::SHA1.hexdigest(@type)[0..3].to_i(16) << 16) |
-            0x2000 | # marks it as primitive
-            size).to_s(16)
-  end
-  def simpleStr()
-    "#{@type} #{@name}"
-  end
-  def set_message_builder(suite, this_name=nil)
-    this_name ||= @name
-    suite << "msg_ptr_->#{this_name} = #{this_name}"
-  end
-
-  def zeroCall(suite, parent = "", this_name=nil)
-    if (this_name == nil)
-      this_name = @name
-    end
-    suite << CPP::Assign.new(parent + this_name,@zero)
-  end
-  def fetchPrintArgs(args, parent = "", this_name=nil)
-    if (this_name == nil)
-      this_name = @name
-    end
-    if (@type == 'bool')
-      args.push("#{parent}#{this_name} ? 'T' : 'f'")
-    elsif (@type == '::aos::monotonic_clock::time_point')
-      args.push(["AOS_TIME_ARGS(static_cast<int32_t>(",
-                 "::std::chrono::duration_cast<::std::chrono::seconds>(",
-                 "#{parent}#{this_name}.time_since_epoch()).count()), ",
-                 "static_cast<uint32_t>(::std::chrono::duration_cast<::std::chrono::nanoseconds>(",
-                 "#{parent}#{this_name}.time_since_epoch() - ",
-                 "::std::chrono::duration_cast<::std::chrono::seconds>(",
-                 "#{parent}#{this_name}.time_since_epoch())).count()))"].join(''))
-    else
-      args.push("#{parent}#{this_name}")
-    end
-  end
-end
-class Target::MessageArrayElement < Target::Node
-  attr_accessor :loc, :length
-  def initialize(type,length)
-    @type,@length = type,length
-  end
-  def zero()
-    return @type.zero()
-  end
-  def name()
-    return @type.name()
-  end
-
-  def add_TypeRegister(*args)
-    if @type.respond_to?(:add_TypeRegister)
-      @type.add_TypeRegister(*args)
-    end
-  end
-
-  def toPrintFormat()
-    return ([@type.toPrintFormat] * @length).join(", ")
-  end
-  def create_usage(cpp_tree, this_name=nil)
-    if (this_name == nil)
-      this_name = name
-    end
-    return "::std::array< #{@type.type_name(cpp_tree)}, #{@length}> #{this_name}"
-  end
-  def type()
-    return "::std::array< #{@type.type()}, #{@length}>"
-  end
-  def member_type()
-    return @type
-  end
-  def simpleStr()
-    return "#{@type.type} #{@name}[#{@length}]"
-  end
-  def getTypeID()
-    return @type.getTypeID()
-  end
-  def size()
-    return @type.size * @length
-  end
-  def toNetwork(offset, suite, parent="", this_name=nil)
-    if (this_name == nil)
-      this_name = name
-    end
-    offset = (offset == 0) ? "" : "#{offset} + "
-    for_loop_var = getForLoopVar()
-    suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++")
-    @type.toNetwork("#{offset} (#{for_loop_var} * #{@type.size})", for_stmt.suite, parent, "#{this_name}[#{for_loop_var}]")
-  end
-  def toHost(offset, suite, parent="", this_name=nil)
-    if (this_name == nil)
-      this_name = name
-    end
-    offset = (offset == 0) ? "" : "#{offset} + "
-    for_loop_var = getForLoopVar()
-    suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++")
-    @type.toHost("#{offset} (#{for_loop_var} * #{@type.size})", for_stmt.suite, parent, "#{this_name}[#{for_loop_var}]")
-  end
-  def set_message_builder(suite, this_name=nil)
-    if (this_name == nil)
-      this_name = name
-    end
-
-    for_loop_var = getForLoopVar()
-    suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++")
-    @type.set_message_builder(for_stmt.suite, "#{this_name}[#{for_loop_var}]")
-  end
-  def zeroCall(suite, parent="", this_name=nil)
-    if (this_name == nil)
-      this_name = name
-    end
-
-    offset = (offset == 0) ? "" : "#{offset} + "
-    for_loop_var = getForLoopVar()
-    suite << for_stmt = CPP::For.new("int #{for_loop_var} = 0","#{for_loop_var} < #{@length}","#{for_loop_var}++")
-    @type.zeroCall(for_stmt.suite, parent, "#{this_name}[#{for_loop_var}]")
-  end
-  def fetchPrintArgs(args, parent = "", this_name=nil)
-    if (this_name == nil)
-      this_name = name
-    end
-    for i in 0..(@length-1)
-      @type.fetchPrintArgs(args, parent, "#{this_name}[#{i}]")
-    end
-  end
-end
diff --git a/aos/build/queues/output/q_file.rb b/aos/build/queues/output/q_file.rb
deleted file mode 100644
index 3bbdaed..0000000
--- a/aos/build/queues/output/q_file.rb
+++ /dev/null
@@ -1,200 +0,0 @@
-begin
-  require "sha1"
-rescue LoadError
-  require "digest/sha1"
-end
-
-$i = 0
-def getForLoopVar()
-  $i = $i + 1
-  return "_autogen_index_#{$i}"
-end
-
-module Target
-end
-class Target::Node
-	attr_accessor :created_by
-	def get_name()
-		if(@parent)
-			return "#{@parent.get_name}.#{@name}"
-		else
-			return "#{@name}"
-		end 
-	end
-end
-class Target::QFile < Target::Node
-	def initialize() #needs to know repo_path, 
-		@class_types = []
-	end
-	def add_type(type)
-		@class_types << type
-	end
-	def extern=(value)
-		@class_types.each do |type|
-			type.extern=value
-		end
-	end
-	def make_cpp_tree(rel_path)
-		cpp_tree = DepFilePair.new(rel_path)
-		cpp_tree.add_header_include("<array>")
-		cpp_tree.add_header_include("\"aos/macros.h\"")
-		cpp_tree.add_header_include("\"aos/queue.h\"")
-		@class_types.each do |type|
-			cpp_tree.get(type)
-		end
-		return cpp_tree
-	end
-end
-class Target::QInclude < Target::Node
-	def initialize(path)
-		@path = path
-	end
-	def extern=(value)
-		@extern=value
-	end
-	def create(cpp_tree)
-		return if (@extern)
-#		inc = cpp_tree.header.add_include("\"#{@path}\"")
-		inc = cpp_tree.add_header_include("\"#{@path}\"")
-		cpp_tree.set(self,inc)
-	end
-end
-class Target::QueueGroupDec < Target::Node
-	attr_accessor :name,:loc,:parent,:queues
-	def initialize(name)
-		@name = name
-		@queues = []
-		@subs = {}
-	end
-	def root()
-		@parent.root()
-	end
-	def []=(key,val)
-		#puts "#{key}= #{val}"
-		@subs[key] = val
-	end
-	def extern=(value)
-		@extern=value
-	end
-	def get_name()
-		if(@parent)
-			return "#{@parent.get_name}.#{@name}"
-		else
-			return "#{@name}"
-		end 
-	end
-	def to_cpp_id(id)
-		name = "#{@name}::#{id}"
-		return @parent.to_cpp_id(name) if(@parent)
-		return name
-	end
-	def [](key)
-		#puts "#{key}"
-		@subs[key]
-	end
-	def add_queue(queue)
-		@queues.push(queue)
-	end
-	def hash_with_name(name)
-		ts = (@queues.collect { |queue|
-			queue.msg_hash()
-		}).join("") + name
-		return "0x#{Digest::SHA1.hexdigest(ts)[-8..-1]}"
-	end
-	def create(cpp_tree)
-		return if(@extern)
-		namespace = cpp_tree.get(@loc)
-		type_class = Types::Class.new(namespace,@name)
-		cpp_tree.set(self,type_class)  #breaks infinite recursion
-		type_class.set_parent("public ::aos::QueueGroup")
-		@queues.each do |queue|
-			type_class.add_member(:public,queue.create_usage(cpp_tree))
-		end
-		create_Constructor(type_class,cpp_tree)
-		namespace.add(type_class)
-	end
-	def create_Constructor(type_class,cpp_tree)
-		member_func = CPP::Constructor.new(type_class)
-		type_class.add_member(:public,member_func)
-		#cpp_tree.cc_file.add_funct(member_func)
-		member_func.args << "const char *name";
-		member_func.add_cons("::aos::QueueGroup","name")
-		@queues.each do |queue|
-			member_func.args << "const char *#{queue.name}_name";
-			member_func.add_cons(queue.name,"#{queue.name}_name")
-		end
-	end
-end
-class Target::QueueGroup < Target::Node
-	attr_accessor :name,:loc
-	def initialize(type,name)
-		@type,@name = type,name
-	end
-	def type_name()
-		if(@type.loc == @loc) #use relative name
-			return @type.name
-		else #use full name
-			return @type.loc.to_cpp_id(@type.name)
-		end 
-	end
-	def create(cpp_tree)
-		namespace = cpp_tree.get(@loc)
-		type = cpp_tree.get(@type)
-		cpp_tree.set(self,self)
-		namespace.add_cc("static #{type_name} *#{@name}_ptr")
-		counter = "#{@name}_counter"
-		namespace.add_cc("static int #{counter}")
-
-		str = <<COMMENT_END
-Schwarz counter to construct and destruct the #{@name} object.
-Must be constructed before &#{@name} is constructed so that #{@name}_ptr
-is valid so we can store a reference to the object.
-COMMENT_END
-		str.split(/\n/).each do |str_sec|
-			namespace.class_comment(str_sec)
-		end
-		init_class = namespace.add_class("InitializerFor_" + @name).add_dep(type)
-		
-
-		init_class.add_cc_comment(
-        "The counter is initialized at load-time, i.e., before any of the static",
-		"objects are initialized.")
-
-
-		cons = CPP::Constructor.new(init_class)
-		init_class.add_member(:public,cons)
-		cons.suite << if_stmt = CPP::If.new("0 == #{counter}++")
-
-		cons_call = CPP::FuncCall.new("new #{type_name}")
-		cons_call.args.push(@loc.queue_name(@name).inspect)
-
-		@type.queues.collect do |queue|
-			cons_call.args.push(@loc.queue_name(@name + "." + queue.name).inspect)
-		end
-		if_stmt.suite << CPP::Assign.new("#{@name}_ptr",cons_call)
-
-
-		destruct = CPP::Destructor.new(init_class)
-		destruct.suite << if_stmt = CPP::If.new("0 == --#{counter}")
-		if_stmt.suite << "delete #{@name}_ptr"
-		if_stmt.suite << CPP::Assign.new("#{@name}_ptr","NULL")
-
-		init_class.add_member(:public,destruct)
-		init_class.static = true
-		init_class.dec = @name + "_initializer";
-
-		str = <<COMMENT_END
-Create a reference to the new object in the pointer.  Since we have already
-created the initializer
-COMMENT_END
-		str.split(/\n/).map{|str_sec| CPP::Comment.new(str_sec)}.each do |comment|
-      namespace.add(comment)
-    end
-		namespace.add("static UNUSED_VARIABLE #{type_name} &#{@name}" +
-                  " = #{@name}_initializer.get()")
-
-		get = init_class.def_func(type_name,"get") #.add_dep(type)
-		get.pre_func_types = "&"
-		get.suite << CPP::Return.new("*#{@name}_ptr")
-	end
-end
diff --git a/aos/build/queues/output/q_struct.rb b/aos/build/queues/output/q_struct.rb
deleted file mode 100644
index f538bb3..0000000
--- a/aos/build/queues/output/q_struct.rb
+++ /dev/null
@@ -1,156 +0,0 @@
-class Target::StructDec < Target::StructBase
-  attr_accessor :name,:loc,:parent, :extern
-  def initialize(name)
-    @name = name
-    @members = []
-  end
-  def add_member(member)
-    @members << member
-  end
-  def create_GetType(type_class, cpp_tree)
-    member_func = CPP::MemberFunc.new(type_class,"const ::aos::MessageType*","GetType")
-    type_class.add_member(member_func)
-    member_func.static = true
-    member_func.suite << "static ::aos::Once<const ::aos::MessageType> getter(#{type_class.name}::DoGetType)"
-    member_func.suite << CPP::Return.new("getter.Get()")
-  end
-  def create(cpp_tree)
-    return self if(@extern)
-    orig_namespace = namespace = cpp_tree.get(@loc)
-    name = ""
-    if(namespace.class < Types::Type) #is nested
-      name = namespace.name + "_" + name
-      namespace = namespace.space
-    end
-    type_class = namespace.add_struct(name + @name)
-
-    @members.each do |elem|
-      type_class.add_member(elem.create_usage(cpp_tree))
-    end
-    create_DoGetType(type_class, cpp_tree)
-    create_GetType(type_class, cpp_tree)
-    create_DefaultConstructor(type_class, cpp_tree)
-    create_InOrderConstructor(type_class, cpp_tree)
-    create_Zero(type_class, cpp_tree)
-    create_Size(type_class, cpp_tree)
-    create_Serialize(type_class, cpp_tree)
-    create_Deserialize(type_class, cpp_tree)
-    create_EqualsNoTime(type_class, cpp_tree)
-    return type_class
-  end
-  def getPrintFormat()
-    return "{" + @members.collect { |elem| elem.toPrintFormat() }.join(", ") + "}"
-  end
-  def fetchPrintArgs(args, parent = "")
-    @members.each do |elem|
-      elem.fetchPrintArgs(args, parent)
-    end
-  end
-  def toHost(offset, suite, parent)
-    @members.each do |elem|
-      elem.toHost(offset, suite, parent)
-      offset += " + #{elem.size()}"
-    end
-  end
-  def toNetwork(offset, suite, parent)
-    @members.each do |elem|
-      elem.toNetwork(offset, suite, parent)
-      offset += " + #{elem.size()}"
-    end
-  end
-  def zeroCall(suite, parent)
-    @members.each do |elem|
-      elem.zeroCall(suite, parent)
-    end
-  end
-end
-class Target::MessageStructElement < Target::Node
-  attr_accessor :name,:loc
-  def initialize(type,name)
-    @type, @name = type, name
-  end
-  def type()
-    return @type.get_name
-  end
-  def create_EqualsNoTime(type_class,cpp_tree)
-    member_func = CPP::MemberFunc.new(type_class,"bool","EqualsNoTime")
-    member_func.const = true
-    type_class.add_member(member_func)
-    member_func.args << "const #{type_class.name} &other"
-    member_func.suite << "if (!#{type_class.parent_class}::EqualsNoTime(other)) return false;" if type_class.parent_class
-    @members.each do |elem|
-      if elem.respond_to? :create_EqualsNoTime
-        member_func.suite << "if (!other.#{elem.name}.EqualsNoTime(#{elem.name})) return false;"
-      elsif elem.respond_to?(:length) && elem.member_type.respond_to?(:create_EqualsNoTime)
-        0.upto(elem.length - 1) do |i|
-          member_func.suite << "if (!other.#{elem.name}[#{i}].EqualsNoTime(#{elem.name}[#{i}])) return false;"
-        end
-      else
-        member_func.suite << "if (other.#{elem.name} != #{elem.name}) return false;"
-      end
-    end
-    member_func.suite << CPP::Return.new('true')
-  end
-  def type_name(cpp_tree)
-    type = cpp_tree.get(@type)
-    if(@type.loc == @loc) #use relative name
-      return type.name
-    else #use full name
-      return @type.loc.to_cpp_id(type.name)
-    end 
-  end
-  def size()
-    return @type.size()
-  end
-  def toPrintFormat()
-    @type.getPrintFormat()
-  end
-  def create_usage(cpp_tree, this_name=nil)
-    if (this_name == nil)
-      this_name = @name
-    end
-    return "#{type_name(cpp_tree)} #{this_name}"
-  end
-  def add_TypeRegister(cpp_tree, o_type, member_func)
-    type = cpp_tree.get(@type)
-    tName = @type.loc.to_cpp_id(type.name)
-    member_func.suite << "#{tName}::GetType()"
-  end
-  def fetchPrintArgs(args, parent = "", this_name=nil)
-    if (this_name == nil)
-      this_name = @name
-    end
-    @type.fetchPrintArgs(args, parent + "#{this_name}.")
-  end
-  def toNetwork(offset,suite, parent = "", this_name=nil)
-    if (this_name == nil)
-      this_name = @name
-    end
-    @type.toNetwork(offset, suite, parent + "#{this_name}.")
-  end
-  def toHost(offset,suite, parent = "", this_name=nil)
-    if (this_name == nil)
-      this_name = @name
-    end
-    @type.toHost(offset, suite, parent + "#{this_name}.")
-  end
-  def set_message_builder(suite, this_name=nil)
-    if (this_name == nil)
-      this_name = @name
-    end
-    suite << "msg_ptr_->#{this_name} = #{this_name}"
-  end
-
-  def zeroCall(suite, parent = "", this_name=nil)
-    if (this_name == nil)
-      this_name = @name
-    end
-    @type.zeroCall(suite, parent + "#{this_name}.")
-  end
-  def simpleStr()
-    "#{@type.simpleStr()} #{@name}"
-  end
-  def getTypeID()
-    return @type.getTypeID()
-  end
-end
diff --git a/aos/build/queues/output/queue_dec.rb b/aos/build/queues/output/queue_dec.rb
deleted file mode 100644
index 031c033..0000000
--- a/aos/build/queues/output/queue_dec.rb
+++ /dev/null
@@ -1,89 +0,0 @@
-class Target::QueueDec < Target::Node
-	attr_accessor :name,:loc
-	def initialize(type,name)
-		@type,@name = type,name
-	end
-	def msg_hash()
-		return @type.msg_hash
-	end
-	def full_message_name(cpp_tree)
-		type = cpp_tree.get(@type)
-		return @type.loc.to_cpp_id(type.name)
-	end
-	def full_builder_name(cpp_tree)
-		return "::aos::MessageBuilder< #{full_message_name(cpp_tree)}>"
-	end
-	def full_type_name(cpp_tree)
-		return "::aos::Queue< #{full_message_name(cpp_tree)}>"
-	end
-	def type_name(cpp_tree,queue_type = "::aos::Queue")
-		type = cpp_tree.get(@type)
-		if(@type.loc == @loc) #use relative name
-			return "#{queue_type}<#{type.name}>"
-		else #use full name
-			return "#{queue_type}< #{@type.loc.to_cpp_id(type.name)}>"
-		end
-	end
-	def create_usage(cpp_tree)
-		"#{type_name(cpp_tree)} #{@name}"
-	end
-	def create(cpp_tree)
-		namespace = cpp_tree.get(@loc)
-		type = cpp_tree.get(@type)
-		cpp_tree.set(self,self)
-		type_name = type_name(cpp_tree)
-		full_type_name = full_type_name(cpp_tree)
-		namespace.add_cc("static #{type_name} *#{@name}_ptr")
-		counter = "#{@name}_counter"
-		namespace.add_cc("static int #{counter}")
-
-		str = <<COMMENT_END
-Schwarz counter to construct and destruct the #{@name} queue.
-Must be constructed before &#{@name} is constructed so that #{@name}_ptr
-is valid so we can store a reference to the object.
-COMMENT_END
-		str.split(/\n/).each do |str_sec|
-			namespace.class_comment(str_sec)
-		end
-		init_class = namespace.add_class("InitializerFor_" + @name)
-
-		init_class.add_cc_comment(
-        "The counter is initialized at load-time, i.e., before any of the static",
-		"objects are initialized.")
-
-
-		cons = CPP::Constructor.new(init_class)
-		init_class.add_member(:public,cons)
-		cons.suite << if_stmt = CPP::If.new("0 == #{counter}++")
-
-		cons_call = CPP::FuncCall.new("new #{type_name}")
-		cons_call.args.push(@loc.queue_name(@name).inspect)
-		if_stmt.suite << CPP::Assign.new("#{@name}_ptr",cons_call)
-
-
-		destruct = CPP::Destructor.new(init_class)
-		init_class.add_member(:public,destruct)
-		destruct.suite << if_stmt = CPP::If.new("0 == --#{counter}")
-		if_stmt.suite << "delete #{@name}_ptr"
-		if_stmt.suite << CPP::Assign.new("#{@name}_ptr","NULL")
-
-		init_class.static = true
-		init_class.dec = @name + "_initializer";
-
-		str = <<COMMENT_END
-Create a reference to the new object in the pointer.  Since we have already
-created the initializer
-COMMENT_END
-		str.split(/\n/).map{|str_sec| CPP::Comment.new(str_sec)}.each do |comment|
-      namespace.add(comment)
-    end
-		namespace.add("static UNUSED_VARIABLE #{type_name} &#{@name}" +
-                  " = #{@name}_initializer.get()")
-
-		get = init_class.def_func(full_type_name,"get")
-		get.pre_func_types = "&"
-		get.suite << CPP::Return.new("*#{@name}_ptr")
-		
-	end
-end
-
diff --git a/aos/build/queues/print_field.rb b/aos/build/queues/print_field.rb
deleted file mode 100644
index 4f26d04..0000000
--- a/aos/build/queues/print_field.rb
+++ /dev/null
@@ -1,118 +0,0 @@
-require_relative 'load.rb'
-
-# TODO(brians): Special-case Time too and float/double if we can find a good way to do it.
-GenericTypeNames = ['float', 'double', 'char']
-TimeTypeNames = ['::aos::monotonic_clock::time_point']
-IntegerSizes = [8, 16, 32, 64]
-
-WriteIffChanged.open(ARGV[0]) do |output|
-  output.puts <<END
-// This file is generated by #{File.expand_path(__FILE__)}.
-// DO NOT EDIT BY HAND!
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <inttypes.h>
-#include <stdio.h>
-
-#include "aos/byteorder.h"
-#include "aos/time/time.h"
-#include "aos/print_field_helpers.h"
-#include "aos/logging/printf_formats.h"
-
-namespace aos {
-
-bool PrintField(char *output, size_t *output_bytes, const void *input,
-                size_t *input_bytes, uint32_t type) {
-  switch (type) {
-#{GenericTypeNames.collect do |name|
-  message_element = Target::MessageElement.new(name, 'value')
-  statement = MessageElementStmt.new(name, 'value')
-  message_element.size = statement.size
-  print_args = []
-  message_element.fetchPrintArgs(print_args)
-  next <<END2
-    case #{message_element.getTypeID()}:
-      {
-        if (*input_bytes < #{statement.size}) return false;
-        *input_bytes -= #{statement.size};
-        #{name} value;
-        to_host(static_cast<const char *>(input), &value);
-        int ret = snprintf(output, *output_bytes,
-                           "#{statement.toPrintFormat()}",
-                           #{print_args[0]});
-        if (ret < 0) return false;
-        if (static_cast<unsigned int>(ret) >= *output_bytes) return false;
-        *output_bytes -= ret;
-        return true;
-      }
-END2
-end.join('')}
-#{TimeTypeNames.collect do |name|
-  message_element = Target::MessageElement.new(name, 'value')
-  statement = MessageElementStmt.new(name, 'value')
-  message_element.size = statement.size
-  print_args = []
-  message_element.fetchPrintArgs(print_args)
-  next <<END2
-    case #{message_element.getTypeID()}:
-      {
-        if (*input_bytes < #{statement.size}) return false;
-        *input_bytes -= #{statement.size};
-        int32_t upper;
-        uint32_t lower;
-        to_host(static_cast<const char *>(input), &upper);
-        to_host(static_cast<const char *>(input) + 4, &lower);
-        #{name} value(::std::chrono::seconds(upper) + ::std::chrono::nanoseconds(lower));
-        int ret = snprintf(output, *output_bytes,
-                           "#{statement.toPrintFormat()}",
-                           #{print_args[0]});
-        if (ret < 0) return false;
-        if (static_cast<unsigned int>(ret) >= *output_bytes) return false;
-        *output_bytes -= ret;
-        return true;
-      }
-END2
-end.join('')}
-#{IntegerSizes.collect do |size|
-  [true, false].collect do |signed|
-    size_bytes = size / 8
-    name = "#{signed ? '' : 'u'}int#{size}_t"
-    message_element = Target::MessageElement.new(name, 'value')
-    message_element.size = size_bytes
-    next <<END2
-    case #{message_element.getTypeID()}:
-      {
-        if (*input_bytes < #{size_bytes}) return false;
-        *input_bytes -= #{size_bytes};
-        #{name} value;
-        to_host(static_cast<const char *>(input), &value);
-        return PrintInteger<#{name}>(output, value, output_bytes);
-      }
-END2
-  end
-end.flatten.join('')}
-#{
-  message_element = Target::MessageElement.new('bool', 'value')
-  message_element.size = 1
-  r = <<END2
-    case #{message_element.getTypeID()}:
-      {
-        if (*input_bytes < 1) return false;
-        if (*output_bytes < 1) return false;
-        *input_bytes -= 1;
-        bool value = static_cast<const char *>(input)[0];
-        *output_bytes -= 1;
-        *output = value ? 'T' : 'f';
-        return true;
-      }
-END2
-}
-    default:
-      return false;
-  }
-}
-
-}  // namespace aos
-END
-end
diff --git a/aos/build/queues/q_specs/nested_structs.q b/aos/build/queues/q_specs/nested_structs.q
deleted file mode 100644
index 7162620..0000000
--- a/aos/build/queues/q_specs/nested_structs.q
+++ /dev/null
@@ -1,12 +0,0 @@
-package aos.test;
-
-import "q_specs/struct_test.q";
-
-
-message Position {
-	int32_t a;
-	int32_t[2] b;
-	.aos.test2.ClawHalfPosition top;
-	.aos.test2.ClawHalfPosition bottom;
-	bool c;
-};
diff --git a/aos/build/queues/q_specs/struct_queue_group.q b/aos/build/queues/q_specs/struct_queue_group.q
deleted file mode 100644
index 2bc5046..0000000
--- a/aos/build/queues/q_specs/struct_queue_group.q
+++ /dev/null
@@ -1,20 +0,0 @@
-package aos.test;
-
-struct Claw {
-	int32_t a;
-	int32_t b;
-};
-
-	message HPosition {
-		Claw top;
-	};
-
-// All angles here are 0 horizontal, positive up. 
-queue_group ClawGroup {
-
-	message Position {
-		Claw top;
-	};
-	queue Position kjks;
-};
-
diff --git a/aos/build/queues/q_specs/struct_test.q b/aos/build/queues/q_specs/struct_test.q
deleted file mode 100644
index afb22ac..0000000
--- a/aos/build/queues/q_specs/struct_test.q
+++ /dev/null
@@ -1,12 +0,0 @@
-package aos.test2;
-
-struct SubStruct {
-	int32_t g;
-};
-
-struct ClawHalfPosition {
-	double position; 
-	bool hall_effect;
-	SubStruct clampy;
-};
-
diff --git a/aos/build/queues/queue_primitives.rb b/aos/build/queues/queue_primitives.rb
deleted file mode 100644
index a5f6624..0000000
--- a/aos/build/queues/queue_primitives.rb
+++ /dev/null
@@ -1,54 +0,0 @@
-require_relative 'load.rb'
-
-require 'fileutils'
-
-TypeNames = [8, 16, 32, 64].collect do |size|
-  ["uint#{size}_t", "int#{size}_t"]
-end.flatten + ['bool', 'float', 'char', 'double', '::aos::monotonic_clock::time_point']
-
-FileUtils.mkdir_p(File.dirname(ARGV[0]))
-WriteIffChanged.open(ARGV[0]) do |output|
-  output.puts <<END
-// This file is generated by #{File.expand_path(__FILE__)}.
-// DO NOT EDIT BY HAND!
-
-#include <stdint.h>
-
-#include "aos/time/time.h"
-
-namespace aos {
-namespace queue_primitive_types {
-#{TypeNames.collect do |name|
-  message_element = Target::MessageElement.new(name, 'value')
-  statement = MessageElementStmt.new(name, 'value')
-  message_element.size = statement.size
-  name = 'Time' if name == '::aos::monotonic_clock::time_point'
-  next <<END2
-  static const uint32_t #{name}_p = #{message_element.getTypeID()};
-END2
-end.join('')}
-}  // namespace queue_primitive_types
-
-// A class for mapping an actual type to a type ID.
-// There are specializations for all of the actual primitive types.
-template<typename T>
-class TypeID {
- public:
-  static const uint32_t id;
-};
-
-#{TypeNames.collect do |name|
-  message_element = Target::MessageElement.new(name, 'value')
-  statement = MessageElementStmt.new(name, 'value')
-  message_element.size = statement.size
-  next <<END2
-template<>
-class TypeID< #{name}> {
- public:
-  static const uint32_t id = #{message_element.getTypeID()};
-};
-END2
-end.join('')}
-}  // namespace aos
-END
-end
diff --git a/aos/build/queues/write_iff_changed.rb b/aos/build/queues/write_iff_changed.rb
deleted file mode 100644
index 74373a9..0000000
--- a/aos/build/queues/write_iff_changed.rb
+++ /dev/null
@@ -1,30 +0,0 @@
-require 'tempfile'
-
-# Writes a file like normal except doesn't do anything if the new contents are
-# the same as what's already there. Useful for helping build tools not rebuild
-# if generated files are re-generated but don't change.
-# Usable as a standard File, including to redirect to with IO.popen etc.
-class WriteIffChanged < Tempfile
-  def initialize(filename)
-    super('write_iff_changed')
-    @filename = filename
-  end
-  def WriteIffChanged.open(filename)
-    out = WriteIffChanged.new(filename)
-    yield out
-    out.close
-  end
-  def close
-    flush
-    contents = File.open(path, 'r') do |f|
-      f.readlines(nil)
-    end
-    if !File.exists?(@filename) ||
-        File.new(@filename, 'r').readlines(nil) != contents
-      File.open(@filename, 'w') do |out|
-        out.write(contents[0])
-      end
-    end
-    super
-  end
-end
diff --git a/aos/condition.cc b/aos/condition.cc
index 0c81e2c..e4276b6 100644
--- a/aos/condition.cc
+++ b/aos/condition.cc
@@ -4,9 +4,9 @@
 #include <inttypes.h>
 #include <time.h>
 
-#include "aos/logging/logging.h"
 #include "aos/mutex/mutex.h"
 #include "aos/type_traits/type_traits.h"
+#include "glog/logging.h"
 
 namespace aos {
 
@@ -28,7 +28,7 @@
   const bool do_timeout = timeout != chrono::nanoseconds(0);
 
   if (do_timeout) {
-    AOS_PCHECK(clock_gettime(CLOCK_MONOTONIC, &end_time) == 0);
+    PCHECK(clock_gettime(CLOCK_MONOTONIC, &end_time) == 0);
     timeout += chrono::nanoseconds(end_time.tv_nsec);
     chrono::seconds timeout_seconds =
         chrono::duration_cast<chrono::seconds>(timeout);
diff --git a/aos/config.bzl b/aos/config.bzl
new file mode 100644
index 0000000..3f78422
--- /dev/null
+++ b/aos/config.bzl
@@ -0,0 +1,60 @@
+load("//tools/build_rules:label.bzl", "expand_label")
+
+AosConfigInfo = provider(fields = ["transitive_flatbuffers", "transitive_src"])
+
+def aos_config(name, src, flatbuffers, deps = [], visibility = None):
+    _aos_config(
+        name = name,
+        src = src,
+        deps = deps,
+        flatbuffers = [expand_label(flatbuffer) + "_reflection_out" for flatbuffer in flatbuffers],
+        visibility = visibility,
+    )
+
+def _aos_config_impl(ctx):
+    flatbuffers_depset = depset(
+        ctx.files.flatbuffers,
+        transitive = [dep[AosConfigInfo].transitive_flatbuffers for dep in ctx.attr.deps],
+    )
+
+    src_depset = depset(
+        ctx.files.src,
+        transitive = [dep[AosConfigInfo].transitive_src for dep in ctx.attr.deps],
+    )
+
+    all_files = flatbuffers_depset.to_list() + src_depset.to_list()
+    ctx.actions.run(
+        outputs = [ctx.outputs.config],
+        inputs = all_files,
+        arguments = [ctx.outputs.config.path, ctx.files.src[0].path] + [f.path for f in flatbuffers_depset.to_list()],
+        progress_message = "Flattening config",
+        executable = ctx.executable._config_flattener,
+    )
+    return AosConfigInfo(
+        transitive_flatbuffers = flatbuffers_depset,
+        transitive_src = src_depset,
+    )
+
+_aos_config = rule(
+    attrs = {
+        "_config_flattener": attr.label(
+            executable = True,
+            cfg = "host",
+            default = Label("//aos:config_flattener"),
+        ),
+        "src": attr.label(
+            mandatory = True,
+            allow_files = True,
+        ),
+        "deps": attr.label_list(
+            providers = [AosConfigInfo],
+        ),
+        "flatbuffers": attr.label_list(
+            mandatory = False,
+        ),
+    },
+    outputs = {
+        "config": "%{name}.json",
+    },
+    implementation = _aos_config_impl,
+)
diff --git a/aos/config_flattener.cc b/aos/config_flattener.cc
new file mode 100644
index 0000000..71cda32
--- /dev/null
+++ b/aos/config_flattener.cc
@@ -0,0 +1,41 @@
+#include <string>
+#include <vector>
+
+#include "aos/configuration.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "aos/util/file.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+namespace aos {
+
+int Main(int argc, char **argv) {
+  CHECK_GE(argc, 3) << ": Too few arguments";
+
+  VLOG(1) << "Reading " << argv[2];
+  FlatbufferDetachedBuffer<Configuration> config =
+      configuration::ReadConfig(argv[2]);
+
+  std::vector<aos::FlatbufferString<reflection::Schema>> schemas;
+
+  for (int i = 3; i < argc; ++i) {
+    schemas.emplace_back(util::ReadFileToStringOrDie(argv[i]));
+  }
+
+  const std::string merged_config = FlatbufferToJson(
+      &configuration::MergeConfiguration(config, schemas).message(), true);
+
+  // TODO(austin): Figure out how to squash the schemas onto 1 line so it is
+  // easier to read?
+  VLOG(1) << "Flattened config is " << merged_config;
+  util::WriteStringToFileOrDie(argv[1], merged_config);
+  return 0;
+}
+
+}  // namespace aos
+
+int main(int argc, char **argv) {
+  aos::InitGoogle(&argc, &argv);
+  return aos::Main(argc, argv);
+}
diff --git a/aos/configuration.cc b/aos/configuration.cc
index cd92f20..bcb67ba 100644
--- a/aos/configuration.cc
+++ b/aos/configuration.cc
@@ -22,11 +22,6 @@
 
 // Define the compare and equal operators for Channel and Application so we can
 // insert them in the btree below.
-//
-// These are not in headers because they are only comparing part of the
-// flatbuffer, and it seems weird to expose that as *the* compare operator.  And
-// I can't put them in an anonymous namespace because they wouldn't be found
-// that way by the btree.
 bool operator<(const FlatbufferDetachedBuffer<Channel> &lhs,
                const FlatbufferDetachedBuffer<Channel> &rhs) {
   int name_compare = lhs.message().name()->string_view().compare(
@@ -154,8 +149,12 @@
 
 FlatbufferDetachedBuffer<Configuration> ReadConfig(
     const absl::string_view path, absl::btree_set<std::string> *visited_paths) {
-  FlatbufferDetachedBuffer<Configuration> config(JsonToFlatbuffer(
-      util::ReadFileToStringOrDie(path), ConfigurationTypeTable()));
+  flatbuffers::DetachedBuffer buffer = JsonToFlatbuffer(
+      util::ReadFileToStringOrDie(path), ConfigurationTypeTable());
+
+  CHECK_GT(buffer.size(), 0u) << ": Failed to parse JSON file";
+
+  FlatbufferDetachedBuffer<Configuration> config(std::move(buffer));
   // Depth first.  Take the following example:
   //
   // config1.json:
@@ -222,7 +221,54 @@
   return config;
 }
 
-// Remove duplicate entries, and handle overrides.
+// Compares (c < p) a channel, and a name, type tuple.
+bool CompareChannels(const Channel *c,
+                     ::std::pair<absl::string_view, absl::string_view> p) {
+  int name_compare = c->name()->string_view().compare(p.first);
+  if (name_compare == 0) {
+    return c->type()->string_view() < p.second;
+  } else if (name_compare < 0) {
+    return true;
+  } else {
+    return false;
+  }
+};
+
+// Compares for equality (c == p) a channel, and a name, type tuple.
+bool EqualsChannels(const Channel *c,
+                     ::std::pair<absl::string_view, absl::string_view> p) {
+  return c->name()->string_view() == p.first &&
+         c->type()->string_view() == p.second;
+}
+
+// Compares (c < p) an application, and a name;
+bool CompareApplications(const Application *a, absl::string_view name) {
+  return a->name()->string_view() < name;
+};
+
+// Compares for equality (c == p) an application, and a name;
+bool EqualsApplications(const Application *a, absl::string_view name) {
+  return a->name()->string_view() == name;
+}
+
+// Maps name for the provided maps.  Modifies name.
+void HandleMaps(const flatbuffers::Vector<flatbuffers::Offset<aos::Map>> *maps,
+                absl::string_view *name) {
+  // For the same reason we merge configs in reverse order, we want to process
+  // maps in reverse order.  That lets the outer config overwrite channels from
+  // the inner configs.
+  for (auto i = maps->rbegin(); i != maps->rend(); ++i) {
+    if (i->has_match() && i->match()->has_name() && i->has_rename() &&
+        i->rename()->has_name() && i->match()->name()->string_view() == *name) {
+      VLOG(1) << "Renamed \"" << *name << "\" to \""
+              << i->rename()->name()->string_view() << "\"";
+      *name = i->rename()->name()->string_view();
+    }
+  }
+}
+
+}  // namespace
+
 FlatbufferDetachedBuffer<Configuration> MergeConfiguration(
     const Flatbuffer<Configuration> &config) {
   // Store all the channels in a sorted set.  This lets us track channels we
@@ -316,54 +362,6 @@
   return fbb.Release();
 }
 
-// Compares (c < p) a channel, and a name, type tuple.
-bool CompareChannels(const Channel *c,
-                     ::std::pair<absl::string_view, absl::string_view> p) {
-  int name_compare = c->name()->string_view().compare(p.first);
-  if (name_compare == 0) {
-    return c->type()->string_view() < p.second;
-  } else if (name_compare < 0) {
-    return true;
-  } else {
-    return false;
-  }
-};
-
-// Compares for equality (c == p) a channel, and a name, type tuple.
-bool EqualsChannels(const Channel *c,
-                     ::std::pair<absl::string_view, absl::string_view> p) {
-  return c->name()->string_view() == p.first &&
-         c->type()->string_view() == p.second;
-}
-
-// Compares (c < p) an application, and a name;
-bool CompareApplications(const Application *a, absl::string_view name) {
-  return a->name()->string_view() < name;
-};
-
-// Compares for equality (c == p) an application, and a name;
-bool EqualsApplications(const Application *a, absl::string_view name) {
-  return a->name()->string_view() == name;
-}
-
-// Maps name for the provided maps.  Modifies name.
-void HandleMaps(const flatbuffers::Vector<flatbuffers::Offset<aos::Map>> *maps,
-                absl::string_view *name) {
-  // For the same reason we merge configs in reverse order, we want to process
-  // maps in reverse order.  That lets the outer config overwrite channels from
-  // the inner configs.
-  for (auto i = maps->rbegin(); i != maps->rend(); ++i) {
-    if (i->has_match() && i->match()->has_name() && i->has_rename() &&
-        i->rename()->has_name() && i->match()->name()->string_view() == *name) {
-      VLOG(1) << "Renamed \"" << *name << "\" to \""
-              << i->rename()->name()->string_view() << "\"";
-      *name = i->rename()->name()->string_view();
-    }
-  }
-}
-
-}  // namespace
-
 const char *GetRootDirectory() {
   static  char* root_dir;// return value
   static absl::once_flag once_;
@@ -417,6 +415,9 @@
     HandleMaps(config->maps(), &name);
   }
 
+  VLOG(1) << "Acutally looking up { \"name\": \"" << name << "\", \"type\": \""
+          << type << "\" }";
+
   // Then look for the channel.
   auto channel_iterator =
       std::lower_bound(config->channels()->cbegin(),
@@ -435,5 +436,96 @@
   }
 }
 
+FlatbufferDetachedBuffer<Configuration> MergeConfiguration(
+    const Flatbuffer<Configuration> &config,
+    const std::vector<aos::FlatbufferString<reflection::Schema>> &schemas) {
+  flatbuffers::FlatBufferBuilder fbb;
+  fbb.ForceDefaults(1);
+
+  flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Channel>>>
+      channels_offset;
+  if (config.message().has_channels()) {
+    std::vector<flatbuffers::Offset<Channel>> channel_offsets;
+    for (const Channel *c : *config.message().channels()) {
+      flatbuffers::FlatBufferBuilder channel_fbb;
+      channel_fbb.ForceDefaults(1);
+
+      // Search for a schema with a matching type.
+      const aos::FlatbufferString<reflection::Schema> *found_schema = nullptr;
+      for (const aos::FlatbufferString<reflection::Schema> &schema: schemas) {
+        if (schema.message().root_table() != nullptr) {
+          if (schema.message().root_table()->name()->string_view() ==
+              c->type()->string_view()) {
+            found_schema = &schema;
+          }
+        }
+      }
+
+      CHECK(found_schema != nullptr)
+          << ": Failed to find schema for " << FlatbufferToJson(c);
+
+      // The following is wasteful, but works.
+      //
+      // Copy it into a Channel object by creating an object with only the
+      // schema populated and merge that into the current channel.
+      flatbuffers::Offset<reflection::Schema> schema_offset =
+          CopyFlatBuffer<reflection::Schema>(&found_schema->message(),
+                                             &channel_fbb);
+      Channel::Builder channel_builder(channel_fbb);
+      channel_builder.add_schema(schema_offset);
+      channel_fbb.Finish(channel_builder.Finish());
+      FlatbufferDetachedBuffer<Channel> channel_schema_flatbuffer(
+          channel_fbb.Release());
+
+      FlatbufferDetachedBuffer<Channel> merged_channel(
+          MergeFlatBuffers(channel_schema_flatbuffer, CopyFlatBuffer(c)));
+
+      channel_offsets.emplace_back(
+          CopyFlatBuffer<Channel>(&merged_channel.message(), &fbb));
+    }
+    channels_offset = fbb.CreateVector(channel_offsets);
+  }
+
+  // Copy the applications and maps unmodified.
+  flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Application>>>
+      applications_offset;
+  {
+    ::std::vector<flatbuffers::Offset<Application>> applications_offsets;
+    if (config.message().has_applications()) {
+      for (const Application *a : *config.message().applications()) {
+        applications_offsets.emplace_back(CopyFlatBuffer<Application>(a, &fbb));
+      }
+    }
+    applications_offset = fbb.CreateVector(applications_offsets);
+  }
+
+  flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Map>>>
+      maps_offset;
+  {
+    ::std::vector<flatbuffers::Offset<Map>> map_offsets;
+    if (config.message().has_maps()) {
+      for (const Map *m : *config.message().maps()) {
+        map_offsets.emplace_back(CopyFlatBuffer<Map>(m, &fbb));
+      }
+      maps_offset = fbb.CreateVector(map_offsets);
+    }
+  }
+
+  // Now insert eerything else in unmodified.
+  ConfigurationBuilder configuration_builder(fbb);
+  if (config.message().has_channels()) {
+    configuration_builder.add_channels(channels_offset);
+  }
+  if (config.message().has_maps()) {
+    configuration_builder.add_maps(maps_offset);
+  }
+  if (config.message().has_applications()) {
+    configuration_builder.add_applications(applications_offset);
+  }
+
+  fbb.Finish(configuration_builder.Finish());
+  return fbb.Release();
+}
+
 }  // namespace configuration
 }  // namespace aos
diff --git a/aos/configuration.fbs b/aos/configuration.fbs
index d23c4b9..a5cb59f 100644
--- a/aos/configuration.fbs
+++ b/aos/configuration.fbs
@@ -1,3 +1,5 @@
+include "reflection/reflection.fbs";
+
 namespace aos;
 
 // Table representing a channel.  Channels are where data is published and
@@ -12,6 +14,9 @@
   // Max size of the data being published.  (This will be automatically
   // computed in the future.)
   max_size:int = 1000;
+
+  // The schema for the data sent on this channel.
+  schema:reflection.Schema;
 }
 
 // Table to support renaming channel names.
diff --git a/aos/configuration.h b/aos/configuration.h
index 3cee8e7..e777f41 100644
--- a/aos/configuration.h
+++ b/aos/configuration.h
@@ -21,6 +21,16 @@
 FlatbufferDetachedBuffer<Configuration> ReadConfig(
     const absl::string_view path);
 
+// Sorts and merges entries in a config.
+FlatbufferDetachedBuffer<Configuration> MergeConfiguration(
+    const Flatbuffer<Configuration> &config);
+
+// Adds schema definitions to a sorted and merged config from the provided
+// schema list.
+FlatbufferDetachedBuffer<Configuration> MergeConfiguration(
+    const Flatbuffer<Configuration> &config,
+    const std::vector<aos::FlatbufferString<reflection::Schema>> &schemas);
+
 // Returns the resolved location for a name, type, and application name. Returns
 // nullptr if none is found.
 //
@@ -37,6 +47,8 @@
   return GetChannel(&config.message(), name, type, application_name);
 }
 
+// TODO(austin): GetSchema<T>(const Flatbuffer<Configuration> &config);
+
 // Returns "our" IP address.
 const in_addr &GetOwnIPAddress();
 
@@ -51,6 +63,13 @@
 const char *GetLoggingDirectory();
 
 }  // namespace configuration
+
+// Compare and equality operators for Channel.  Note: these only check the name
+// and type for equality.
+bool operator<(const FlatbufferDetachedBuffer<Channel> &lhs,
+               const FlatbufferDetachedBuffer<Channel> &rhs);
+bool operator==(const FlatbufferDetachedBuffer<Channel> &lhs,
+                const FlatbufferDetachedBuffer<Channel> &rhs);
 }  // namespace aos
 
 #endif  // AOS_CONFIGURATION_H_
diff --git a/aos/configuration_test.cc b/aos/configuration_test.cc
index 0f13041..e20b308 100644
--- a/aos/configuration_test.cc
+++ b/aos/configuration_test.cc
@@ -4,6 +4,8 @@
 #include "aos/json_to_flatbuffer.h"
 #include "aos/testing/test_logging.h"
 #include "aos/util/file.h"
+#include "flatbuffers/reflection.h"
+#include "glog/logging.h"
 #include "gtest/gtest.h"
 
 namespace aos {
@@ -25,7 +27,7 @@
 TEST_F(ConfigurationTest, ConfigMerge) {
   FlatbufferDetachedBuffer<Configuration> config =
       ReadConfig("aos/testdata/config1.json");
-  printf("Read: %s\n", FlatbufferToJson(config, true).c_str());
+  LOG(INFO) << "Read: " << FlatbufferToJson(config, true);
 
   EXPECT_EQ(
       absl::StripSuffix(
@@ -33,6 +35,19 @@
       FlatbufferToJson(config, true));
 }
 
+// Tests that we sort the entries in a config so we can look entries up.
+TEST_F(ConfigurationTest, UnsortedConfig) {
+  FlatbufferDetachedBuffer<Configuration> config =
+      ReadConfig("aos/testdata/backwards.json");
+
+  LOG(INFO) << "Read: " << FlatbufferToJson(config, true);
+
+  EXPECT_EQ(FlatbufferToJson(GetChannel(config, ".aos.robot_state",
+                                        "aos.RobotState", "app1")),
+            "{ \"name\": \".aos.robot_state\", \"type\": \"aos.RobotState\", "
+            "\"max_size\": 5 }");
+}
+
 // Tests that we die when a file is imported twice.
 TEST_F(ConfigurationDeathTest, DuplicateFile) {
   EXPECT_DEATH(
diff --git a/aos/controls/BUILD b/aos/controls/BUILD
index a612ecb..c45a345 100644
--- a/aos/controls/BUILD
+++ b/aos/controls/BUILD
@@ -1,23 +1,9 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 load("//tools:environments.bzl", "mcu_cpus")
 
 cc_library(
-    name = "replay_control_loop",
-    hdrs = [
-        "replay_control_loop.h",
-    ],
-    deps = [
-        ":control_loop",
-        "//aos:queues",
-        "//aos/logging:queue_logging",
-        "//aos/logging:replay",
-        "//aos/time",
-    ],
-)
-
-cc_library(
     name = "control_loop_test",
     testonly = True,
     srcs = [
@@ -27,11 +13,13 @@
         "control_loop_test.h",
     ],
     deps = [
+        "//aos:flatbuffers",
+        "//aos:json_to_flatbuffer",
         "//aos/events:simulated_event_loop",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:joystick_state_fbs",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/testing:googletest",
-        "//aos/testing:test_shm",
+        "//aos/testing:test_logging",
         "//aos/time",
     ],
 )
@@ -43,7 +31,7 @@
     ],
     restricted_to = mcu_cpus,
     deps = [
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -54,9 +42,9 @@
     ],
     deps = [
         "//aos/logging",
-        "//aos/logging:matrix_logging",
         "//third_party/cddlib",
-        "//third_party/eigen",
+        "@com_github_google_glog//:glog",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -69,14 +57,14 @@
         ":polytope",
         "//aos/testing:googletest",
         "//aos/testing:test_logging",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
-queue_library(
-    name = "control_loop_queues",
+flatbuffer_cc_library(
+    name = "control_loop_fbs",
     srcs = [
-        "control_loops.q",
+        "control_loops.fbs",
     ],
 )
 
@@ -90,13 +78,11 @@
         "control_loop.h",
     ],
     deps = [
-        ":control_loop_queues",
-        "//aos:queues",
-        "//aos/events:event-loop",
-        "//aos/events:shm-event-loop",
+        "//aos/events:event_loop",
+        "//aos/events:shm_event_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:joystick_state_fbs",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/time",
         "//aos/util:log_interval",
     ],
diff --git a/aos/controls/control_loop-tmpl.h b/aos/controls/control_loop-tmpl.h
index 7628c26..f937bb4 100644
--- a/aos/controls/control_loop-tmpl.h
+++ b/aos/controls/control_loop-tmpl.h
@@ -2,65 +2,63 @@
 #include <inttypes.h>
 
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 
 namespace aos {
 namespace controls {
 
 // TODO(aschuh): Tests.
 
-template <class T>
-constexpr ::std::chrono::milliseconds ControlLoop<T>::kStaleLogInterval;
-template <class T>
-constexpr ::std::chrono::milliseconds ControlLoop<T>::kPwmDisableTime;
+template <class GoalType, class PositionType, class StatusType,
+          class OutputType>
+constexpr ::std::chrono::milliseconds ControlLoop<
+    GoalType, PositionType, StatusType, OutputType>::kStaleLogInterval;
+template <class GoalType, class PositionType, class StatusType,
+          class OutputType>
+constexpr ::std::chrono::milliseconds ControlLoop<
+    GoalType, PositionType, StatusType, OutputType>::kPwmDisableTime;
 
-template <class T>
-void ControlLoop<T>::ZeroOutputs() {
-  typename ::aos::Sender<OutputType>::Message output =
-      output_sender_.MakeMessage();
-  Zero(output.get());
-  output.Send();
+template <class GoalType, class PositionType, class StatusType,
+          class OutputType>
+void ControlLoop<GoalType, PositionType, StatusType, OutputType>::ZeroOutputs() {
+  typename ::aos::Sender<OutputType>::Builder builder =
+      output_sender_.MakeBuilder();
+  builder.Send(Zero(&builder));
 }
 
-template <class T>
-void ControlLoop<T>::IteratePosition(const PositionType &position) {
+template <class GoalType, class PositionType, class StatusType,
+          class OutputType>
+void ControlLoop<GoalType, PositionType, StatusType,
+                 OutputType>::IteratePosition(const PositionType &position) {
   no_goal_.Print();
   no_sensor_state_.Print();
   motors_off_log_.Print();
 
-  AOS_LOG_STRUCT(DEBUG, "position", position);
-
   // Fetch the latest control loop goal. If there is no new
   // goal, we will just reuse the old one.
   goal_fetcher_.Fetch();
   const GoalType *goal = goal_fetcher_.get();
-  if (goal) {
-    AOS_LOG_STRUCT(DEBUG, "goal", *goal);
-  } else {
-    AOS_LOG_INTERVAL(no_goal_);
-  }
 
   const bool new_robot_state = robot_state_fetcher_.Fetch();
   if (!robot_state_fetcher_.get()) {
     AOS_LOG_INTERVAL(no_sensor_state_);
     return;
   }
-  if (sensor_reader_pid_ != robot_state_fetcher_->reader_pid) {
+  if (sensor_reader_pid_ != robot_state_fetcher_->reader_pid()) {
     AOS_LOG(INFO, "new sensor reader PID %" PRId32 ", old was %" PRId32 "\n",
-            robot_state_fetcher_->reader_pid, sensor_reader_pid_);
+            robot_state_fetcher_->reader_pid(), sensor_reader_pid_);
     reset_ = true;
-    sensor_reader_pid_ = robot_state_fetcher_->reader_pid;
+    sensor_reader_pid_ = robot_state_fetcher_->reader_pid();
   }
 
-  bool outputs_enabled = robot_state_fetcher_->outputs_enabled;
+  bool outputs_enabled = robot_state_fetcher_->outputs_enabled();
 
   // Check to see if we got a driver station packet recently.
   if (new_robot_state) {
-    if (robot_state_fetcher_->outputs_enabled) {
+    if (robot_state_fetcher_->outputs_enabled()) {
       // If the driver's station reports being disabled, we're probably not
       // actually going to send motor values regardless of what the FPGA
       // reports.
-      last_pwm_sent_ = robot_state_fetcher_->sent_time;
+      last_pwm_sent_ = robot_state_fetcher_.context().monotonic_sent_time;
     }
   }
 
@@ -69,35 +67,27 @@
   const bool motors_off = monotonic_now >= kPwmDisableTime + last_pwm_sent_;
   joystick_state_fetcher_.Fetch();
   if (motors_off) {
-    if (joystick_state_fetcher_.get() && joystick_state_fetcher_->enabled) {
+    if (joystick_state_fetcher_.get() && joystick_state_fetcher_->enabled()) {
       AOS_LOG_INTERVAL(motors_off_log_);
     }
     outputs_enabled = false;
   }
 
-  typename ::aos::Sender<StatusType>::Message status =
-      status_sender_.MakeMessage();
-  if (status.get() == nullptr) {
-    return;
-  }
-
+  typename ::aos::Sender<StatusType>::Builder status =
+      status_sender_.MakeBuilder();
   if (outputs_enabled) {
-    typename ::aos::Sender<OutputType>::Message output =
-        output_sender_.MakeMessage();
-    RunIteration(goal, &position, output.get(), status.get());
+    typename ::aos::Sender<OutputType>::Builder output =
+        output_sender_.MakeBuilder();
+    RunIteration(goal, &position, &output, &status);
 
-    output->SetTimeToNow();
-    AOS_LOG_STRUCT(DEBUG, "output", *output);
-    output.Send();
+    output.CheckSent();
   } else {
     // The outputs are disabled, so pass nullptr in for the output.
-    RunIteration(goal, &position, nullptr, status.get());
+    RunIteration(goal, &position, nullptr, &status);
     ZeroOutputs();
   }
 
-  status->SetTimeToNow();
-  AOS_LOG_STRUCT(DEBUG, "status", *status);
-  status.Send();
+  status.CheckSent();
 }
 
 }  // namespace controls
diff --git a/aos/controls/control_loop.h b/aos/controls/control_loop.h
index fe72022..6f1b487 100644
--- a/aos/controls/control_loop.h
+++ b/aos/controls/control_loop.h
@@ -4,10 +4,9 @@
 #include <string.h>
 #include <atomic>
 
-#include "aos/events/event-loop.h"
-#include "aos/events/shm-event-loop.h"
-#include "aos/queue.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/events/event_loop.h"
+#include "aos/robot_state/joystick_state_generated.h"
+#include "aos/robot_state/robot_state_generated.h"
 #include "aos/time/time.h"
 #include "aos/type_traits/type_traits.h"
 #include "aos/util/log_interval.h"
@@ -20,39 +19,24 @@
     ::std::chrono::milliseconds(5);
 
 // Provides helper methods to assist in writing control loops.
-// This template expects to be constructed with a queue group as an argument
-// that has a goal, position, status, and output queue.
 // It will then call the RunIteration method every cycle that it has enough
 // valid data for the control loop to run.
-template <class T>
+template <class GoalType, class PositionType, class StatusType,
+          class OutputType>
 class ControlLoop {
  public:
-  // Create some convenient typedefs to reference the Goal, Position, Status,
-  // and Output structures.
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<T *>(NULL)->goal.MakeMessage().get()))>::type GoalType;
-  typedef typename std::remove_reference<
-      decltype(*(static_cast<T *>(NULL)->position.MakeMessage().get()))>::type
-      PositionType;
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<T *>(NULL)->status.MakeMessage().get()))>::type StatusType;
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<T *>(NULL)->output.MakeMessage().get()))>::type OutputType;
-
   ControlLoop(EventLoop *event_loop, const ::std::string &name)
       : event_loop_(event_loop), name_(name) {
-    output_sender_ = event_loop_->MakeSender<OutputType>(name_ + ".output");
-    status_sender_ = event_loop_->MakeSender<StatusType>(name_ + ".status");
-    goal_fetcher_ = event_loop_->MakeFetcher<GoalType>(name_ + ".goal");
-    robot_state_fetcher_ =
-        event_loop_->MakeFetcher<::aos::RobotState>(".aos.robot_state");
+    output_sender_ = event_loop_->MakeSender<OutputType>(name_);
+    status_sender_ = event_loop_->MakeSender<StatusType>(name_);
+    goal_fetcher_ = event_loop_->MakeFetcher<GoalType>(name_);
+    robot_state_fetcher_ = event_loop_->MakeFetcher<::aos::RobotState>("/aos");
     joystick_state_fetcher_ =
-        event_loop_->MakeFetcher<::aos::JoystickState>(".aos.joystick_state");
+        event_loop_->MakeFetcher<::aos::JoystickState>("/aos");
 
-    event_loop_->MakeWatcher(name_ + ".position",
-                             [this](const PositionType &position) {
-                               this->IteratePosition(position);
-                             });
+    event_loop_->MakeWatcher(name_, [this](const PositionType &position) {
+      this->IteratePosition(position);
+    });
   }
 
   const ::aos::RobotState &robot_state() const { return *robot_state_fetcher_; }
@@ -80,7 +64,10 @@
   // Sets the output to zero.
   // Override this if a value of zero (or false) is not "off" for this
   // subsystem.
-  virtual void Zero(OutputType *output) { output->Zero(); }
+  virtual flatbuffers::Offset<OutputType> Zero(
+      typename ::aos::Sender<OutputType>::Builder *builder) {
+    return builder->template MakeBuilder<OutputType>().Finish();
+  }
 
  protected:
   // Runs one cycle of the loop.
@@ -88,6 +75,10 @@
 
   EventLoop *event_loop() { return event_loop_; }
 
+  // Returns the position context.  This is only valid inside the RunIteration
+  // method.
+  const aos::Context &position_context() { return event_loop_->context(); }
+
   // Runs an iteration of the control loop.
   // goal is the last goal that was sent.  It might be any number of cycles old
   // or nullptr if we haven't ever received a goal.
@@ -97,8 +88,10 @@
   // output is going to be ignored and set to 0.
   // status is the status of the control loop.
   // Both output and status should be filled in by the implementation.
-  virtual void RunIteration(const GoalType *goal, const PositionType *position,
-                            OutputType *output, StatusType *status) = 0;
+  virtual void RunIteration(
+      const GoalType *goal, const PositionType *position,
+      typename ::aos::Sender<OutputType>::Builder *output,
+      typename ::aos::Sender<StatusType>::Builder *status) = 0;
 
  private:
   static constexpr ::std::chrono::milliseconds kStaleLogInterval =
diff --git a/aos/controls/control_loop_test.h b/aos/controls/control_loop_test.h
index ff11987..b8ebc67 100644
--- a/aos/controls/control_loop_test.h
+++ b/aos/controls/control_loop_test.h
@@ -5,10 +5,12 @@
 
 #include "gtest/gtest.h"
 
-#include "aos/events/simulated-event-loop.h"
-#include "aos/logging/queue_logging.h"
-#include "aos/robot_state/robot_state.q.h"
-#include "aos/testing/test_shm.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/flatbuffers.h"
+#include "aos/json_to_flatbuffer.h"
+#include "aos/robot_state/joystick_state_generated.h"
+#include "aos/robot_state/robot_state_generated.h"
+#include "aos/testing/test_logging.h"
 #include "aos/time/time.h"
 
 namespace aos {
@@ -22,14 +24,28 @@
 template <typename TestBaseClass>
 class ControlLoopTestTemplated : public TestBaseClass {
  public:
-  ControlLoopTestTemplated(::std::chrono::nanoseconds dt = kTimeTick)
-      : dt_(dt), robot_status_event_loop_(MakeEventLoop()) {
+  // Builds a control loop test with the provided configuration.  Note: this
+  // merges and sorts the config to reduce user errors.
+  ControlLoopTestTemplated(absl::string_view configuration,
+                           ::std::chrono::nanoseconds dt = kTimeTick)
+      : ControlLoopTestTemplated(
+            configuration::MergeConfiguration(
+                aos::FlatbufferDetachedBuffer<Configuration>(JsonToFlatbuffer(
+                    configuration, Configuration::MiniReflectTypeTable()))),
+            dt) {}
+
+  ControlLoopTestTemplated(
+      FlatbufferDetachedBuffer<Configuration> configuration,
+      ::std::chrono::nanoseconds dt = kTimeTick)
+      : configuration_(std::move(configuration)),
+        event_loop_factory_(&configuration_.message()),
+        dt_(dt),
+        robot_status_event_loop_(MakeEventLoop()) {
+    testing::EnableTestLogging();
     robot_state_sender_ =
-        robot_status_event_loop_->MakeSender<::aos::RobotState>(
-            ".aos.robot_state");
+        robot_status_event_loop_->MakeSender<::aos::RobotState>("/aos");
     joystick_state_sender_ =
-        robot_status_event_loop_->MakeSender<::aos::JoystickState>(
-            ".aos.joystick_state");
+        robot_status_event_loop_->MakeSender<::aos::JoystickState>("/aos");
 
     // Schedule the robot status send 1 nanosecond before the loop runs.
     send_robot_state_phased_loop_ = robot_status_event_loop_->AddPhasedLoop(
@@ -91,15 +107,17 @@
   void SendJoystickState() {
     if (monotonic_now() >= kDSPacketTime + last_ds_time_ ||
         last_enabled_ != enabled_) {
-      auto new_state = joystick_state_sender_.MakeMessage();
-      new_state->fake = true;
+      auto new_state = joystick_state_sender_.MakeBuilder();
+      ::aos::JoystickState::Builder builder =
+          new_state.template MakeBuilder<::aos::JoystickState>();
 
-      new_state->enabled = enabled_;
-      new_state->autonomous = false;
-      new_state->team_id = team_id_;
+      builder.add_fake(true);
 
-      AOS_LOG_STRUCT(INFO, "joystick_state", *new_state);
-      new_state.Send();
+      builder.add_enabled(enabled_);
+      builder.add_autonomous(false);
+      builder.add_team_id(team_id_);
+
+      new_state.Send(builder.Finish());
 
       last_ds_time_ = monotonic_now();
       last_enabled_ = enabled_;
@@ -109,31 +127,35 @@
   bool last_enabled_ = false;
 
   void SendRobotState() {
-    auto new_state = robot_state_sender_.MakeMessage();
+    auto new_state = robot_state_sender_.MakeBuilder();
 
-    new_state->reader_pid = reader_pid_;
-    new_state->outputs_enabled = enabled_;
-    new_state->browned_out = false;
+    ::aos::RobotState::Builder builder =
+        new_state.template MakeBuilder<::aos::RobotState>();
 
-    new_state->is_3v3_active = true;
-    new_state->is_5v_active = true;
-    new_state->voltage_3v3 = 3.3;
-    new_state->voltage_5v = 5.0;
+    builder.add_reader_pid(reader_pid_);
+    builder.add_outputs_enabled(enabled_);
+    builder.add_browned_out(false);
 
-    new_state->voltage_roborio_in = battery_voltage_;
-    new_state->voltage_battery = battery_voltage_;
+    builder.add_is_3v3_active(true);
+    builder.add_is_5v_active(true);
+    builder.add_voltage_3v3(3.3);
+    builder.add_voltage_5v(5.0);
 
-    AOS_LOG_STRUCT(INFO, "robot_state", *new_state);
-    new_state.Send();
+    builder.add_voltage_roborio_in(battery_voltage_);
+    builder.add_voltage_battery(battery_voltage_);
+
+    new_state.Send(builder.Finish());
   }
 
   static constexpr ::std::chrono::microseconds kTimeTick{5000};
   static constexpr ::std::chrono::milliseconds kDSPacketTime{20};
 
-  const ::std::chrono::nanoseconds dt_;
+  FlatbufferDetachedBuffer<Configuration> configuration_;
 
   SimulatedEventLoopFactory event_loop_factory_;
 
+  const ::std::chrono::nanoseconds dt_;
+
   uint16_t team_id_ = 971;
   int32_t reader_pid_ = 1;
   double battery_voltage_ = 12.4;
diff --git a/aos/controls/control_loops.fbs b/aos/controls/control_loops.fbs
new file mode 100644
index 0000000..8456bfa
--- /dev/null
+++ b/aos/controls/control_loops.fbs
@@ -0,0 +1,24 @@
+namespace aos.control_loops;
+// This file defines basic messages for a Single Input Single Output (SISO)
+// control loop.
+
+table Goal {
+  goal:double;
+}
+
+table Position {
+  position:double;
+}
+
+table Output {
+  voltage:double;
+}
+
+table Status {
+  done:bool;
+}
+
+root_type Goal;
+root_type Position;
+root_type Output;
+root_type Status;
diff --git a/aos/controls/control_loops.q b/aos/controls/control_loops.q
deleted file mode 100644
index 2b0bfb1..0000000
--- a/aos/controls/control_loops.q
+++ /dev/null
@@ -1,34 +0,0 @@
-package aos.control_loops;
-
-interface ControlLoop {
-  queue goal;
-  queue position;
-  queue output;
-  queue status;
-};
-
-message Goal {
-  double goal;
-};
-
-message Position {
-  double position;
-};
-
-message Output {
-  double voltage;
-};
-
-message Status {
-  bool done;
-};
-
-// Single Input Single Output control loop.
-queue_group SISO {
-  implements ControlLoop;
-
-  queue Goal goal;
-  queue Position position;
-  queue Output output;
-  queue Status status;
-};
diff --git a/aos/controls/polytope.h b/aos/controls/polytope.h
index 5248ea3..c63166f 100644
--- a/aos/controls/polytope.h
+++ b/aos/controls/polytope.h
@@ -7,8 +7,7 @@
 #include "third_party/cddlib/lib-src/setoper.h"
 #include "third_party/cddlib/lib-src/cdd.h"
 
-#include "aos/logging/logging.h"
-#include "aos/logging/matrix_logging.h"
+#include "glog/logging.h"
 #endif  // __linux__
 
 namespace aos {
@@ -191,9 +190,9 @@
   if (error != dd_NoError || polyhedra == NULL) {
     dd_WriteErrorMessages(stderr, error);
     dd_FreeMatrix(matrix);
-    AOS_LOG_MATRIX(ERROR, "bad H", H);
-    AOS_LOG_MATRIX(ERROR, "bad k_", k);
-    AOS_LOG(FATAL, "dd_DDMatrix2Poly failed\n");
+    LOG(ERROR) << "bad H" << H;
+    LOG(ERROR) << "bad k_" << k;
+    LOG(FATAL) << "dd_DDMatrix2Poly failed";
   }
 
   dd_MatrixPtr vertex_matrix = dd_CopyGenerators(polyhedra);
@@ -209,7 +208,7 @@
   }
 
   // Rays are unsupported right now.  This may change in the future.
-  AOS_CHECK_EQ(0, num_rays);
+  CHECK_EQ(0, num_rays);
 
   Eigen::Matrix<double, number_of_dimensions, Eigen::Dynamic> vertices(
       number_of_dimensions, num_vertices);
diff --git a/aos/controls/replay_control_loop.h b/aos/controls/replay_control_loop.h
deleted file mode 100644
index 23593ab..0000000
--- a/aos/controls/replay_control_loop.h
+++ /dev/null
@@ -1,195 +0,0 @@
-#ifndef AOS_CONTROLS_REPLAY_CONTROL_LOOP_H_
-#define AOS_CONTROLS_REPLAY_CONTROL_LOOP_H_
-
-#include <fcntl.h>
-
-#include "aos/queue.h"
-#include "aos/controls/control_loop.h"
-#include "aos/logging/replay.h"
-#include "aos/logging/queue_logging.h"
-#include "aos/time/time.h"
-#include "aos/macros.h"
-
-namespace aos {
-namespace controls {
-
-// Handles reading logged messages and running them through a control loop
-// again.
-// T should be a queue group suitable for use with ControlLoop.
-template <class T>
-class ControlLoopReplayer {
- public:
-  typedef typename ControlLoop<T>::GoalType GoalType;
-  typedef typename ControlLoop<T>::PositionType PositionType;
-  typedef typename ControlLoop<T>::StatusType StatusType;
-  typedef typename ControlLoop<T>::OutputType OutputType;
-
-  // loop_group is where to send the messages out.
-  // process_name is the name of the process which wrote the log messages in the
-  // file(s).
-  ControlLoopReplayer(T *loop_group, const ::std::string &process_name)
-      : loop_group_(loop_group) {
-    // Clear out any old messages which will confuse the code.
-    loop_group_->status.FetchLatest();
-    loop_group_->output.FetchLatest();
-
-    AddDirectQueueSender<::aos::JoystickState>(
-        "wpilib_interface.DSReader", "joystick_state", ".aos.joystick_state");
-    AddDirectQueueSender<::aos::RobotState>("wpilib_interface.SensorReader",
-                                            "robot_state", ".aos.robot_state");
-
-    replayer_.AddHandler(
-        process_name, "position",
-        ::std::function<void(const PositionType &)>(::std::ref(position_)));
-    replayer_.AddHandler(
-        process_name, "output",
-        ::std::function<void(const OutputType &)>(::std::ref(output_)));
-    replayer_.AddHandler(
-        process_name, "status",
-        ::std::function<void(const StatusType &)>(::std::ref(status_)));
-    // The timing of goal messages doesn't matter, and we don't need to look
-    // back at them after running the loop.
-    AddDirectQueueSender<GoalType>(
-        process_name, "goal", ::std::string(loop_group_->name()) + ".goal");
-  }
-
-  template <class QT>
-  void AddDirectQueueSender(const ::std::string &process_name,
-                            const ::std::string &log_message,
-                            const ::std::string &name) {
-    replayer_.AddDirectQueueSender<QT>(process_name, log_message, name);
-  }
-
-  // Replays messages from a file.
-  // filename can be straight from the command line; all sanity checking etc is
-  // handled by this function.
-  void ProcessFile(const char *filename);
-
- private:
-  // A message handler which saves off messages and records whether it currently
-  // has a new one or not.
-  template <class S>
-  class CaptureMessage {
-   public:
-    CaptureMessage() {}
-
-    void operator()(const S &message) {
-      AOS_CHECK(!have_new_message_);
-      saved_message_ = message;
-      have_new_message_ = true;
-    }
-
-    const S &saved_message() const { return saved_message_; }
-    bool have_new_message() const { return have_new_message_; }
-    void clear_new_message() { have_new_message_ = false; }
-
-   private:
-    S saved_message_;
-    bool have_new_message_ = false;
-
-    DISALLOW_COPY_AND_ASSIGN(CaptureMessage);
-  };
-
-  // Runs through the file currently loaded in replayer_.
-  // Returns after going through the entire file.
-  void DoProcessFile();
-
-  ::aos::ShmEventLoop event_loop_;
-
-  T *const loop_group_;
-
-  CaptureMessage<PositionType> position_;
-  CaptureMessage<OutputType> output_;
-  CaptureMessage<StatusType> status_;
-
-  // The output that the loop sends for ZeroOutputs(). It might not actually be
-  // all fields zeroed, so we pick the first one and remember it to compare.
-  CaptureMessage<OutputType> zero_output_;
-
-  ::aos::logging::linux_code::LogReplayer replayer_;
-};
-
-template <class T>
-void ControlLoopReplayer<T>::ProcessFile(const char *filename) {
-  int fd;
-  if (strcmp(filename, "-") == 0) {
-    fd = STDIN_FILENO;
-  } else {
-    fd = open(filename, O_RDONLY);
-  }
-  if (fd == -1) {
-    AOS_PLOG(FATAL, "couldn't open file '%s' for reading", filename);
-  }
-
-  replayer_.OpenFile(fd);
-  DoProcessFile();
-  replayer_.CloseCurrentFile();
-
-  AOS_PCHECK(close(fd));
-}
-
-template <class T>
-void ControlLoopReplayer<T>::DoProcessFile() {
-  while (true) {
-    // Dig through messages until we get a status, which indicates the end of
-    // the control loop cycle.
-    while (!status_.have_new_message()) {
-      if (replayer_.ProcessMessage()) return;
-    }
-
-    // Send out the position message (after adjusting the time offset) so the
-    // loop will run right now.
-    if (!position_.have_new_message()) {
-      AOS_LOG(WARNING, "don't have a new position this cycle -> skipping\n");
-      status_.clear_new_message();
-      position_.clear_new_message();
-      output_.clear_new_message();
-      continue;
-    }
-    ::aos::time::OffsetToNow(position_.saved_message().sent_time);
-    {
-      auto position_message = loop_group_->position.MakeMessage();
-      *position_message = position_.saved_message();
-      AOS_CHECK(position_message.Send());
-    }
-    position_.clear_new_message();
-
-    // Wait for the loop to finish running.
-    loop_group_->status.FetchNextBlocking();
-
-    // Point out if the status is different.
-    if (!loop_group_->status->EqualsNoTime(status_.saved_message())) {
-      AOS_LOG_STRUCT(WARNING, "expected status", status_.saved_message());
-      AOS_LOG_STRUCT(WARNING, "got status", *loop_group_->status);
-    }
-    status_.clear_new_message();
-
-    // Point out if the output is different. This is a lot more complicated than
-    // for the status because there isn't always an output logged.
-    bool loop_new_output = loop_group_->output.FetchLatest();
-    if (output_.have_new_message()) {
-      if (!loop_new_output) {
-        AOS_LOG_STRUCT(WARNING, "no output, expected", output_.saved_message());
-      } else if (!loop_group_->output->EqualsNoTime(output_.saved_message())) {
-        AOS_LOG_STRUCT(WARNING, "expected output", output_.saved_message());
-        AOS_LOG_STRUCT(WARNING, "got output", *loop_group_->output);
-      }
-    } else if (loop_new_output) {
-      if (zero_output_.have_new_message()) {
-        if (!loop_group_->output->EqualsNoTime(zero_output_.saved_message())) {
-          AOS_LOG_STRUCT(WARNING, "expected null output",
-                         zero_output_.saved_message());
-          AOS_LOG_STRUCT(WARNING, "got output", *loop_group_->output);
-        }
-      } else {
-        zero_output_(*loop_group_->output);
-      }
-    }
-    output_.clear_new_message();
-  }
-}
-
-}  // namespace controls
-}  // namespace aos
-
-#endif  // AOS_CONTROLS_REPLAY_CONTROL_LOOP_H_
diff --git a/aos/downloader/downloader.bzl b/aos/downloader/downloader.bzl
deleted file mode 100644
index 139401a..0000000
--- a/aos/downloader/downloader.bzl
+++ /dev/null
@@ -1,116 +0,0 @@
-def _aos_downloader_impl(ctx):
-  all_files = ctx.files.srcs + ctx.files.start_srcs + [ctx.outputs._startlist]
-  ctx.file_action(
-    output = ctx.outputs.executable,
-    executable = True,
-    content = '\n'.join([
-      '#!/bin/bash',
-      'set -e',
-      'cd "${BASH_SOURCE[0]}.runfiles/%s"' % ctx.workspace_name,
-    ] + ['%s %s --dirs %s -- %s "$@"' % (
-       ctx.executable._downloader.short_path,
-       ' '.join([src.short_path for src in d.downloader_srcs]),
-       d.downloader_dir,
-       ctx.attr.default_target) for d in ctx.attr.dirs] + [
-      'exec %s %s -- %s "$@"' % (ctx.executable._downloader.short_path,
-                                 ' '.join([src.short_path for src in all_files]),
-                                 ctx.attr.default_target),
-    ]),
-  )
-
-  ctx.file_action(
-    output = ctx.outputs._startlist,
-    content = '\n'.join([f.basename for f in ctx.files.start_srcs]) + '\n',
-  )
-
-  to_download = [ctx.outputs._startlist]
-  to_download += all_files
-  for d in ctx.attr.dirs:
-    to_download += d.downloader_srcs
-
-  return struct(
-    runfiles = ctx.runfiles(
-      files = to_download + ctx.files._downloader,
-      transitive_files = ctx.attr._downloader.default_runfiles.files,
-      collect_data = True,
-      collect_default = True,
-    ),
-    files = depset([ctx.outputs.executable]),
-  )
-
-def _aos_downloader_dir_impl(ctx):
-  return struct(
-    downloader_dir = ctx.attr.dir,
-    downloader_srcs = ctx.files.srcs
-  )
-
-"""Creates a binary which downloads code to a robot.
-
-Running this with `bazel run` will actually download everything.
-
-This also generates a start_list.txt file with the names of binaries to start.
-
-Attrs:
-  srcs: The files to download. They currently all get shoved into one folder.
-  dirs: A list of aos_downloader_dirs to download too.
-  start_srcs: Like srcs, except they also get put into start_list.txt.
-  default_target: The default host to download to. If not specified, defaults to
-                  roboRIO-971.local.
-"""
-
-aos_downloader = rule(
-    attrs = {
-        "_downloader": attr.label(
-            executable = True,
-            cfg = "host",
-            default = Label("//aos/downloader"),
-        ),
-        "start_srcs": attr.label_list(
-            mandatory = True,
-            allow_files = True,
-        ),
-        "srcs": attr.label_list(
-            mandatory = True,
-            allow_files = True,
-        ),
-        "dirs": attr.label_list(
-            mandatory = False,
-            providers = [
-                "downloader_dir",
-                "downloader_srcs",
-            ],
-        ),
-        "default_target": attr.string(
-            default = "roboRIO-971-frc.local",
-        ),
-    },
-    executable = True,
-    outputs = {
-        "_startlist": "%{name}.start_list.dir/start_list.txt",
-    },
-    implementation = _aos_downloader_impl,
-)
-
-"""Downloads files to a specific directory.
-
-This rule does nothing by itself. Use it by adding to the dirs attribute of an
-aos_downloader rule.
-
-Attrs:
-  srcs: The files to download. They all go in the same directory.
-  dir: The directory (relative to the standard download directory) to put all
-       the files in.
-"""
-
-aos_downloader_dir = rule(
-    attrs = {
-        "srcs": attr.label_list(
-            mandatory = True,
-            allow_files = True,
-        ),
-        "dir": attr.string(
-            mandatory = True,
-        ),
-    },
-    implementation = _aos_downloader_dir_impl,
-)
diff --git a/aos/event.cc b/aos/event.cc
index a0115dc..1b60362 100644
--- a/aos/event.cc
+++ b/aos/event.cc
@@ -3,7 +3,7 @@
 #include <chrono>
 
 #include "aos/type_traits/type_traits.h"
-#include "aos/logging/logging.h"
+#include "glog/logging.h"
 
 namespace aos {
 
@@ -16,8 +16,8 @@
   while (__atomic_load_n(&impl_, __ATOMIC_SEQ_CST) == 0) {
     const int ret = futex_wait(&impl_);
     if (ret != 0) {
-      AOS_CHECK_EQ(-1, ret);
-      AOS_PLOG(FATAL, "futex_wait(%p) failed", &impl_);
+      CHECK_EQ(-1, ret);
+      PLOG(FATAL) << "futex_wait(" << &impl_ << ") failed";
     }
   }
 }
@@ -37,8 +37,8 @@
     const int ret = futex_wait_timeout(&impl_, &timeout_timespec);
     if (ret != 0) {
       if (ret == 2) return false;
-      AOS_CHECK_EQ(-1, ret);
-      AOS_PLOG(FATAL, "futex_wait(%p) failed", &impl_);
+      CHECK_EQ(-1, ret);
+      PLOG(FATAL) << "futex_wait(" << &impl_ << ") failed";
     }
   }
 }
@@ -47,7 +47,7 @@
 // to condition variable-based implementations.
 void Event::Set() {
   if (futex_set(&impl_) == -1) {
-    AOS_PLOG(FATAL, "futex_set(%p) failed", &impl_);
+    PLOG(FATAL) << "futex_set(" << &impl_ << ") failed";
   }
 }
 
diff --git a/aos/events/BUILD b/aos/events/BUILD
index b69fc66..17ed688 100644
--- a/aos/events/BUILD
+++ b/aos/events/BUILD
@@ -1,3 +1,19 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+
+package(default_visibility = ["//visibility:public"])
+
+flatbuffer_cc_library(
+    name = "test_message_fbs",
+    srcs = ["test_message.fbs"],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "pingpong_fbs",
+    srcs = ["pingpong.fbs"],
+    gen_reflections = 1,
+)
+
 cc_library(
     name = "epoll",
     srcs = ["epoll.cc"],
@@ -10,72 +26,97 @@
 )
 
 cc_library(
-    name = "raw-event-loop",
-    hdrs = ["raw-event-loop.h"],
-    deps = [
-        "//aos:queues",
-        "//aos/time",
-    ],
-)
-
-cc_library(
-    name = "event-loop",
-    srcs = ["event-loop-tmpl.h"],
+    name = "event_loop",
+    srcs = ["event_loop_tmpl.h"],
     hdrs = [
-        "event-loop.h",
-        "raw-event-loop.h",
+        "event_loop.h",
     ],
     visibility = ["//visibility:public"],
     deps = [
-        ":raw-event-loop",
-        "//aos:queues",
+        "//aos:configuration",
+        "//aos:configuration_fbs",
+        "//aos:flatbuffers",
         "//aos/time",
+        "@com_github_google_flatbuffers//:flatbuffers",
+    ],
+)
+
+cc_binary(
+    name = "ping",
+    srcs = [
+        "ping.cc",
+    ],
+    data = ["config.fb.json"],
+    deps = [
+        ":pingpong_fbs",
+        ":shm_event_loop",
+        "//aos:configuration",
+        "//aos:init",
+        "//aos:json_to_flatbuffer",
+        "@com_github_google_glog//:glog",
+    ],
+)
+
+cc_binary(
+    name = "pong",
+    srcs = [
+        "pong.cc",
+    ],
+    data = ["config.fb.json"],
+    deps = [
+        ":pingpong_fbs",
+        ":shm_event_loop",
+        "//aos:configuration",
+        "//aos:init",
+        "//aos:json_to_flatbuffer",
+        "@com_github_google_glog//:glog",
     ],
 )
 
 cc_library(
-    name = "shm-event-loop",
-    srcs = ["shm-event-loop.cc"],
-    hdrs = ["shm-event-loop.h"],
+    name = "shm_event_loop",
+    srcs = ["shm_event_loop.cc"],
+    hdrs = ["shm_event_loop.h"],
     visibility = ["//visibility:public"],
     deps = [
         ":epoll",
-        ":event-loop",
-        "//aos:init",
-        "//aos:queues",
-        "//aos/logging",
+        ":event_loop",
+        ":test_message_fbs",
+        "//aos:realtime",
+        "//aos/ipc_lib:lockless_queue",
+        "//aos/ipc_lib:signalfd",
         "//aos/util:phased_loop",
     ],
 )
 
 cc_test(
-    name = "shm-event-loop_test",
-    srcs = ["shm-event-loop_test.cc"],
+    name = "shm_event_loop_test",
+    srcs = ["shm_event_loop_test.cc"],
     shard_count = 5,
     deps = [
-        ":event-loop_param_test",
-        ":shm-event-loop",
-        "//aos/testing:test_shm",
+        ":event_loop_param_test",
+        ":shm_event_loop",
+        ":test_message_fbs",
     ],
 )
 
 cc_library(
-    name = "event-loop_param_test",
+    name = "event_loop_param_test",
     testonly = True,
-    srcs = ["event-loop_param_test.cc"],
-    hdrs = ["event-loop_param_test.h"],
+    srcs = ["event_loop_param_test.cc"],
+    hdrs = ["event_loop_param_test.h"],
     deps = [
-        ":event-loop",
-        "//aos/logging:queue_logging",
+        ":event_loop",
+        ":test_message_fbs",
         "//aos/testing:googletest",
     ],
 )
 
 cc_test(
     name = "simulated_event_loop_test",
-    srcs = ["simulated-event-loop_test.cc"],
+    srcs = ["simulated_event_loop_test.cc"],
     deps = [
-        ":event-loop_param_test",
+        ":event_loop_param_test",
         ":simulated_event_loop",
         "//aos/testing:googletest",
     ],
@@ -84,14 +125,19 @@
 cc_library(
     name = "simulated_event_loop",
     testonly = True,
-    srcs = ["simulated-event-loop.cc"],
-    hdrs = ["simulated-event-loop.h"],
+    srcs = [
+        "event_scheduler.cc",
+        "simulated_event_loop.cc",
+    ],
+    hdrs = [
+        "event_scheduler.h",
+        "simulated_event_loop.h",
+    ],
     visibility = ["//visibility:public"],
     deps = [
-        ":event-loop",
-        "//aos:queues",
-        "//aos/logging",
-        "//aos/testing:test_logging",
+        ":event_loop",
+        "//aos/ipc_lib:index",
         "//aos/util:phased_loop",
+        "@com_google_absl//absl/container:btree",
     ],
 )
diff --git a/aos/events/config.fb.json b/aos/events/config.fb.json
new file mode 100644
index 0000000..4068243
--- /dev/null
+++ b/aos/events/config.fb.json
@@ -0,0 +1,12 @@
+{
+  "channels": [
+    {
+      "name": "/test",
+      "type": "aos.examples.Ping"
+    },
+    {
+      "name": "/test",
+      "type": "aos.examples.Pong"
+    }
+  ]
+}
diff --git a/aos/events/epoll.h b/aos/events/epoll.h
index f6ebe95..0f335e5 100644
--- a/aos/events/epoll.h
+++ b/aos/events/epoll.h
@@ -6,6 +6,7 @@
 #include <sys/timerfd.h>
 #include <unistd.h>
 #include <atomic>
+#include <functional>
 #include <vector>
 
 #include "aos/time/time.h"
diff --git a/aos/events/event-loop-tmpl.h b/aos/events/event-loop-tmpl.h
deleted file mode 100644
index 4c53be3..0000000
--- a/aos/events/event-loop-tmpl.h
+++ /dev/null
@@ -1,40 +0,0 @@
-#ifndef _AOS_EVENTS_EVENT_LOOP_TMPL_H_
-#define _AOS_EVENTS_EVENT_LOOP_TMPL_H_
-
-#include <type_traits>
-#include "aos/events/event-loop.h"
-
-namespace aos {
-
-// From a watch functor, this will extract the message type of the argument.
-// This is the template forward declaration, and it extracts the call operator
-// as a PTMF to be used by the following specialization.
-template <class T>
-struct watch_message_type_trait
-    : watch_message_type_trait<decltype(&T::operator())> {};
-
-// From a watch functor, this will extract the message type of the argument.
-// This is the template specialization.
-template <class ClassType, class ReturnType, class A1>
-struct watch_message_type_trait<ReturnType (ClassType::*)(A1) const> {
-  using message_type = typename std::decay<A1>::type;
-};
-
-template <typename T>
-typename Sender<T>::Message Sender<T>::MakeMessage() {
-  return Message(sender_.get());
-}
-
-template <typename Watch>
-void EventLoop::MakeWatcher(const std::string &path, Watch &&w) {
-  using T = typename watch_message_type_trait<Watch>::message_type;
-
-  return MakeRawWatcher(path, QueueTypeInfo::Get<T>(),
-                        [w](const Message *message) {
-                          w(*reinterpret_cast<const T *>(message));
-                        });
-}
-
-}  // namespace aos
-
-#endif  // _AOS_EVENTS_EVENT_LOOP_TMPL_H
diff --git a/aos/events/event-loop.h b/aos/events/event-loop.h
deleted file mode 100644
index 4d6fda5..0000000
--- a/aos/events/event-loop.h
+++ /dev/null
@@ -1,143 +0,0 @@
-#ifndef _AOS_EVENTS_EVENT_LOOP_H_
-#define _AOS_EVENTS_EVENT_LOOP_H_
-
-#include <string>
-#include "aos/queue.h"
-#include "aos/time/time.h"
-#include "aos/events/raw-event-loop.h"
-
-namespace aos {
-
-// Fetches the newest message from a queue.
-template <typename T>
-class Fetcher {
- public:
-  Fetcher() {}
-  // Fetches the next message. Returns true if it fetched a new message.  This
-  // method will only return messages sent after the Fetcher was created.
-  bool FetchNext() { return fetcher_->FetchNext(); }
-  // Fetches the most recent message. Returns true if it fetched a new message.
-  // This will return the latest message regardless of if it was sent before or
-  // after the fetcher was created.
-  bool Fetch() { return fetcher_->Fetch(); }
-
-  const T *get() const {
-    return reinterpret_cast<const T *>(fetcher_->most_recent());
-  }
-  const T &operator*() const { return *get(); }
-  const T *operator->() const { return get(); }
-
- private:
-  friend class EventLoop;
-  Fetcher(::std::unique_ptr<RawFetcher> fetcher) : fetcher_(::std::move(fetcher)) {}
-  ::std::unique_ptr<RawFetcher> fetcher_;
-};
-
-// Sends messages to a queue.
-template <typename T>
-class Sender {
- public:
-  typedef T Type;
-
-  Sender() {}
-
-  // Represents a single message about to be sent to the queue.
-  // The lifecycle goes:
-  //
-  // Message msg = sender.MakeMessage();
-  // Populate(msg.get());
-  // msg.Send();
-  //
-  // Or:
-  //
-  // Message msg = sender.MakeMessage();
-  // PopulateOrNot(msg.get());
-  class Message {
-   public:
-    Message(RawSender *sender)
-        : msg_(reinterpret_cast<T *>(sender->GetMessage()), *sender) {
-      msg_->Zero();
-    }
-
-    T *get() { return msg_.get(); }
-    const T *get() const { return msg_.get(); }
-    T &operator*() { return *get(); }
-    T *operator->() { return get(); }
-    const T &operator*() const { return *get(); }
-    const T *operator->() const { return get(); }
-
-    // Sends the message to the queue. Should only be called once.  Returns true
-    // if the message was successfully sent, and false otherwise.
-    bool Send() {
-      RawSender *sender = &msg_.get_deleter();
-      return sender->Send(msg_.release());
-    }
-
-   private:
-    std::unique_ptr<T, RawSender &> msg_;
-  };
-
-  // Constructs an above message.
-  Message MakeMessage();
-
-  // Returns the name of the underlying queue.
-  const char *name() const { return sender_->name(); }
-
- private:
-  friend class EventLoop;
-  Sender(::std::unique_ptr<RawSender> sender) : sender_(::std::move(sender)) {}
-  ::std::unique_ptr<RawSender> sender_;
-};
-
-// TODO(parker): Consider making EventLoop wrap a RawEventLoop rather than
-// inheriting.
-class EventLoop : public RawEventLoop {
- public:
-  virtual ~EventLoop() {}
-
-  // Current time.
-  virtual monotonic_clock::time_point monotonic_now() = 0;
-
-  // Note, it is supported to create:
-  //   multiple fetchers, and (one sender or one watcher) per <path, type>
-  //   tuple.
-
-  // Makes a class that will always fetch the most recent value
-  // sent to path.
-  template <typename T>
-  Fetcher<T> MakeFetcher(const ::std::string &path) {
-    return Fetcher<T>(MakeRawFetcher(path, QueueTypeInfo::Get<T>()));
-  }
-
-  // Makes class that allows constructing and sending messages to
-  // address path.
-  template <typename T>
-  Sender<T> MakeSender(const ::std::string &path) {
-    return Sender<T>(MakeRawSender(path, QueueTypeInfo::Get<T>()));
-  }
-
-  // Watch is a functor that have a call signature like so:
-  // void Event(const MessageType& type);
-  //
-  // This will watch messages sent to path.
-  // Note that T needs to match both send and recv side.
-  // TODO(parker): Need to support ::std::bind.  For now, use lambdas.
-  template <typename Watch>
-  void MakeWatcher(const ::std::string &path, Watch &&w);
-
-  // The passed in function will be called when the event loop starts.
-  // Use this to run code once the thread goes into "real-time-mode",
-  virtual void OnRun(::std::function<void()>) = 0;
-
-  // TODO(austin): OnExit
-
-  // Sets the scheduler priority to run the event loop at.  This may not be
-  // called after we go into "real-time-mode".
-  virtual void SetRuntimeRealtimePriority(int priority) = 0;
-};
-
-}  // namespace aos
-
-#include "aos/events/event-loop-tmpl.h"
-
-#endif  // _AOS_EVENTS_EVENT_LOOP_H
diff --git a/aos/events/event_loop.h b/aos/events/event_loop.h
new file mode 100644
index 0000000..f614517
--- /dev/null
+++ b/aos/events/event_loop.h
@@ -0,0 +1,328 @@
+#ifndef AOS_EVENTS_EVENT_LOOP_H_
+#define AOS_EVENTS_EVENT_LOOP_H_
+
+#include <atomic>
+#include <string>
+
+#include "absl/strings/string_view.h"
+#include "aos/configuration.h"
+#include "aos/configuration_generated.h"
+#include "aos/flatbuffers.h"
+#include "aos/json_to_flatbuffer.h"
+#include "aos/time/time.h"
+#include "flatbuffers/flatbuffers.h"
+#include "glog/logging.h"
+
+namespace aos {
+
+// Struct available on Watchers and Fetchers with context about the current
+// message.
+struct Context {
+  // Time that the message was sent.
+  monotonic_clock::time_point monotonic_sent_time;
+  realtime_clock::time_point realtime_sent_time;
+  // Index in the queue.
+  uint32_t queue_index;
+  // Size of the data sent.
+  size_t size;
+  // Pointer to the data.
+  void *data;
+};
+
+// Raw version of fetcher. Contains a local variable that the fetcher will
+// update.  This is used for reflection and as an interface to implement typed
+// fetchers.
+class RawFetcher {
+ public:
+  RawFetcher() {}
+  virtual ~RawFetcher() {}
+
+  // Non-blocking fetch of the next message in the queue. Returns true if there
+  // was a new message and we got it.
+  virtual bool FetchNext() = 0;
+
+  // Non-blocking fetch of the latest message:
+  virtual bool Fetch() = 0;
+
+  // Returns a pointer to data in the most recent message, or nullptr if there
+  // is no message.
+  const void *most_recent_data() const { return data_; }
+
+  const Context &context() const { return context_; }
+
+ protected:
+  RawFetcher(const RawFetcher &) = delete;
+  RawFetcher &operator=(const RawFetcher &) = delete;
+
+  void *data_ = nullptr;
+  Context context_;
+};
+
+// Raw version of sender.  Sends a block of data.  This is used for reflection
+// and as a building block to implement typed senders.
+class RawSender {
+ public:
+  RawSender() {}
+  virtual ~RawSender() {}
+
+  // Sends a message without copying it.  The users starts by copying up to
+  // size() bytes into the data backed by data().  They then call Send to send.
+  // Returns true on a successful send.
+  virtual void *data() = 0;
+  virtual size_t size() = 0;
+  virtual bool Send(size_t size) = 0;
+
+  // Sends a single block of data by copying it.
+  virtual bool Send(void *data, size_t size) = 0;
+
+  // Returns the name of this sender.
+  virtual const absl::string_view name() const = 0;
+
+ protected:
+  RawSender(const RawSender &) = delete;
+  RawSender &operator=(const RawSender &) = delete;
+};
+
+
+// Fetches the newest message from a channel.
+// This provides a polling based interface for channels.
+template <typename T>
+class Fetcher {
+ public:
+  Fetcher() {}
+
+  // Fetches the next message. Returns true if it fetched a new message.  This
+  // method will only return messages sent after the Fetcher was created.
+  bool FetchNext() { return fetcher_->FetchNext(); }
+
+  // Fetches the most recent message. Returns true if it fetched a new message.
+  // This will return the latest message regardless of if it was sent before or
+  // after the fetcher was created.
+  bool Fetch() { return fetcher_->Fetch(); }
+
+  // Returns a pointer to the contained flatbuffer, or nullptr if there is no
+  // available message.
+  const T *get() const {
+    return fetcher_->most_recent_data() != nullptr
+               ? flatbuffers::GetRoot<T>(reinterpret_cast<const char *>(
+                     fetcher_->most_recent_data()))
+               : nullptr;
+  }
+
+  // Returns the context holding timestamps and other metadata about the
+  // message.
+  const Context &context() const { return fetcher_->context(); }
+
+  const T &operator*() const { return *get(); }
+  const T *operator->() const { return get(); }
+
+ private:
+  friend class EventLoop;
+  Fetcher(::std::unique_ptr<RawFetcher> fetcher)
+      : fetcher_(::std::move(fetcher)) {}
+  ::std::unique_ptr<RawFetcher> fetcher_;
+};
+
+// Sends messages to a channel.
+template <typename T>
+class Sender {
+ public:
+  Sender() {}
+
+  // Represents a single message about to be sent to the queue.
+  // The lifecycle goes:
+  //
+  // Builder builder = sender.MakeBuilder();
+  // T::Builder t_builder = builder.MakeBuilder<T>();
+  // Populate(&t_builder);
+  // builder.Send(t_builder.Finish());
+  class Builder {
+   public:
+    Builder(RawSender *sender, void *data, size_t size)
+        : alloc_(data, size), fbb_(size, &alloc_), sender_(sender) {
+      fbb_.ForceDefaults(1);
+    }
+
+    flatbuffers::FlatBufferBuilder *fbb() { return &fbb_; }
+
+    template <typename T2>
+    typename T2::Builder MakeBuilder() {
+      return typename T2::Builder(fbb_);
+    }
+
+    bool Send(flatbuffers::Offset<T> offset) {
+      fbb_.Finish(offset);
+      return sender_->Send(fbb_.GetSize());
+    }
+
+    // CHECKs that this message was sent.
+    void CheckSent() { fbb_.Finished(); }
+
+   private:
+    PreallocatedAllocator alloc_;
+    flatbuffers::FlatBufferBuilder fbb_;
+    RawSender *sender_;
+  };
+
+  // Constructs an above builder.
+  Builder MakeBuilder();
+
+  // Returns the name of the underlying queue.
+  const absl::string_view name() const { return sender_->name(); }
+
+ private:
+  friend class EventLoop;
+  Sender(std::unique_ptr<RawSender> sender) : sender_(std::move(sender)) {}
+  std::unique_ptr<RawSender> sender_;
+};
+
+// Interface for timers
+class TimerHandler {
+ public:
+  virtual ~TimerHandler() {}
+
+  // Timer should sleep until base, base + offset, base + offset * 2, ...
+  // If repeat_offset isn't set, the timer only expires once.
+  virtual void Setup(monotonic_clock::time_point base,
+                     monotonic_clock::duration repeat_offset =
+                         ::aos::monotonic_clock::zero()) = 0;
+
+  // Stop future calls to callback().
+  virtual void Disable() = 0;
+};
+
+// Interface for phased loops.  They are built on timers.
+class PhasedLoopHandler {
+ public:
+  virtual ~PhasedLoopHandler() {}
+
+  // Sets the interval and offset.  Any changes to interval and offset only take
+  // effect when the handler finishes running.
+  virtual void set_interval_and_offset(
+      const monotonic_clock::duration interval,
+      const monotonic_clock::duration offset) = 0;
+};
+
+// TODO(austin): Ping pong example apps, and then start doing introspection.
+// TODO(austin): Timing reporter.  Publish statistics on latencies of
+// handlers.
+class EventLoop {
+ public:
+  EventLoop(const Configuration *configuration)
+      : configuration_(configuration) {}
+
+  virtual ~EventLoop() {}
+
+  // Current time.
+  virtual monotonic_clock::time_point monotonic_now() = 0;
+  virtual realtime_clock::time_point realtime_now() = 0;
+
+  // Note, it is supported to create:
+  //   multiple fetchers, and (one sender or one watcher) per <name, type>
+  //   tuple.
+
+  // Makes a class that will always fetch the most recent value
+  // sent to the provided channel.
+  template <typename T>
+  Fetcher<T> MakeFetcher(const absl::string_view channel_name) {
+    const Channel *channel = configuration::GetChannel(
+        configuration_, channel_name, T::GetFullyQualifiedName(), name());
+    CHECK(channel != nullptr)
+        << ": Channel { \"name\": \"" << channel_name << "\", \"type\": \""
+        << T::GetFullyQualifiedName() << "\" } not found in config.";
+
+    return Fetcher<T>(MakeRawFetcher(channel));
+  }
+
+  // Makes class that allows constructing and sending messages to
+  // the provided channel.
+  template <typename T>
+  Sender<T> MakeSender(const absl::string_view channel_name) {
+    const Channel *channel = configuration::GetChannel(
+        configuration_, channel_name, T::GetFullyQualifiedName(), name());
+    CHECK(channel != nullptr)
+        << ": Channel { \"name\": \"" << channel_name << "\", \"type\": \""
+        << T::GetFullyQualifiedName() << "\" } not found in config.";
+
+    return Sender<T>(MakeRawSender(channel));
+  }
+
+  // This will watch messages sent to the provided channel.
+  //
+  // Watch is a functor that have a call signature like so:
+  // void Event(const MessageType& type);
+  //
+  // TODO(parker): Need to support ::std::bind.  For now, use lambdas.
+  // TODO(austin): Do we need a functor?  Or is a std::function good enough?
+  template <typename Watch>
+  void MakeWatcher(const absl::string_view name, Watch &&w);
+
+  // The passed in function will be called when the event loop starts.
+  // Use this to run code once the thread goes into "real-time-mode",
+  virtual void OnRun(::std::function<void()> on_run) = 0;
+
+  // Sets the name of the event loop.  This is the application name.
+  virtual void set_name(const absl::string_view name) = 0;
+  // Gets the name of the event loop.
+  virtual const absl::string_view name() const = 0;
+
+  // Creates a timer that executes callback when the timer expires
+  // Returns a TimerHandle for configuration of the timer
+  virtual TimerHandler *AddTimer(::std::function<void()> callback) = 0;
+
+  // Creates a timer that executes callback periodically at the specified
+  // interval and offset.  Returns a PhasedLoopHandler for interacting with the
+  // timer.
+  virtual PhasedLoopHandler *AddPhasedLoop(
+      ::std::function<void(int)> callback,
+      const monotonic_clock::duration interval,
+      const monotonic_clock::duration offset = ::std::chrono::seconds(0)) = 0;
+
+  // TODO(austin): OnExit
+
+  // Threadsafe.
+  bool is_running() const { return is_running_.load(); }
+
+  // Sets the scheduler priority to run the event loop at.  This may not be
+  // called after we go into "real-time-mode".
+  virtual void SetRuntimeRealtimePriority(int priority) = 0;
+
+  // Fetches new messages from the provided channel (path, type).  Note: this
+  // channel must be a member of the exact configuration object this was built
+  // with.
+  virtual std::unique_ptr<RawFetcher> MakeRawFetcher(
+      const Channel *channel) = 0;
+
+  // Will watch channel (name, type) for new messages
+  virtual void MakeRawWatcher(
+      const Channel *channel,
+      std::function<void(const Context &context, const void *message)>
+          watcher) = 0;
+
+  // Returns the context for the current message.
+  // TODO(austin): Fill out whatever is useful for timers.
+  const Context &context() const { return context_; }
+
+  // Returns the configuration that this event loop was built with.
+  const Configuration *configuration() const { return configuration_; }
+
+ protected:
+  void set_is_running(bool value) { is_running_.store(value); }
+
+  // Will send new messages from channel (path, type).
+  virtual std::unique_ptr<RawSender> MakeRawSender(const Channel *channel) = 0;
+
+ private:
+  ::std::atomic<bool> is_running_{false};
+
+  // Context available for watchers.
+  Context context_;
+
+  const Configuration *configuration_;
+};
+
+}  // namespace aos
+
+#include "aos/events/event_loop_tmpl.h"
+
+#endif  // AOS_EVENTS_EVENT_LOOP_H
diff --git a/aos/events/event-loop_param_test.cc b/aos/events/event_loop_param_test.cc
similarity index 64%
rename from aos/events/event-loop_param_test.cc
rename to aos/events/event_loop_param_test.cc
index 04343cc..8a0f9b6 100644
--- a/aos/events/event-loop_param_test.cc
+++ b/aos/events/event_loop_param_test.cc
@@ -1,11 +1,13 @@
-#include "aos/events/event-loop_param_test.h"
+#include "aos/events/event_loop_param_test.h"
 
 #include <chrono>
 
+#include "glog/logging.h"
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
 
 #include "glog/logging.h"
+#include "aos/events/test_message_generated.h"
 
 namespace aos {
 namespace testing {
@@ -13,39 +15,27 @@
 namespace chrono = ::std::chrono;
 }  // namespace
 
-struct TestMessage : public ::aos::Message {
-  enum { kQueueLength = 100, kHash = 0x696c0cdc };
-  int msg_value;
-
-  void Zero() {
-    ::aos::Message::Zero();
-    msg_value = 0;
-  }
-  static size_t Size() { return 1 + ::aos::Message::Size(); }
-  size_t Print(char *buffer, size_t length) const;
-  TestMessage() { Zero(); }
-};
-
 // Tests that watcher can receive messages from a sender.
 // Also tests that OnRun() works.
 TEST_P(AbstractEventLoopTest, Basic) {
   auto loop1 = Make();
   auto loop2 = MakePrimary();
 
-  auto sender = loop1->MakeSender<TestMessage>("/test");
+  aos::Sender<TestMessage> sender = loop1->MakeSender<TestMessage>("/test");
 
   bool happened = false;
 
   loop2->OnRun([&]() {
     happened = true;
 
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 200;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(200);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   });
 
   loop2->MakeWatcher("/test", [&](const TestMessage &message) {
-    EXPECT_EQ(message.msg_value, 200);
+    EXPECT_EQ(message.value(), 200);
     this->Exit();
   });
 
@@ -67,13 +57,14 @@
 
   EXPECT_FALSE(fetcher.Fetch());
 
-  auto msg = sender.MakeMessage();
-  msg->msg_value = 200;
-  msg.Send();
+  aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+  TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+  builder.add_value(200);
+  ASSERT_TRUE(msg.Send(builder.Finish()));
 
   EXPECT_TRUE(fetcher.Fetch());
   ASSERT_FALSE(fetcher.get() == nullptr);
-  EXPECT_EQ(fetcher->msg_value, 200);
+  EXPECT_EQ(fetcher.get()->value(), 200);
 }
 
 // Tests that watcher will receive all messages sent if they are sent after
@@ -87,7 +78,7 @@
   ::std::vector<int> values;
 
   loop2->MakeWatcher("/test", [&](const TestMessage &message) {
-    values.push_back(message.msg_value);
+    values.push_back(message.value());
     if (values.size() == 2) {
       this->Exit();
     }
@@ -95,21 +86,24 @@
 
   // Before Run, should be ignored.
   {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 199;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(199);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   }
 
   loop2->OnRun([&]() {
     {
-      auto msg = sender.MakeMessage();
-      msg->msg_value = 200;
-      msg.Send();
+      aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+      TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+      builder.add_value(200);
+      ASSERT_TRUE(msg.Send(builder.Finish()));
     }
     {
-      auto msg = sender.MakeMessage();
-      msg->msg_value = 201;
-      msg.Send();
+      aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+      TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+      builder.add_value(201);
+      ASSERT_TRUE(msg.Send(builder.Finish()));
     }
   });
 
@@ -129,18 +123,20 @@
   ::std::vector<int> values;
 
   {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 200;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(200);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   }
   {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 201;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(201);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   }
 
   loop2->MakeWatcher("/test", [&](const TestMessage &message) {
-    values.push_back(message.msg_value);
+    values.push_back(message.value());
   });
 
   // Add a timer to actually quit.
@@ -164,20 +160,22 @@
   ::std::vector<int> values;
 
   {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 200;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(200);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   }
   {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 201;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(201);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   }
 
   // Add a timer to actually quit.
   auto test_timer = loop2->AddTimer([&fetcher, &values, this]() {
     while (fetcher.FetchNext()) {
-      values.push_back(fetcher->msg_value);
+      values.push_back(fetcher.get()->value());
     }
     this->Exit();
   });
@@ -200,14 +198,16 @@
   ::std::vector<int> values;
 
   {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 200;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(200);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   }
   {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 201;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(201);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   }
 
   auto fetcher = loop2->MakeFetcher<TestMessage>("/test");
@@ -215,7 +215,7 @@
   // Add a timer to actually quit.
   auto test_timer = loop2->AddTimer([&fetcher, &values, this]() {
     while (fetcher.FetchNext()) {
-      values.push_back(fetcher->msg_value);
+      values.push_back(fetcher.get()->value());
     }
     this->Exit();
   });
@@ -239,14 +239,16 @@
   ::std::vector<int> values;
 
   {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 200;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(200);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   }
   {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 201;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(201);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   }
 
   auto fetcher = loop2->MakeFetcher<TestMessage>("/test");
@@ -254,11 +256,11 @@
   // Add a timer to actually quit.
   auto test_timer = loop2->AddTimer([&fetcher, &values, this]() {
     if (fetcher.Fetch()) {
-      values.push_back(fetcher->msg_value);
+      values.push_back(fetcher.get()->value());
     }
     // Do it again to make sure we don't double fetch.
     if (fetcher.Fetch()) {
-      values.push_back(fetcher->msg_value);
+      values.push_back(fetcher.get()->value());
     }
     this->Exit();
   });
@@ -281,14 +283,16 @@
   ::std::vector<int> values;
 
   {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 200;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(200);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   }
   {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 201;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(201);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   }
 
   auto fetcher = loop2->MakeFetcher<TestMessage>("/test");
@@ -296,31 +300,34 @@
   // Add a timer to actually quit.
   auto test_timer = loop2->AddTimer([&fetcher, &values, &sender, this]() {
     if (fetcher.Fetch()) {
-      values.push_back(fetcher->msg_value);
+      values.push_back(fetcher.get()->value());
     }
 
     {
-      auto msg = sender.MakeMessage();
-      msg->msg_value = 202;
-      msg.Send();
+      aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+      TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+      builder.add_value(202);
+      ASSERT_TRUE(msg.Send(builder.Finish()));
     }
     {
-      auto msg = sender.MakeMessage();
-      msg->msg_value = 203;
-      msg.Send();
+      aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+      TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+      builder.add_value(203);
+      ASSERT_TRUE(msg.Send(builder.Finish()));
     }
     {
-      auto msg = sender.MakeMessage();
-      msg->msg_value = 204;
-      msg.Send();
+      aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+      TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+      builder.add_value(204);
+      ASSERT_TRUE(msg.Send(builder.Finish()));
     }
 
     if (fetcher.FetchNext()) {
-      values.push_back(fetcher->msg_value);
+      values.push_back(fetcher.get()->value());
     }
 
     if (fetcher.Fetch()) {
-      values.push_back(fetcher->msg_value);
+      values.push_back(fetcher.get()->value());
     }
 
     this->Exit();
@@ -345,29 +352,31 @@
   Fetcher<TestMessage> fetcher = fetch_loop->MakeFetcher<TestMessage>("/test");
 
   {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 100;
-    ASSERT_TRUE(msg.Send());
+      aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+      TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+      builder.add_value(100);
+      ASSERT_TRUE(msg.Send(builder.Finish()));
   }
 
   {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 200;
-    ASSERT_TRUE(msg.Send());
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(200);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   }
 
   ASSERT_TRUE(fetcher.FetchNext());
   ASSERT_NE(nullptr, fetcher.get());
-  EXPECT_EQ(100, fetcher->msg_value);
+  EXPECT_EQ(100, fetcher.get()->value());
 
   ASSERT_TRUE(fetcher.FetchNext());
   ASSERT_NE(nullptr, fetcher.get());
-  EXPECT_EQ(200, fetcher->msg_value);
+  EXPECT_EQ(200, fetcher.get()->value());
 
   // When we run off the end of the queue, expect to still have the old message:
   ASSERT_FALSE(fetcher.FetchNext());
   ASSERT_NE(nullptr, fetcher.get());
-  EXPECT_EQ(200, fetcher->msg_value);
+  EXPECT_EQ(200, fetcher.get()->value());
 }
 
 // Verify that making a fetcher and watcher for "/test" succeeds.
@@ -384,6 +393,14 @@
   auto fetcher2 = loop->MakeFetcher<TestMessage>("/test");
 }
 
+// Verify that registering a watcher for an invalid channel name dies.
+TEST_P(AbstractEventLoopDeathTest, InvalidChannelName) {
+  auto loop = Make();
+  EXPECT_DEATH(
+      { loop->MakeWatcher("/test/invalid", [&](const TestMessage &) {}); },
+      "/test/invalid");
+}
+
 // Verify that registering a watcher twice for "/test" fails.
 TEST_P(AbstractEventLoopDeathTest, TwoWatcher) {
   auto loop = Make();
@@ -438,16 +455,17 @@
 
   loop2->MakeWatcher("/test1", [&](const TestMessage &) {});
   loop2->MakeWatcher("/test2", [&](const TestMessage &message) {
-    EXPECT_EQ(message.msg_value, 200);
+    EXPECT_EQ(message.value(), 200);
     this->Exit();
   });
 
   auto sender = loop1->MakeSender<TestMessage>("/test2");
 
   loop2->OnRun([&]() {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 200;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(200);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
   });
 
   Run();
@@ -525,9 +543,18 @@
   auto fetcher = loop2->MakeFetcher<TestMessage>("/test");
 
   auto test_timer = loop1->AddTimer([&sender]() {
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 200;
-    msg.Send();
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(200);
+    ASSERT_TRUE(msg.Send(builder.Finish()));
+  });
+
+  loop2->MakeWatcher("/test", [&loop2](const TestMessage &msg) {
+    // Confirm that the data pointer makes sense from a watcher.
+    EXPECT_GT(&msg, loop2->context().data);
+    EXPECT_LT(&msg, reinterpret_cast<void *>(
+                        reinterpret_cast<char *>(loop2->context().data) +
+                        loop2->context().size));
   });
 
   test_timer->Setup(loop1->monotonic_now() + ::std::chrono::seconds(1));
@@ -537,15 +564,36 @@
 
   EXPECT_TRUE(fetcher.Fetch());
 
-  monotonic_clock::duration time_offset =
-      fetcher->sent_time - (loop1->monotonic_now() - ::std::chrono::seconds(1));
+  monotonic_clock::duration monotonic_time_offset =
+      fetcher.context().monotonic_sent_time -
+      (loop1->monotonic_now() - ::std::chrono::seconds(1));
+  realtime_clock::duration realtime_time_offset =
+      fetcher.context().realtime_sent_time -
+      (loop1->realtime_now() - ::std::chrono::seconds(1));
 
-  EXPECT_TRUE(time_offset > ::std::chrono::milliseconds(-500))
-      << ": Got " << fetcher->sent_time.time_since_epoch().count()
+  EXPECT_TRUE(monotonic_time_offset > ::std::chrono::milliseconds(-500))
+      << ": Got "
+      << fetcher.context().monotonic_sent_time.time_since_epoch().count()
       << " expected " << loop1->monotonic_now().time_since_epoch().count();
-  EXPECT_TRUE(time_offset < ::std::chrono::milliseconds(500))
-      << ": Got " << fetcher->sent_time.time_since_epoch().count()
+  // Confirm that the data pointer makes sense.
+  EXPECT_GT(fetcher.get(), fetcher.context().data);
+  EXPECT_LT(fetcher.get(),
+            reinterpret_cast<void *>(
+                reinterpret_cast<char *>(fetcher.context().data) +
+                fetcher.context().size));
+  EXPECT_TRUE(monotonic_time_offset < ::std::chrono::milliseconds(500))
+      << ": Got "
+      << fetcher.context().monotonic_sent_time.time_since_epoch().count()
       << " expected " << loop1->monotonic_now().time_since_epoch().count();
+
+  EXPECT_TRUE(realtime_time_offset > ::std::chrono::milliseconds(-500))
+      << ": Got "
+      << fetcher.context().realtime_sent_time.time_since_epoch().count()
+      << " expected " << loop1->realtime_now().time_since_epoch().count();
+  EXPECT_TRUE(realtime_time_offset < ::std::chrono::milliseconds(500))
+      << ": Got "
+      << fetcher.context().realtime_sent_time.time_since_epoch().count()
+      << " expected " << loop1->realtime_now().time_since_epoch().count();
 }
 
 // Tests that a couple phased loops run in a row result in the correct offset
@@ -612,41 +660,5 @@
               1.0, 0.1);
 }
 
-// Verify that sending lots and lots of messages and using FetchNext gets a
-// contiguous block of messages and doesn't crash.
-// TODO(austin): We should store the same number of messages in simulation and
-// reality.
-TEST_P(AbstractEventLoopTest, LotsOfSends) {
-  auto loop1 = MakePrimary();
-  auto loop2 = Make();
-  auto sender = loop1->MakeSender<TestMessage>("/test");
-  auto fetcher = loop2->MakeFetcher<TestMessage>("/test");
-
-  auto test_timer = loop1->AddTimer([&sender, &fetcher, this]() {
-    for (int i = 0; i < 100000; ++i) {
-      auto msg = sender.MakeMessage();
-      msg->msg_value = i;
-      msg.Send();
-    }
-
-    int last = 0;
-    if (fetcher.FetchNext()) {
-      last = fetcher->msg_value;
-    }
-    while (fetcher.FetchNext()) {
-      EXPECT_EQ(last + 1, fetcher->msg_value);
-      ++last;
-    }
-
-    this->Exit();
-  });
-
-  loop1->OnRun([&test_timer, &loop1]() {
-    test_timer->Setup(loop1->monotonic_now() + ::std::chrono::milliseconds(10));
-  });
-
-  Run();
-}
-
 }  // namespace testing
 }  // namespace aos
diff --git a/aos/events/event-loop_param_test.h b/aos/events/event_loop_param_test.h
similarity index 61%
rename from aos/events/event-loop_param_test.h
rename to aos/events/event_loop_param_test.h
index 83f0b37..fb08ac3 100644
--- a/aos/events/event-loop_param_test.h
+++ b/aos/events/event_loop_param_test.h
@@ -3,7 +3,9 @@
 
 #include <vector>
 
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
+#include "aos/flatbuffers.h"
+#include "aos/json_to_flatbuffer.h"
 #include "gtest/gtest.h"
 
 namespace aos {
@@ -11,6 +13,25 @@
 
 class EventLoopTestFactory {
  public:
+  EventLoopTestFactory()
+      : flatbuffer_(JsonToFlatbuffer("{\n"
+                                     "  \"channels\": [ \n"
+                                     "    {\n"
+                                     "      \"name\": \"/test\",\n"
+                                     "      \"type\": \"aos.TestMessage\"\n"
+                                     "    },\n"
+                                     "    {\n"
+                                     "      \"name\": \"/test1\",\n"
+                                     "      \"type\": \"aos.TestMessage\"\n"
+                                     "    },\n"
+                                     "    {\n"
+                                     "      \"name\": \"/test2\",\n"
+                                     "      \"type\": \"aos.TestMessage\"\n"
+                                     "    }\n"
+                                     "  ]\n"
+                                     "}\n",
+                                     Configuration::MiniReflectTypeTable())) {}
+
   virtual ~EventLoopTestFactory() {}
 
   // Makes a connected event loop.
@@ -27,6 +48,11 @@
 
   // Advances time by sleeping.  Can't be called from inside a loop.
   virtual void SleepFor(::std::chrono::nanoseconds duration) = 0;
+
+  const Configuration *configuration() { return &flatbuffer_.message(); }
+
+ private:
+  FlatbufferDetachedBuffer<Configuration> flatbuffer_;
 };
 
 class AbstractEventLoopTestBase
diff --git a/aos/events/event_loop_tmpl.h b/aos/events/event_loop_tmpl.h
new file mode 100644
index 0000000..9910d4d
--- /dev/null
+++ b/aos/events/event_loop_tmpl.h
@@ -0,0 +1,48 @@
+#ifndef AOS_EVENTS_EVENT_LOOP_TMPL_H_
+#define AOS_EVENTS_EVENT_LOOP_TMPL_H_
+
+#include <type_traits>
+#include "aos/events/event_loop.h"
+#include "glog/logging.h"
+
+namespace aos {
+
+// From a watch functor, this will extract the message type of the argument.
+// This is the template forward declaration, and it extracts the call operator
+// as a PTMF to be used by the following specialization.
+template <class T>
+struct watch_message_type_trait
+    : watch_message_type_trait<decltype(&T::operator())> {};
+
+// From a watch functor, this will extract the message type of the argument.
+// This is the template specialization.
+template <class ClassType, class ReturnType, class A1>
+struct watch_message_type_trait<ReturnType (ClassType::*)(A1) const> {
+  using message_type = typename std::decay<A1>::type;
+};
+
+template <typename T>
+typename Sender<T>::Builder Sender<T>::MakeBuilder() {
+  return Builder(sender_.get(), sender_->data(), sender_->size());
+}
+
+template <typename Watch>
+void EventLoop::MakeWatcher(const absl::string_view channel_name, Watch &&w) {
+  using T = typename watch_message_type_trait<Watch>::message_type;
+  const Channel *channel = configuration::GetChannel(
+      configuration_, channel_name, T::GetFullyQualifiedName(), name());
+
+  CHECK(channel != nullptr)
+      << ": Channel { \"name\": \"" << channel_name << "\", \"type\": \""
+      << T::GetFullyQualifiedName() << "\" } not found in config.";
+
+  return MakeRawWatcher(
+      channel, [this, w](const Context &context, const void *message) {
+        context_ = context;
+        w(*flatbuffers::GetRoot<T>(reinterpret_cast<const char *>(message)));
+      });
+}
+
+}  // namespace aos
+
+#endif  // AOS_EVENTS_EVENT_LOOP_TMPL_H
diff --git a/aos/events/event_scheduler.cc b/aos/events/event_scheduler.cc
new file mode 100644
index 0000000..a4cfa72
--- /dev/null
+++ b/aos/events/event_scheduler.cc
@@ -0,0 +1,48 @@
+#include "aos/events/event_scheduler.h"
+
+#include <algorithm>
+#include <deque>
+
+#include "aos/events/event_loop.h"
+
+namespace aos {
+
+EventScheduler::Token EventScheduler::Schedule(
+    ::aos::monotonic_clock::time_point time, ::std::function<void()> callback) {
+  return events_list_.emplace(time, callback);
+}
+
+void EventScheduler::Deschedule(EventScheduler::Token token) {
+  events_list_.erase(token);
+}
+
+void EventScheduler::RunFor(monotonic_clock::duration duration) {
+  const ::aos::monotonic_clock::time_point end_time =
+      monotonic_now() + duration;
+  is_running_ = true;
+  while (!events_list_.empty() && is_running_) {
+    auto iter = events_list_.begin();
+    ::aos::monotonic_clock::time_point next_time = iter->first;
+    if (next_time > end_time) {
+      break;
+    }
+    now_ = iter->first;
+    ::std::function<void()> callback = ::std::move(iter->second);
+    events_list_.erase(iter);
+    callback();
+  }
+  now_ = end_time;
+}
+
+void EventScheduler::Run() {
+  is_running_ = true;
+  while (!events_list_.empty() && is_running_) {
+    auto iter = events_list_.begin();
+    now_ = iter->first;
+    ::std::function<void()> callback = ::std::move(iter->second);
+    events_list_.erase(iter);
+    callback();
+  }
+}
+
+}  // namespace aos
diff --git a/aos/events/event_scheduler.h b/aos/events/event_scheduler.h
new file mode 100644
index 0000000..66d34b3
--- /dev/null
+++ b/aos/events/event_scheduler.h
@@ -0,0 +1,61 @@
+#ifndef AOS_EVENTS_EVENT_SCHEDULER_H_
+#define AOS_EVENTS_EVENT_SCHEDULER_H_
+
+#include <algorithm>
+#include <map>
+#include <memory>
+#include <unordered_set>
+#include <utility>
+#include <vector>
+
+#include "aos/events/event_loop.h"
+#include "aos/time/time.h"
+#include "glog/logging.h"
+
+namespace aos {
+
+class EventScheduler {
+ public:
+  using ChannelType =
+      std::multimap<monotonic_clock::time_point, std::function<void()>>;
+  using Token = ChannelType::iterator;
+
+  // Schedule an event with a callback function
+  // Returns an iterator to the event
+  Token Schedule(monotonic_clock::time_point time,
+                 std::function<void()> callback);
+
+  Token InvalidToken() { return events_list_.end(); }
+
+  // Deschedule an event by its iterator
+  void Deschedule(Token token);
+
+  // Runs until exited.
+  void Run();
+  // Runs for a duration.
+  void RunFor(monotonic_clock::duration duration);
+
+  void Exit() { is_running_ = false; }
+
+  bool is_running() const { return is_running_; }
+
+  monotonic_clock::time_point monotonic_now() const { return now_; }
+  realtime_clock::time_point realtime_now() const {
+    // TODO(austin): Make this all configurable...
+    return realtime_clock::epoch() + now_.time_since_epoch() +
+           std::chrono::seconds(1000000);
+  }
+
+ private:
+  // Current execution time.
+  monotonic_clock::time_point now_ = monotonic_clock::epoch();
+
+  // Multimap holding times to run functions.  These are stored in order, and
+  // the order is the callback tree.
+  ChannelType events_list_;
+  bool is_running_ = false;
+};
+
+}  // namespace aos
+
+#endif  // AOS_EVENTS_EVENT_SCHEDULER_H_
diff --git a/aos/events/ping.cc b/aos/events/ping.cc
new file mode 100644
index 0000000..b904cb2
--- /dev/null
+++ b/aos/events/ping.cc
@@ -0,0 +1,88 @@
+#include <chrono>
+
+#include "aos/configuration.h"
+#include "aos/events/pingpong_generated.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+DEFINE_int32(sleep_ms, 10, "Time to sleep between pings");
+
+namespace aos {
+
+namespace chrono = std::chrono;
+
+class Ping {
+ public:
+  Ping(EventLoop *event_loop)
+      : event_loop_(event_loop),
+        sender_(event_loop_->MakeSender<examples::Ping>("/test")) {
+    timer_handle_ = event_loop_->AddTimer([this]() { SendPing(); });
+
+    event_loop_->MakeWatcher(
+        "/test", [this](const examples::Pong &pong) { HandlePong(pong); });
+
+    event_loop_->OnRun([this]() {
+      timer_handle_->Setup(event_loop_->monotonic_now(),
+                           chrono::milliseconds(FLAGS_sleep_ms));
+    });
+
+    event_loop_->SetRuntimeRealtimePriority(5);
+  }
+
+  void SendPing() {
+    ++count_;
+    aos::Sender<examples::Ping>::Builder msg = sender_.MakeBuilder();
+    examples::Ping::Builder builder = msg.MakeBuilder<examples::Ping>();
+    builder.add_value(count_);
+    builder.add_send_time(
+        event_loop_->monotonic_now().time_since_epoch().count());
+    CHECK(msg.Send(builder.Finish()));
+    VLOG(2) << "Sending ping";
+  }
+
+  void HandlePong(const examples::Pong &pong) {
+    const aos::monotonic_clock::time_point monotonic_send_time(
+        chrono::nanoseconds(pong.initial_send_time()));
+    const aos::monotonic_clock::time_point monotonic_now =
+        event_loop_->monotonic_now();
+
+    const chrono::nanoseconds round_trip_time =
+        monotonic_now - monotonic_send_time;
+
+    if (pong.value() == count_) {
+      VLOG(1) << "Elapsed time " << round_trip_time.count() << " ns "
+              << FlatbufferToJson(&pong);
+    } else {
+      VLOG(1) << "Missmatched pong message";
+    }
+  }
+
+ private:
+  EventLoop *event_loop_;
+  aos::Sender<examples::Ping> sender_;
+  TimerHandler *timer_handle_;
+  int count_ = 0;
+};
+
+}  // namespace aos
+
+int main(int argc, char **argv) {
+  FLAGS_logtostderr = true;
+  google::InitGoogleLogging(argv[0]);
+  ::gflags::ParseCommandLineFlags(&argc, &argv, true);
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("aos/events/config.fb.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
+
+  aos::Ping ping(&event_loop);
+
+  event_loop.Run();
+
+  ::aos::Cleanup();
+  return 0;
+}
diff --git a/aos/events/pingpong.fbs b/aos/events/pingpong.fbs
new file mode 100644
index 0000000..67e5015
--- /dev/null
+++ b/aos/events/pingpong.fbs
@@ -0,0 +1,14 @@
+namespace aos.examples;
+
+table Ping {
+  value:int;
+  send_time:long;
+}
+
+table Pong {
+  value:int;
+  initial_send_time:long;
+}
+
+root_type Ping;
+root_type Pong;
diff --git a/aos/events/pong.cc b/aos/events/pong.cc
new file mode 100644
index 0000000..1504bfb
--- /dev/null
+++ b/aos/events/pong.cc
@@ -0,0 +1,54 @@
+#include <chrono>
+
+#include "aos/configuration.h"
+#include "aos/events/pingpong_generated.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+namespace aos {
+
+namespace chrono = std::chrono;
+
+class Pong {
+ public:
+  Pong(EventLoop *event_loop)
+      : event_loop_(event_loop),
+        sender_(event_loop_->MakeSender<examples::Pong>("/test")) {
+    event_loop_->MakeWatcher("/test", [this](const examples::Ping &ping) {
+      aos::Sender<examples::Pong>::Builder msg = sender_.MakeBuilder();
+      examples::Pong::Builder builder = msg.MakeBuilder<examples::Pong>();
+      builder.add_value(ping.value());
+      builder.add_initial_send_time(ping.send_time());
+      CHECK(msg.Send(builder.Finish()));
+    });
+
+    event_loop_->SetRuntimeRealtimePriority(5);
+  }
+
+ private:
+  EventLoop *event_loop_;
+  aos::Sender<examples::Pong> sender_;
+};
+
+}  // namespace aos
+
+int main(int argc, char **argv) {
+  FLAGS_logtostderr = true;
+  google::InitGoogleLogging(argv[0]);
+  ::gflags::ParseCommandLineFlags(&argc, &argv, true);
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("aos/events/config.fb.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
+
+  aos::Pong ping(&event_loop);
+
+  event_loop.Run();
+
+  ::aos::Cleanup();
+  return 0;
+}
diff --git a/aos/events/raw-event-loop.h b/aos/events/raw-event-loop.h
deleted file mode 100644
index 887c7ab..0000000
--- a/aos/events/raw-event-loop.h
+++ /dev/null
@@ -1,179 +0,0 @@
-#ifndef _AOS_EVENTS_RAW_EVENT_LOOP_H_
-#define _AOS_EVENTS_RAW_EVENT_LOOP_H_
-
-#include <atomic>
-#include <memory>
-#include <string>
-#include "aos/queue.h"
-#include "aos/time/time.h"
-
-// This file contains raw versions of the classes in event-loop.h.
-//
-// Users should look exclusively at event-loop.h. Only people who wish to
-// implement a new IPC layer (like a fake layer for example) may wish to use
-// these classes.
-namespace aos {
-
-// Raw version of fetcher. Contains a local variable that the fetcher will
-// update.
-// It is the job of the typed version to cast this to the appropriate type.
-class RawFetcher {
- public:
-  RawFetcher() {}
-  virtual ~RawFetcher() {}
-
-  // Non-blocking fetch of the next message in the queue. Returns true if there
-  // was a new message and we got it.
-  virtual bool FetchNext() = 0;
-  // Non-blocking fetch of the latest message:
-  virtual bool Fetch() = 0;
-
-  const void *most_recent() { return most_recent_; }
-
- protected:
-  RawFetcher(const RawFetcher &) = delete;
-  RawFetcher &operator=(const RawFetcher &) = delete;
-  void set_most_recent(const void *most_recent) { most_recent_ = most_recent; }
-
- private:
-  const void *most_recent_ = nullptr;
-};
-
-// Raw version of sender. Sending a message is a 3 part process. Fetch an opaque
-// token, cast that token to the message type, populate and then calling one of
-// Send() or Free().
-class RawSender {
- public:
-  RawSender() {}
-  virtual ~RawSender() {}
-
-  virtual aos::Message *GetMessage() = 0;
-
-  virtual void Free(aos::Message *msg) = 0;
-
-  virtual bool Send(aos::Message *msg) = 0;
-
-  // Call operator that calls Free().
-  template <typename T>
-  void operator()(T *t) {
-    Free(t);
-  }
-
-  virtual const char *name() const = 0;
-
- protected:
-  RawSender(const RawSender &) = delete;
-  RawSender &operator=(const RawSender &) = delete;
-};
-
-// Opaque Information extracted from a particular type passed to the underlying
-// system so that it knows how much memory to allocate etc.
-struct QueueTypeInfo {
-  // Message size:
-  size_t size;
-  // This should be a globally unique identifier for the type.
-  int hash;
-  // Config parameter for how long the queue should be.
-  int queue_length;
-
-  template <typename T>
-  static QueueTypeInfo Get() {
-    QueueTypeInfo info;
-    info.size = sizeof(T);
-    info.hash = T::kHash;
-    info.queue_length = T::kQueueLength;
-    return info;
-  }
-
-  // Necessary for the comparison of QueueTypeInfo objects in the
-  // SimulatedEventLoop.
-  bool operator<(const QueueTypeInfo &other) const {
-    if (size != other.size) return size < other.size;
-    if (hash != other.hash) return hash < other.hash;
-    return queue_length < other.queue_length;
-  }
-};
-
-// Interface for timers
-class TimerHandler {
- public:
-  virtual ~TimerHandler() {}
-
-  // Timer should sleep until base, base + offset, base + offset * 2, ...
-  // If repeat_offset isn't set, the timer only expires once.
-  virtual void Setup(monotonic_clock::time_point base,
-                     monotonic_clock::duration repeat_offset =
-                         ::aos::monotonic_clock::zero()) = 0;
-
-  // Stop future calls to callback().
-  virtual void Disable() = 0;
-};
-
-// Interface for phased loops.  They are built on timers.
-class PhasedLoopHandler {
- public:
-  virtual ~PhasedLoopHandler() {}
-
-  // Sets the interval and offset.  Any changes to interval and offset only take
-  // effect when the handler finishes running.
-  virtual void set_interval_and_offset(
-      const monotonic_clock::duration interval,
-      const monotonic_clock::duration offset) = 0;
-};
-
-class EventScheduler;
-
-// Virtual base class for all event queue-types.
-class RawEventLoop {
- public:
-  virtual ~RawEventLoop() {}
-
-  // Current time.
-  virtual monotonic_clock::time_point monotonic_now() = 0;
-
-  // The passed in function will be called when the event loop starts.
-  // Use this to run code once the thread goes into "real-time-mode",
-  virtual void OnRun(::std::function<void()> on_run) = 0;
-
-  // Sets the name of the event loop.
-  virtual void set_name(const char *name) = 0;
-
-  // Threadsafe.
-  bool is_running() const { return is_running_.load(); }
-
-  // Creates a timer that executes callback when the timer expires
-  // Returns a TimerHandle for configuration of the timer
-  virtual TimerHandler *AddTimer(::std::function<void()> callback) = 0;
-
-  // Creates a timer that executes callback periodically at the specified
-  // interval and offset.  Returns a PhasedLoopHandler for interacting with the
-  // timer.
-  virtual PhasedLoopHandler *AddPhasedLoop(
-      ::std::function<void(int)> callback,
-      const monotonic_clock::duration interval,
-      const monotonic_clock::duration offset = ::std::chrono::seconds(0)) = 0;
-
- protected:
-  friend class EventScheduler;
-  void set_is_running(bool value) { is_running_.store(value); }
-
-  // Will send new messages from (path, type).
-  virtual std::unique_ptr<RawSender> MakeRawSender(
-      const std::string &path, const QueueTypeInfo &type) = 0;
-
-  // Will fetch new messages from (path, type).
-  virtual std::unique_ptr<RawFetcher> MakeRawFetcher(
-      const std::string &path, const QueueTypeInfo &type) = 0;
-
-  // Will watch (path, type) for new messages
-  virtual void MakeRawWatcher(
-      const std::string &path, const QueueTypeInfo &type,
-      std::function<void(const Message *message)> watcher) = 0;
-
- private:
-  ::std::atomic<bool> is_running_{false};
-};
-
-}  // namespace aos
-
-#endif  // _AOS_EVENTS_RAW_EVENT_LOOP_H_
diff --git a/aos/events/shm-event-loop.cc b/aos/events/shm-event-loop.cc
deleted file mode 100644
index 5034f0b..0000000
--- a/aos/events/shm-event-loop.cc
+++ /dev/null
@@ -1,507 +0,0 @@
-#include "aos/events/shm-event-loop.h"
-
-#include <sys/timerfd.h>
-#include <algorithm>
-#include <atomic>
-#include <chrono>
-#include <stdexcept>
-
-#include "aos/events/epoll.h"
-#include "aos/init.h"
-#include "aos/logging/logging.h"
-#include "aos/queue.h"
-#include "aos/util/phased_loop.h"
-
-namespace aos {
-
-ShmEventLoop::ShmEventLoop() {}
-
-namespace {
-
-namespace chrono = ::std::chrono;
-
-class ShmFetcher : public RawFetcher {
- public:
-  explicit ShmFetcher(RawQueue *queue) : queue_(queue) {
-    // Move index_ to point to the end of the queue as it is at construction
-    // time.  Also grab the oldest message but don't expose it to the user yet.
-    static constexpr Options<RawQueue> kOptions =
-        RawQueue::kFromEnd | RawQueue::kNonBlock;
-    msg_ = queue_->ReadMessageIndex(kOptions, &index_);
-  }
-  ~ShmFetcher() {
-    if (msg_) {
-      queue_->FreeMessage(msg_);
-    }
-  }
-
-  bool FetchNext() override {
-    const void *msg = queue_->ReadMessageIndex(RawQueue::kNonBlock, &index_);
-    // Only update the internal pointer if we got a new message.
-    if (msg != nullptr) {
-      queue_->FreeMessage(msg_);
-      msg_ = msg;
-      set_most_recent(msg_);
-    }
-    return msg != nullptr;
-  }
-
-  bool Fetch() override {
-    static constexpr Options<RawQueue> kOptions =
-        RawQueue::kFromEnd | RawQueue::kNonBlock;
-    const void *msg = queue_->ReadMessageIndex(kOptions, &index_);
-    // Only update the internal pointer if we got a new message.
-    if (msg != nullptr && msg != msg_) {
-      queue_->FreeMessage(msg_);
-      msg_ = msg;
-      set_most_recent(msg_);
-      return true;
-    } else {
-      // The message has to get freed if we didn't use it (and
-      // RawQueue::FreeMessage is ok to call on nullptr).
-      queue_->FreeMessage(msg);
-
-      // We have a message from construction time.  Give it to the user now.
-      if (msg_ != nullptr && most_recent() != msg_) {
-        set_most_recent(msg_);
-        return true;
-      } else {
-        return false;
-      }
-    }
-  }
-
- private:
-  int index_ = 0;
-  RawQueue *queue_;
-  const void *msg_ = nullptr;
-};
-
-class ShmSender : public RawSender {
- public:
-  explicit ShmSender(RawQueue *queue) : queue_(queue) {}
-
-  ::aos::Message *GetMessage() override {
-    return reinterpret_cast<::aos::Message *>(queue_->GetMessage());
-  }
-
-  void Free(::aos::Message *msg) override { queue_->FreeMessage(msg); }
-
-  bool Send(::aos::Message *msg) override {
-    assert(queue_ != nullptr);
-    {
-      // TODO(austin): This lets multiple senders reorder messages since time
-      // isn't acquired with a lock held.
-      if (msg->sent_time == monotonic_clock::min_time) {
-        msg->sent_time = monotonic_clock::now();
-      }
-    }
-    return queue_->WriteMessage(msg, RawQueue::kOverride);
-  }
-
-  const char *name() const override { return queue_->name(); }
-
- private:
-  RawQueue *queue_;
-};
-
-}  // namespace
-
-namespace internal {
-
-// Class to manage the state for a Watcher.
-class WatcherThreadState {
- public:
-  WatcherThreadState(
-      ShmEventLoop::ThreadState *thread_state, RawQueue *queue,
-      ::std::function<void(const ::aos::Message *message)> watcher)
-      : thread_state_(thread_state),
-        queue_(queue),
-        index_(0),
-        watcher_(::std::move(watcher)) {}
-
-  ~WatcherThreadState() {
-    // Only kill the thread if it is running.
-    if (running_) {
-      // TODO(austin): CHECK that we aren't RT here.
-
-      // Try joining.  If we fail, we weren't asleep on the condition in the
-      // queue.  So hit it again and again until that's true.
-      struct timespec end_time;
-      AOS_PCHECK(clock_gettime(CLOCK_REALTIME, &end_time) == 0);
-      while (true) {
-        void *retval = nullptr;
-        end_time.tv_nsec += 100000000;
-        if (end_time.tv_nsec > 1000000000L) {
-          end_time.tv_nsec -= 1000000000L;
-          ++end_time.tv_sec;
-        }
-        int ret = pthread_timedjoin_np(pthread_, &retval, &end_time);
-        if (ret == ETIMEDOUT) continue;
-        AOS_PCHECK(ret == 0);
-        break;
-      }
-    }
-  }
-
-  // Starts the thread and waits until it is running.
-  void Start() {
-    AOS_PCHECK(pthread_create(&pthread_, nullptr, &StaticRun, this) == 0);
-    IPCRecursiveMutexLocker locker(&thread_started_mutex_);
-    if (locker.owner_died()) ::aos::Die("Owner died");
-    while (!running_) {
-      AOS_CHECK(!thread_started_condition_.Wait());
-    }
-  }
-
-  void GrabQueueIndex() {
-    // Right after we are signaled to start, point index to the current index
-    // so we don't read any messages received before now.  Otherwise we will
-    // get a significantly delayed read.
-    static constexpr Options<RawQueue> kOptions =
-        RawQueue::kFromEnd | RawQueue::kNonBlock;
-    const void *msg = queue_->ReadMessageIndex(kOptions, &index_);
-    if (msg) {
-      queue_->FreeMessage(msg);
-    }
-  }
-
- private:
-  // Runs Run given a WatcherThreadState as the argument.  This is an adapter
-  // between pthreads and Run.
-  static void *StaticRun(void *arg) {
-    WatcherThreadState *watcher_thread_state =
-        reinterpret_cast<WatcherThreadState *>(arg);
-    watcher_thread_state->Run();
-    return nullptr;
-  }
-
-  // Runs the watcher callback on new messages.
-  void Run() {
-    ::aos::SetCurrentThreadName(thread_state_->name() + ".watcher");
-
-    // Signal the main thread that we are now ready.
-    thread_state_->MaybeSetCurrentThreadRealtimePriority();
-    {
-      IPCRecursiveMutexLocker locker(&thread_started_mutex_);
-      if (locker.owner_died()) ::aos::Die("Owner died");
-      running_ = true;
-      thread_started_condition_.Broadcast();
-    }
-
-    // Wait for the global start before handling events.
-    thread_state_->WaitForStart();
-
-    // Bail immediately if we are supposed to stop.
-    if (!thread_state_->is_running()) {
-      ::aos::UnsetCurrentThreadRealtimePriority();
-      return;
-    }
-
-    const void *msg = nullptr;
-    while (true) {
-      msg = queue_->ReadMessageIndex(RawQueue::kBlock, &index_,
-                                     chrono::seconds(1));
-      // We hit a timeout.  Confirm that we should be running and retry.  Note,
-      // is_running is threadsafe (it's an atomic underneath).  Worst case, we
-      // check again in a second.
-      if (msg == nullptr) {
-        if (!thread_state_->is_running()) break;
-        continue;
-      }
-
-      {
-        // Grab the lock so that only one callback can be called at a time.
-        MutexLocker locker(&thread_state_->mutex_);
-        if (!thread_state_->is_running()) break;
-
-        watcher_(reinterpret_cast<const Message *>(msg));
-        // watcher_ may have exited the event loop.
-        if (!thread_state_->is_running()) break;
-      }
-      // Drop the reference.
-      queue_->FreeMessage(msg);
-    }
-
-    // And drop the last reference.
-    queue_->FreeMessage(msg);
-    // Now that everything is cleaned up, drop RT priority before destroying the
-    // thread.
-    ::aos::UnsetCurrentThreadRealtimePriority();
-  }
-  pthread_t pthread_;
-  ShmEventLoop::ThreadState *thread_state_;
-  RawQueue *queue_;
-  int32_t index_;
-  bool running_ = false;
-
-  ::std::function<void(const Message *message)> watcher_;
-
-  // Mutex and condition variable used to wait until the thread is started
-  // before going RT.
-  ::aos::Mutex thread_started_mutex_;
-  ::aos::Condition thread_started_condition_{&thread_started_mutex_};
-};
-
-// Adapter class to adapt a timerfd to a TimerHandler.
-// The part of the API which is accessed by the TimerHandler interface needs to
-// be threadsafe.  This means Setup and Disable.
-class TimerHandlerState : public TimerHandler {
- public:
-  TimerHandlerState(ShmEventLoop *shm_event_loop, ::std::function<void()> fn)
-      : shm_event_loop_(shm_event_loop), fn_(::std::move(fn)) {
-    shm_event_loop_->epoll_.OnReadable(timerfd_.fd(), [this]() {
-      MutexLocker locker(&shm_event_loop_->thread_state_.mutex_);
-      timerfd_.Read();
-      fn_();
-    });
-  }
-
-  ~TimerHandlerState() { shm_event_loop_->epoll_.DeleteFd(timerfd_.fd()); }
-
-  void Setup(monotonic_clock::time_point base,
-             monotonic_clock::duration repeat_offset) override {
-    // SetTime is threadsafe already.
-    timerfd_.SetTime(base, repeat_offset);
-  }
-
-  void Disable() override {
-    // Disable is also threadsafe already.
-    timerfd_.Disable();
-  }
-
- private:
-  ShmEventLoop *shm_event_loop_;
-
-  TimerFd timerfd_;
-
-  // Function to be run on the thread
-  ::std::function<void()> fn_;
-};
-
-// Adapter class to the timerfd and PhasedLoop.
-// The part of the API which is accessed by the PhasedLoopHandler interface
-// needs to be threadsafe.  This means set_interval_and_offset
-class PhasedLoopHandler : public ::aos::PhasedLoopHandler {
- public:
-  PhasedLoopHandler(ShmEventLoop *shm_event_loop, ::std::function<void(int)> fn,
-                    const monotonic_clock::duration interval,
-                    const monotonic_clock::duration offset)
-      : shm_event_loop_(shm_event_loop),
-        phased_loop_(interval, shm_event_loop_->monotonic_now(), offset),
-        fn_(::std::move(fn)) {
-    shm_event_loop_->epoll_.OnReadable(timerfd_.fd(), [this]() {
-      MutexLocker locker(&shm_event_loop_->thread_state_.mutex_);
-      {
-        MutexLocker locker(&mutex_);
-        timerfd_.Read();
-      }
-      // Call the function.  To avoid needing a recursive mutex, drop the lock
-      // before running the function.
-      fn_(cycles_elapsed_);
-      {
-        MutexLocker locker(&mutex_);
-        Reschedule();
-      }
-    });
-  }
-
-  ~PhasedLoopHandler() { shm_event_loop_->epoll_.DeleteFd(timerfd_.fd()); }
-
-  void set_interval_and_offset(
-      const monotonic_clock::duration interval,
-      const monotonic_clock::duration offset) override {
-    MutexLocker locker(&mutex_);
-    phased_loop_.set_interval_and_offset(interval, offset);
-  }
-
-  void Startup() {
-    MutexLocker locker(&mutex_);
-    phased_loop_.Reset(shm_event_loop_->monotonic_now());
-    Reschedule();
-  }
-
- private:
-  // Reschedules the timer.  Must be called with the mutex held.
-  void Reschedule() {
-    cycles_elapsed_ = phased_loop_.Iterate(shm_event_loop_->monotonic_now());
-    timerfd_.SetTime(phased_loop_.sleep_time(), ::aos::monotonic_clock::zero());
-  }
-
-  ShmEventLoop *shm_event_loop_;
-
-  // Mutex to protect access to the timerfd_ (not strictly necessary), and the
-  // phased_loop (necessary).
-  ::aos::Mutex mutex_;
-
-  TimerFd timerfd_;
-  time::PhasedLoop phased_loop_;
-
-  int cycles_elapsed_ = 1;
-
-  // Function to be run
-  const ::std::function<void(int)> fn_;
-};
-}  // namespace internal
-
-::std::unique_ptr<RawFetcher> ShmEventLoop::MakeRawFetcher(
-    const ::std::string &path, const QueueTypeInfo &type) {
-  return ::std::unique_ptr<RawFetcher>(new ShmFetcher(
-      RawQueue::Fetch(path.c_str(), type.size, type.hash, type.queue_length)));
-}
-
-::std::unique_ptr<RawSender> ShmEventLoop::MakeRawSender(
-    const ::std::string &path, const QueueTypeInfo &type) {
-  Take(path);
-  return ::std::unique_ptr<RawSender>(new ShmSender(
-      RawQueue::Fetch(path.c_str(), type.size, type.hash, type.queue_length)));
-}
-
-void ShmEventLoop::MakeRawWatcher(
-    const ::std::string &path, const QueueTypeInfo &type,
-    ::std::function<void(const Message *message)> watcher) {
-  Take(path);
-  ::std::unique_ptr<internal::WatcherThreadState> state(
-      new internal::WatcherThreadState(
-          &thread_state_, RawQueue::Fetch(path.c_str(), type.size, type.hash,
-                                          type.queue_length),
-          std::move(watcher)));
-  watchers_.push_back(::std::move(state));
-}
-
-TimerHandler *ShmEventLoop::AddTimer(::std::function<void()> callback) {
-  ::std::unique_ptr<internal::TimerHandlerState> timer(
-      new internal::TimerHandlerState(this, ::std::move(callback)));
-
-  timers_.push_back(::std::move(timer));
-
-  return timers_.back().get();
-}
-
-PhasedLoopHandler *ShmEventLoop::AddPhasedLoop(
-    ::std::function<void(int)> callback,
-    const monotonic_clock::duration interval,
-    const monotonic_clock::duration offset) {
-  ::std::unique_ptr<internal::PhasedLoopHandler> phased_loop(
-      new internal::PhasedLoopHandler(this, ::std::move(callback), interval,
-                                      offset));
-
-  phased_loops_.push_back(::std::move(phased_loop));
-
-  return phased_loops_.back().get();
-}
-
-void ShmEventLoop::OnRun(::std::function<void()> on_run) {
-  on_run_.push_back(::std::move(on_run));
-}
-
-void ShmEventLoop::set_name(const char *name) { thread_state_.name_ = name; }
-
-void ShmEventLoop::Run() {
-  // Start all the watcher threads.
-  for (::std::unique_ptr<internal::WatcherThreadState> &watcher : watchers_) {
-    watcher->Start();
-  }
-
-  ::aos::SetCurrentThreadName(thread_state_.name());
-
-  // Now, all the threads are up.  Lock everything into memory and go RT.
-  if (thread_state_.priority_ != -1) {
-    ::aos::InitRT();
-  }
-  thread_state_.MaybeSetCurrentThreadRealtimePriority();
-  set_is_running(true);
-
-  // Now that we are realtime (but before the OnRun handlers run), snap the
-  // queue index.
-  for (::std::unique_ptr<internal::WatcherThreadState> &watcher : watchers_) {
-    watcher->GrabQueueIndex();
-  }
-
-  // Now that we are RT, run all the OnRun handlers.
-  for (const auto &run : on_run_) {
-    run();
-  }
-
-  // Start up all the phased loops.
-  for (::std::unique_ptr<internal::PhasedLoopHandler> &phased_loop :
-       phased_loops_) {
-    phased_loop->Startup();
-  }
-  // TODO(austin): We don't need a separate watcher thread if there are only
-  // watchers and fetchers.  Could lazily create the epoll loop and pick a
-  // victim watcher to run in this thread.
-  // Trigger all the threads to start now.
-  thread_state_.Start();
-
-  // And start our main event loop which runs all the timers and handles Quit.
-  epoll_.Run();
-
-  // Once epoll exits, there is no useful nonrt work left to do.
-  set_is_running(false);
-
-  // Signal all the watcher threads to exit.  After this point, no more
-  // callbacks will be handled.
-  thread_state_.Exit();
-
-  // Nothing time or synchronization critical needs to happen after this point.
-  // Drop RT priority.
-  ::aos::UnsetCurrentThreadRealtimePriority();
-
-  // The watcher threads get cleaned up in the destructor.
-}
-
-void ShmEventLoop::ThreadState::Start() {
-  MutexLocker locker(&mutex_);
-  loop_running_ = true;
-  if (loop_finished_) ::aos::Die("Cannot restart an ShmEventLoop()");
-  loop_running_cond_.Broadcast();
-}
-
-void ShmEventLoop::ThreadState::WaitForStart() {
-  MutexLocker locker(&mutex_);
-  while (!(loop_running_ || loop_finished_)) {
-    Condition::WaitResult wait_result =
-        loop_running_cond_.WaitTimed(chrono::milliseconds(1000));
-    if (wait_result == Condition::WaitResult::kOwnerDied) {
-      ::aos::Die("ShmEventLoop mutex lock problem.\n");
-    }
-  }
-}
-
-void ShmEventLoop::ThreadState::MaybeSetCurrentThreadRealtimePriority() {
-  if (priority_ != -1) {
-    ::aos::SetCurrentThreadRealtimePriority(priority_);
-  }
-}
-
-void ShmEventLoop::Exit() { epoll_.Quit(); }
-
-void ShmEventLoop::ThreadState::Exit() {
-  IPCRecursiveMutexLocker locker(&mutex_);
-  if (locker.owner_died()) ::aos::Die("Owner died");
-  loop_running_ = false;
-  loop_finished_ = true;
-  loop_running_cond_.Broadcast();
-}
-
-ShmEventLoop::~ShmEventLoop() {
-  if (is_running()) {
-    ::aos::Die("ShmEventLoop destroyed while running\n");
-  }
-}
-
-void ShmEventLoop::Take(const ::std::string &path) {
-  if (is_running()) {
-    ::aos::Die("Cannot add new objects while running.\n");
-  }
-
-  const auto prior = ::std::find(taken_.begin(), taken_.end(), path);
-  if (prior != taken_.end()) {
-    ::aos::Die("%s is already being used.", path.c_str());
-  } else {
-    taken_.emplace_back(path);
-  }
-}
-
-}  // namespace aos
diff --git a/aos/events/shm-event-loop.h b/aos/events/shm-event-loop.h
deleted file mode 100644
index 5db8319..0000000
--- a/aos/events/shm-event-loop.h
+++ /dev/null
@@ -1,124 +0,0 @@
-#ifndef AOS_EVENTS_SHM_EVENT_LOOP_H_
-#define AOS_EVENTS_SHM_EVENT_LOOP_H_
-
-#include <unordered_set>
-#include <vector>
-
-#include "aos/condition.h"
-#include "aos/events/epoll.h"
-#include "aos/events/event-loop.h"
-#include "aos/mutex/mutex.h"
-
-namespace aos {
-namespace internal {
-
-class WatcherThreadState;
-class TimerHandlerState;
-class PhasedLoopHandler;
-
-}  // namespace internal
-
-// Specialization of EventLoop that is built from queues running out of shared
-// memory. See more details at aos/queue.h
-//
-// This object must be interacted with from one thread, but the Senders and
-// Fetchers may be used from multiple threads afterwords (as long as their
-// destructors are called back in one thread again)
-class ShmEventLoop : public EventLoop {
- public:
-  ShmEventLoop();
-  ~ShmEventLoop() override;
-
-  ::aos::monotonic_clock::time_point monotonic_now() override {
-    return ::aos::monotonic_clock::now();
-  }
-
-  ::std::unique_ptr<RawSender> MakeRawSender(
-      const ::std::string &path, const QueueTypeInfo &type) override;
-  ::std::unique_ptr<RawFetcher> MakeRawFetcher(
-      const ::std::string &path, const QueueTypeInfo &type) override;
-
-  void MakeRawWatcher(
-      const ::std::string &path, const QueueTypeInfo &type,
-      ::std::function<void(const aos::Message *message)> watcher) override;
-
-  TimerHandler *AddTimer(::std::function<void()> callback) override;
-  ::aos::PhasedLoopHandler *AddPhasedLoop(
-      ::std::function<void(int)> callback,
-      const monotonic_clock::duration interval,
-      const monotonic_clock::duration offset =
-          ::std::chrono::seconds(0)) override;
-
-  void OnRun(::std::function<void()> on_run) override;
-  void Run();
-  void Exit();
-
-  // TODO(austin): Add a function to register control-C call.
-
-  void SetRuntimeRealtimePriority(int priority) override {
-    if (is_running()) {
-      ::aos::Die("Cannot set realtime priority while running.");
-    }
-    thread_state_.priority_ = priority;
-  }
-
-  void set_name(const char *name) override;
-
- private:
-  friend class internal::WatcherThreadState;
-  friend class internal::TimerHandlerState;
-  friend class internal::PhasedLoopHandler;
-  // This ThreadState ensures that two watchers in the same loop cannot be
-  // triggered concurrently.  Because watchers block threads indefinitely, this
-  // has to be shared_ptr in case the EventLoop is destroyed before the thread
-  // receives any new events.
-  class ThreadState {
-   public:
-    void WaitForStart();
-
-    bool is_running() { return loop_running_; }
-
-    void Start();
-
-    void Exit();
-
-    void MaybeSetCurrentThreadRealtimePriority();
-
-    const ::std::string &name() const { return name_; }
-
-   private:
-    friend class internal::WatcherThreadState;
-    friend class internal::TimerHandlerState;
-    friend class internal::PhasedLoopHandler;
-    friend class ShmEventLoop;
-
-    // This mutex ensures that only one watch event happens at a time.
-    ::aos::Mutex mutex_;
-    // Block on this until the loop starts.
-    ::aos::Condition loop_running_cond_{&mutex_};
-    // Used to notify watchers that the loop is done.
-    ::std::atomic<bool> loop_running_{false};
-    bool loop_finished_ = false;
-    int priority_ = -1;
-
-    // Immutable after Start is called.
-    ::std::string name_;
-  };
-
-  // Tracks that we can't have multiple watchers or a sender and a watcher (or
-  // multiple senders) on a single queue (path).
-  void Take(const ::std::string &path);
-
-  ::std::vector<::std::function<void()>> on_run_;
-  ThreadState thread_state_;
-  ::std::vector<::std::string> taken_;
-  internal::EPoll epoll_;
-
-  ::std::vector<::std::unique_ptr<internal::TimerHandlerState>> timers_;
-  ::std::vector<::std::unique_ptr<internal::PhasedLoopHandler>> phased_loops_;
-  ::std::vector<::std::unique_ptr<internal::WatcherThreadState>> watchers_;
-};
-
-}  // namespace aos
-
-#endif  // AOS_EVENTS_SHM_EVENT_LOOP_H_
diff --git a/aos/events/shm_event_loop.cc b/aos/events/shm_event_loop.cc
new file mode 100644
index 0000000..5a88717
--- /dev/null
+++ b/aos/events/shm_event_loop.cc
@@ -0,0 +1,611 @@
+#include "glog/logging.h"
+
+#include "aos/events/shm_event_loop.h"
+
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <sys/timerfd.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <algorithm>
+#include <atomic>
+#include <chrono>
+#include <stdexcept>
+
+#include "aos/events/epoll.h"
+#include "aos/ipc_lib/lockless_queue.h"
+#include "aos/realtime.h"
+#include "aos/util/phased_loop.h"
+
+DEFINE_string(shm_base, "/dev/shm/aos",
+              "Directory to place queue backing mmaped files in.");
+DEFINE_uint32(permissions, 0770,
+              "Permissions to make shared memory files and folders.");
+
+namespace aos {
+
+std::string ShmFolder(const Channel *channel) {
+  CHECK(channel->has_name());
+  CHECK_EQ(channel->name()->string_view()[0], '/');
+  return FLAGS_shm_base + channel->name()->str() + "/";
+}
+std::string ShmPath(const Channel *channel) {
+  CHECK(channel->has_type());
+  return ShmFolder(channel) + channel->type()->str() + ".v0";
+}
+
+class MMapedQueue {
+ public:
+  MMapedQueue(const Channel *channel) {
+    std::string path = ShmPath(channel);
+
+    // TODO(austin): Pull these out into the config if there is a need.
+    config_.num_watchers = 10;
+    config_.num_senders = 10;
+    config_.queue_size = 2 * channel->frequency();
+    config_.message_data_size = channel->max_size();
+
+    size_ = ipc_lib::LocklessQueueMemorySize(config_);
+
+    MkdirP(path);
+
+    // There are 2 cases.  Either the file already exists, or it does not
+    // already exist and we need to create it.  Start by trying to create it. If
+    // that fails, the file has already been created and we can open it
+    // normally..  Once the file has been created it wil never be deleted.
+    fd_ = open(path.c_str(), O_RDWR | O_CREAT | O_EXCL,
+               O_CLOEXEC | FLAGS_permissions);
+    if (fd_ == -1 && errno == EEXIST) {
+      VLOG(1) << path << " already created.";
+      // File already exists.
+      fd_ = open(path.c_str(), O_RDWR, O_CLOEXEC);
+      PCHECK(fd_ != -1) << ": Failed to open " << path;
+      while (true) {
+        struct stat st;
+        PCHECK(fstat(fd_, &st) == 0);
+        if (st.st_size != 0) {
+          CHECK_EQ(static_cast<size_t>(st.st_size), size_)
+              << ": Size of " << path
+              << " doesn't match expected size of backing queue file.  Did the "
+                 "queue definition change?";
+          break;
+        } else {
+          // The creating process didn't get around to it yet.  Give it a bit.
+          std::this_thread::sleep_for(std::chrono::milliseconds(10));
+          VLOG(1) << path << " is zero size, waiting";
+        }
+      }
+    } else {
+      VLOG(1) << "Created " << path;
+      PCHECK(fd_ != -1) << ": Failed to open " << path;
+      PCHECK(ftruncate(fd_, size_) == 0);
+    }
+
+    data_ = mmap(NULL, size_, PROT_READ | PROT_WRITE, MAP_SHARED, fd_, 0);
+    PCHECK(data_ != MAP_FAILED);
+
+    ipc_lib::InitializeLocklessQueueMemory(memory(), config_);
+  }
+
+  ~MMapedQueue() {
+    PCHECK(munmap(data_, size_) == 0);
+    PCHECK(close(fd_) == 0);
+  }
+
+  ipc_lib::LocklessQueueMemory *memory() const {
+    return reinterpret_cast<ipc_lib::LocklessQueueMemory *>(data_);
+  }
+
+  const ipc_lib::LocklessQueueConfiguration &config() const {
+    return config_;
+  }
+
+ private:
+  void MkdirP(absl::string_view path) {
+    struct stat st;
+    auto last_slash_pos = path.find_last_of("/");
+
+    std::string folder(last_slash_pos == absl::string_view::npos
+                           ? absl::string_view("")
+                           : path.substr(0, last_slash_pos));
+    if (stat(folder.c_str(), &st) == -1) {
+      PCHECK(errno == ENOENT);
+      CHECK_NE(folder, "") << ": Base path doesn't exist";
+      MkdirP(folder);
+      VLOG(1) << "Creating " << folder;
+      PCHECK(mkdir(folder.c_str(), FLAGS_permissions) == 0);
+    }
+  }
+
+  ipc_lib::LocklessQueueConfiguration config_;
+
+  int fd_;
+
+  size_t size_;
+  void *data_;
+};
+
+// Returns the portion of the path after the last /.
+absl::string_view Filename(absl::string_view path) {
+  auto last_slash_pos = path.find_last_of("/");
+
+  return last_slash_pos == absl::string_view::npos
+             ? path
+             : path.substr(last_slash_pos + 1, path.size());
+}
+
+ShmEventLoop::ShmEventLoop(const Configuration *configuration)
+    : EventLoop(configuration), name_(Filename(program_invocation_name)) {}
+
+namespace {
+
+namespace chrono = ::std::chrono;
+
+class ShmFetcher : public RawFetcher {
+ public:
+  explicit ShmFetcher(const Channel *channel)
+      : lockless_queue_memory_(channel),
+        lockless_queue_(lockless_queue_memory_.memory(),
+                        lockless_queue_memory_.config()),
+        data_storage_(static_cast<AlignedChar *>(aligned_alloc(
+                          alignof(AlignedChar), channel->max_size())),
+                      &free) {
+    context_.data = nullptr;
+    // Point the queue index at the next index to read starting now.  This
+    // makes it such that FetchNext will read the next message sent after
+    // the fetcher is created.
+    PointAtNextQueueIndex();
+  }
+
+  ~ShmFetcher() { data_ = nullptr; }
+
+  // Points the next message to fetch at the queue index which will be
+  // populated next.
+  void PointAtNextQueueIndex() {
+    actual_queue_index_ = lockless_queue_.LatestQueueIndex();
+    if (!actual_queue_index_.valid()) {
+      // Nothing in the queue.  The next element will show up at the 0th
+      // index in the queue.
+      actual_queue_index_ =
+          ipc_lib::QueueIndex::Zero(lockless_queue_.queue_size());
+    } else {
+      actual_queue_index_ = actual_queue_index_.Increment();
+    }
+  }
+
+  bool FetchNext() override {
+    // TODO(austin): Write a test which starts with nothing in the queue,
+    // and then calls FetchNext() after something is sent.
+    // TODO(austin): Get behind and make sure it dies both here and with
+    // Fetch.
+    ipc_lib::LocklessQueue::ReadResult read_result = lockless_queue_.Read(
+        actual_queue_index_.index(), &context_.monotonic_sent_time,
+        &context_.realtime_sent_time, &context_.size,
+        reinterpret_cast<char *>(data_storage_.get()));
+    if (read_result == ipc_lib::LocklessQueue::ReadResult::GOOD) {
+      context_.queue_index = actual_queue_index_.index();
+      data_ = reinterpret_cast<char *>(data_storage_.get()) +
+              lockless_queue_.message_data_size() - context_.size;
+      context_.data = data_;
+      actual_queue_index_ = actual_queue_index_.Increment();
+    }
+
+    // Make sure the data wasn't modified while we were reading it.  This
+    // can only happen if you are reading the last message *while* it is
+    // being written to, which means you are pretty far behind.
+    CHECK(read_result != ipc_lib::LocklessQueue::ReadResult::OVERWROTE)
+        << ": Got behind while reading and the last message was modified "
+           "out "
+           "from under us while we were reading it.  Don't get so far "
+           "behind.";
+
+    CHECK(read_result != ipc_lib::LocklessQueue::ReadResult::TOO_OLD)
+        << ": The next message is no longer available.";
+    return read_result == ipc_lib::LocklessQueue::ReadResult::GOOD;
+  }
+
+  bool Fetch() override {
+    const ipc_lib::QueueIndex queue_index = lockless_queue_.LatestQueueIndex();
+    // actual_queue_index_ is only meaningful if it was set by Fetch or
+    // FetchNext.  This happens when valid_data_ has been set.  So, only
+    // skip checking if valid_data_ is true.
+    //
+    // Also, if the latest queue index is invalid, we are empty.  So there
+    // is nothing to fetch.
+    if ((data_ != nullptr &&
+         queue_index == actual_queue_index_.DecrementBy(1u)) ||
+        !queue_index.valid()) {
+      return false;
+    }
+
+    ipc_lib::LocklessQueue::ReadResult read_result =
+        lockless_queue_.Read(queue_index.index(), &context_.monotonic_sent_time,
+                             &context_.realtime_sent_time, &context_.size,
+                             reinterpret_cast<char *>(data_storage_.get()));
+    if (read_result == ipc_lib::LocklessQueue::ReadResult::GOOD) {
+      context_.queue_index = queue_index.index();
+      data_ = reinterpret_cast<char *>(data_storage_.get()) +
+              lockless_queue_.message_data_size() - context_.size;
+      context_.data = data_;
+      actual_queue_index_ = queue_index.Increment();
+    }
+
+    // Make sure the data wasn't modified while we were reading it.  This
+    // can only happen if you are reading the last message *while* it is
+    // being written to, which means you are pretty far behind.
+    CHECK(read_result != ipc_lib::LocklessQueue::ReadResult::OVERWROTE)
+        << ": Got behind while reading and the last message was modified "
+           "out "
+           "from under us while we were reading it.  Don't get so far "
+           "behind.";
+
+    CHECK(read_result != ipc_lib::LocklessQueue::ReadResult::NOTHING_NEW)
+        << ": Queue index went backwards.  This should never happen.";
+
+    // We fell behind between when we read the index and read the value.
+    // This isn't worth recovering from since this means we went to sleep
+    // for a long time in the middle of this function.
+    CHECK(read_result != ipc_lib::LocklessQueue::ReadResult::TOO_OLD)
+        << ": The next message is no longer available.";
+    return read_result == ipc_lib::LocklessQueue::ReadResult::GOOD;
+  }
+
+  bool RegisterWakeup(int priority) {
+    return lockless_queue_.RegisterWakeup(priority);
+  }
+
+  void UnregisterWakeup() { lockless_queue_.UnregisterWakeup(); }
+
+ private:
+  MMapedQueue lockless_queue_memory_;
+  ipc_lib::LocklessQueue lockless_queue_;
+
+  ipc_lib::QueueIndex actual_queue_index_ =
+      ipc_lib::LocklessQueue::empty_queue_index();
+
+  struct AlignedChar {
+    alignas(32) char data;
+  };
+
+  std::unique_ptr<AlignedChar, decltype(&free)> data_storage_;
+};
+
+class ShmSender : public RawSender {
+ public:
+  explicit ShmSender(const Channel *channel, const ShmEventLoop *shm_event_loop)
+      : RawSender(),
+        shm_event_loop_(shm_event_loop),
+        name_(channel->name()->str()),
+        lockless_queue_memory_(channel),
+        lockless_queue_(lockless_queue_memory_.memory(),
+                        lockless_queue_memory_.config()),
+        lockless_queue_sender_(lockless_queue_.MakeSender()) {}
+
+  void *data() override { return lockless_queue_sender_.Data(); }
+  size_t size() override { return lockless_queue_sender_.size(); }
+  bool Send(size_t size) override {
+    lockless_queue_sender_.Send(size);
+    lockless_queue_.Wakeup(shm_event_loop_->priority());
+    return true;
+  }
+
+  bool Send(void *msg, size_t length) override {
+    lockless_queue_sender_.Send(reinterpret_cast<char *>(msg), length);
+    lockless_queue_.Wakeup(shm_event_loop_->priority());
+    // TODO(austin): Return an error if we send too fast.
+    return true;
+  }
+
+  const absl::string_view name() const override { return name_; }
+
+ private:
+  const ShmEventLoop *shm_event_loop_;
+  std::string name_;
+  MMapedQueue lockless_queue_memory_;
+  ipc_lib::LocklessQueue lockless_queue_;
+  ipc_lib::LocklessQueue::Sender lockless_queue_sender_;
+};
+
+}  // namespace
+
+namespace internal {
+
+// Class to manage the state for a Watcher.
+class WatcherState {
+ public:
+  WatcherState(
+      const Channel *channel,
+      std::function<void(const Context &context, const void *message)> watcher)
+      : shm_fetcher_(channel), watcher_(watcher) {}
+
+  ~WatcherState() {}
+
+  // Points the next message to fetch at the queue index which will be populated
+  // next.
+  void PointAtNextQueueIndex() { shm_fetcher_.PointAtNextQueueIndex(); }
+
+  // Returns true if there is new data available.
+  bool HasNewData() {
+    if (!has_new_data_) {
+      has_new_data_ = shm_fetcher_.FetchNext();
+    }
+
+    return has_new_data_;
+  }
+
+  // Returns the time of the current data sample.
+  aos::monotonic_clock::time_point event_time() const {
+    return shm_fetcher_.context().monotonic_sent_time;
+  }
+
+  // Consumes the data by calling the callback.
+  void CallCallback() {
+    CHECK(has_new_data_);
+    watcher_(shm_fetcher_.context(), shm_fetcher_.most_recent_data());
+    has_new_data_ = false;
+  }
+
+  // Starts the thread and waits until it is running.
+  bool RegisterWakeup(int priority) {
+    return shm_fetcher_.RegisterWakeup(priority);
+  }
+
+  void UnregisterWakeup() { return shm_fetcher_.UnregisterWakeup(); }
+
+ private:
+  bool has_new_data_ = false;
+
+  ShmFetcher shm_fetcher_;
+
+  std::function<void(const Context &context, const void *message)> watcher_;
+};
+
+// Adapter class to adapt a timerfd to a TimerHandler.
+// The part of the API which is accessed by the TimerHandler interface needs to
+// be threadsafe.  This means Setup and Disable.
+class TimerHandlerState : public TimerHandler {
+ public:
+  TimerHandlerState(ShmEventLoop *shm_event_loop, ::std::function<void()> fn)
+      : shm_event_loop_(shm_event_loop), fn_(::std::move(fn)) {
+    shm_event_loop_->epoll_.OnReadable(timerfd_.fd(), [this]() {
+      timerfd_.Read();
+      fn_();
+    });
+  }
+
+  ~TimerHandlerState() { shm_event_loop_->epoll_.DeleteFd(timerfd_.fd()); }
+
+  void Setup(monotonic_clock::time_point base,
+             monotonic_clock::duration repeat_offset) override {
+    // SetTime is threadsafe already.
+    timerfd_.SetTime(base, repeat_offset);
+  }
+
+  void Disable() override {
+    // Disable is also threadsafe already.
+    timerfd_.Disable();
+  }
+
+ private:
+  ShmEventLoop *shm_event_loop_;
+
+  TimerFd timerfd_;
+
+  // Function to be run on the thread
+  ::std::function<void()> fn_;
+};
+
+// Adapter class to the timerfd and PhasedLoop.
+// The part of the API which is accessed by the PhasedLoopHandler interface
+// needs to be threadsafe.  This means set_interval_and_offset
+class PhasedLoopHandler : public ::aos::PhasedLoopHandler {
+ public:
+  PhasedLoopHandler(ShmEventLoop *shm_event_loop, ::std::function<void(int)> fn,
+                    const monotonic_clock::duration interval,
+                    const monotonic_clock::duration offset)
+      : shm_event_loop_(shm_event_loop),
+        phased_loop_(interval, shm_event_loop_->monotonic_now(), offset),
+        fn_(::std::move(fn)) {
+    shm_event_loop_->epoll_.OnReadable(timerfd_.fd(), [this]() {
+      timerfd_.Read();
+      // Call the function.  To avoid needing a recursive mutex, drop the lock
+      // before running the function.
+      fn_(cycles_elapsed_);
+      Reschedule();
+    });
+  }
+
+  ~PhasedLoopHandler() { shm_event_loop_->epoll_.DeleteFd(timerfd_.fd()); }
+
+  void set_interval_and_offset(
+      const monotonic_clock::duration interval,
+      const monotonic_clock::duration offset) override {
+    phased_loop_.set_interval_and_offset(interval, offset);
+  }
+
+  void Startup() {
+    phased_loop_.Reset(shm_event_loop_->monotonic_now());
+    Reschedule();
+  }
+
+ private:
+  // Reschedules the timer.  Must be called with the mutex held.
+  void Reschedule() {
+    cycles_elapsed_ = phased_loop_.Iterate(shm_event_loop_->monotonic_now());
+    timerfd_.SetTime(phased_loop_.sleep_time(), ::aos::monotonic_clock::zero());
+  }
+
+  ShmEventLoop *shm_event_loop_;
+
+  TimerFd timerfd_;
+  time::PhasedLoop phased_loop_;
+
+  int cycles_elapsed_ = 1;
+
+  // Function to be run
+  const ::std::function<void(int)> fn_;
+};
+}  // namespace internal
+
+::std::unique_ptr<RawFetcher> ShmEventLoop::MakeRawFetcher(
+    const Channel *channel) {
+  return ::std::unique_ptr<RawFetcher>(new ShmFetcher(channel));
+}
+
+::std::unique_ptr<RawSender> ShmEventLoop::MakeRawSender(
+    const Channel *channel) {
+  Take(channel);
+  return ::std::unique_ptr<RawSender>(new ShmSender(channel, this));
+}
+
+void ShmEventLoop::MakeRawWatcher(
+    const Channel *channel,
+    std::function<void(const Context &context, const void *message)> watcher) {
+  Take(channel);
+
+  ::std::unique_ptr<internal::WatcherState> state(
+      new internal::WatcherState(
+      channel, std::move(watcher)));
+  watchers_.push_back(::std::move(state));
+}
+
+TimerHandler *ShmEventLoop::AddTimer(::std::function<void()> callback) {
+  ::std::unique_ptr<internal::TimerHandlerState> timer(
+      new internal::TimerHandlerState(this, ::std::move(callback)));
+
+  timers_.push_back(::std::move(timer));
+
+  return timers_.back().get();
+}
+
+PhasedLoopHandler *ShmEventLoop::AddPhasedLoop(
+    ::std::function<void(int)> callback,
+    const monotonic_clock::duration interval,
+    const monotonic_clock::duration offset) {
+  ::std::unique_ptr<internal::PhasedLoopHandler> phased_loop(
+      new internal::PhasedLoopHandler(this, ::std::move(callback), interval,
+                                      offset));
+
+  phased_loops_.push_back(::std::move(phased_loop));
+
+  return phased_loops_.back().get();
+}
+
+void ShmEventLoop::OnRun(::std::function<void()> on_run) {
+  on_run_.push_back(::std::move(on_run));
+}
+
+void ShmEventLoop::Run() {
+  std::unique_ptr<ipc_lib::SignalFd> signalfd;
+
+  if (watchers_.size() > 0) {
+    signalfd.reset(new ipc_lib::SignalFd({ipc_lib::kWakeupSignal}));
+
+    epoll_.OnReadable(signalfd->fd(), [signalfd_ptr = signalfd.get(), this]() {
+      signalfd_siginfo result = signalfd_ptr->Read();
+      CHECK_EQ(result.ssi_signo, ipc_lib::kWakeupSignal);
+
+      // TODO(austin): We should really be checking *everything*, not just
+      // watchers, and calling the oldest thing first.  That will improve
+      // determinism a lot.
+
+      while (true) {
+        // Call the handlers in time order of their messages.
+        aos::monotonic_clock::time_point min_event_time =
+            aos::monotonic_clock::max_time;
+        size_t min_watcher_index = -1;
+        size_t watcher_index = 0;
+        for (::std::unique_ptr<internal::WatcherState> &watcher : watchers_) {
+          if (watcher->HasNewData()) {
+            if (watcher->event_time() < min_event_time) {
+              min_watcher_index = watcher_index;
+              min_event_time = watcher->event_time();
+            }
+          }
+          ++watcher_index;
+        }
+
+        if (min_event_time == aos::monotonic_clock::max_time) {
+          break;
+        }
+
+        watchers_[min_watcher_index]->CallCallback();
+      }
+    });
+  }
+
+  // Now, all the threads are up.  Lock everything into memory and go RT.
+  if (priority_ != 0) {
+    ::aos::InitRT();
+
+    LOG(INFO) << "Setting priority to " << priority_;
+    ::aos::SetCurrentThreadRealtimePriority(priority_);
+  }
+
+  set_is_running(true);
+
+  // Now that we are realtime (but before the OnRun handlers run), snap the
+  // queue index.
+  for (::std::unique_ptr<internal::WatcherState> &watcher : watchers_) {
+    watcher->PointAtNextQueueIndex();
+    CHECK(watcher->RegisterWakeup(priority_));
+  }
+
+  // Now that we are RT, run all the OnRun handlers.
+  for (const auto &run : on_run_) {
+    run();
+  }
+
+  // Start up all the phased loops.
+  for (::std::unique_ptr<internal::PhasedLoopHandler> &phased_loop :
+       phased_loops_) {
+    phased_loop->Startup();
+  }
+
+  // And start our main event loop which runs all the timers and handles Quit.
+  epoll_.Run();
+
+  // Once epoll exits, there is no useful nonrt work left to do.
+  set_is_running(false);
+
+  // Nothing time or synchronization critical needs to happen after this point.
+  // Drop RT priority.
+  ::aos::UnsetCurrentThreadRealtimePriority();
+
+  for (::std::unique_ptr<internal::WatcherState> &watcher : watchers_) {
+    watcher->UnregisterWakeup();
+  }
+
+  if (watchers_.size() > 0) {
+    epoll_.DeleteFd(signalfd->fd());
+    signalfd.reset();
+  }
+}
+
+void ShmEventLoop::Exit() { epoll_.Quit(); }
+
+ShmEventLoop::~ShmEventLoop() {
+  CHECK(!is_running()) << ": ShmEventLoop destroyed while running";
+}
+
+void ShmEventLoop::Take(const Channel *channel) {
+  CHECK(!is_running()) << ": Cannot add new objects while running.";
+
+  // Cheat aggresively.  Use the shared memory path as a proxy for a unique
+  // identifier for the channel.
+  const std::string path = ShmPath(channel);
+
+  const auto prior = ::std::find(taken_.begin(), taken_.end(), path);
+  CHECK(prior == taken_.end()) << ": " << path << " is already being used.";
+
+  taken_.emplace_back(path);
+}
+
+void ShmEventLoop::SetRuntimeRealtimePriority(int priority) {
+  if (is_running()) {
+    LOG(FATAL) << "Cannot set realtime priority while running.";
+  }
+  priority_ = priority;
+}
+
+}  // namespace aos
diff --git a/aos/events/shm_event_loop.h b/aos/events/shm_event_loop.h
new file mode 100644
index 0000000..e859201
--- /dev/null
+++ b/aos/events/shm_event_loop.h
@@ -0,0 +1,92 @@
+#ifndef AOS_EVENTS_SHM_EVENT_LOOP_H_
+#define AOS_EVENTS_SHM_EVENT_LOOP_H_
+
+#include <unordered_set>
+#include <vector>
+
+#include "aos/events/epoll.h"
+#include "aos/events/event_loop.h"
+#include "aos/ipc_lib/signalfd.h"
+#include "aos/mutex/mutex.h"
+
+namespace aos {
+namespace internal {
+
+class WatcherState;
+class TimerHandlerState;
+class PhasedLoopHandler;
+
+}  // namespace internal
+
+// Specialization of EventLoop that is built from queues running out of shared
+// memory. See more details at aos/queue.h
+//
+// This object must be interacted with from one thread, but the Senders and
+// Fetchers may be used from multiple threads afterwords (as long as their
+// destructors are called back in one thread again)
+class ShmEventLoop : public EventLoop {
+ public:
+  ShmEventLoop(const Configuration *configuration);
+  ~ShmEventLoop() override;
+
+  aos::monotonic_clock::time_point monotonic_now() override {
+    return aos::monotonic_clock::now();
+  }
+  aos::realtime_clock::time_point realtime_now() override {
+    return aos::realtime_clock::now();
+  }
+
+  std::unique_ptr<RawSender> MakeRawSender(const Channel *channel) override;
+  std::unique_ptr<RawFetcher> MakeRawFetcher(const Channel *channel) override;
+
+  void MakeRawWatcher(
+      const Channel *channel,
+      std::function<void(const Context &context, const void *message)> watcher)
+      override;
+
+  TimerHandler *AddTimer(std::function<void()> callback) override;
+  aos::PhasedLoopHandler *AddPhasedLoop(
+      std::function<void(int)> callback,
+      const monotonic_clock::duration interval,
+      const monotonic_clock::duration offset =
+          std::chrono::seconds(0)) override;
+
+  void OnRun(std::function<void()> on_run) override;
+  void Run();
+  void Exit();
+
+  // TODO(austin): Add a function to register control-C call.
+
+  void SetRuntimeRealtimePriority(int priority) override;
+
+  void set_name(const absl::string_view name) override {
+    name_ = std::string(name);
+  }
+  const absl::string_view name() const override { return name_; }
+
+  int priority() const { return priority_; }
+
+ private:
+  friend class internal::WatcherState;
+  friend class internal::TimerHandlerState;
+  friend class internal::PhasedLoopHandler;
+
+  // Tracks that we can't have multiple watchers or a sender and a watcher (or
+  // multiple senders) on a single queue (path).
+  void Take(const Channel *channel);
+
+  std::vector<std::function<void()>> on_run_;
+  int priority_ = 0;
+  std::string name_;
+  std::vector<std::string> taken_;
+
+  internal::EPoll epoll_;
+
+  std::vector<std::unique_ptr<internal::TimerHandlerState>> timers_;
+  std::vector<std::unique_ptr<internal::PhasedLoopHandler>> phased_loops_;
+  std::vector<std::unique_ptr<internal::WatcherState>> watchers_;
+};
+
+}  // namespace aos
+
+#endif  // AOS_EVENTS_SHM_EVENT_LOOP_H_
diff --git a/aos/events/shm-event-loop_test.cc b/aos/events/shm_event_loop_test.cc
similarity index 72%
rename from aos/events/shm-event-loop_test.cc
rename to aos/events/shm_event_loop_test.cc
index e0d0b49..4406e01 100644
--- a/aos/events/shm-event-loop_test.cc
+++ b/aos/events/shm_event_loop_test.cc
@@ -1,9 +1,13 @@
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 
-#include "aos/events/event-loop_param_test.h"
-#include "aos/testing/test_shm.h"
+#include "aos/events/event_loop_param_test.h"
+#include "glog/logging.h"
 #include "gtest/gtest.h"
 
+#include "aos/events/test_message_generated.h"
+
+DECLARE_string(shm_base);
+
 namespace aos {
 namespace testing {
 namespace {
@@ -11,28 +15,40 @@
 
 class ShmEventLoopTestFactory : public EventLoopTestFactory {
  public:
+  ShmEventLoopTestFactory() {
+    // Put all the queue files in ${TEST_TMPDIR} if it is set, otherwise
+    // everything will be reusing /dev/shm when sharded.
+    char *test_tmpdir = getenv("TEST_TMPDIR");
+    if (test_tmpdir != nullptr) {
+      FLAGS_shm_base = std::string(test_tmpdir) + "/aos";
+    }
+
+    // Clean up anything left there before.
+    unlink((FLAGS_shm_base + "test/aos.TestMessage.v0").c_str());
+    unlink((FLAGS_shm_base + "test1/aos.TestMessage.v0").c_str());
+    unlink((FLAGS_shm_base + "test2/aos.TestMessage.v0").c_str());
+  }
+
   ::std::unique_ptr<EventLoop> Make() override {
-    return ::std::unique_ptr<EventLoop>(new ShmEventLoop());
+    return ::std::unique_ptr<EventLoop>(new ShmEventLoop(configuration()));
   }
 
   ::std::unique_ptr<EventLoop> MakePrimary() override {
     ::std::unique_ptr<ShmEventLoop> loop =
-        ::std::unique_ptr<ShmEventLoop>(new ShmEventLoop());
+        ::std::unique_ptr<ShmEventLoop>(new ShmEventLoop(configuration()));
     primary_event_loop_ = loop.get();
     return ::std::move(loop);
   }
 
-  void Run() override { AOS_CHECK_NOTNULL(primary_event_loop_)->Run(); }
+  void Run() override { CHECK_NOTNULL(primary_event_loop_)->Run(); }
 
-  void Exit() override { AOS_CHECK_NOTNULL(primary_event_loop_)->Exit(); }
+  void Exit() override { CHECK_NOTNULL(primary_event_loop_)->Exit(); }
 
   void SleepFor(::std::chrono::nanoseconds duration) override {
     ::std::this_thread::sleep_for(duration);
   }
 
  private:
-  ::aos::testing::TestSharedMemory my_shm_;
-
   ::aos::ShmEventLoop *primary_event_loop_;
 };
 
@@ -46,24 +62,13 @@
                           return new ShmEventLoopTestFactory();
                         }));
 
-struct TestMessage : public ::aos::Message {
-  enum { kQueueLength = 100, kHash = 0x696c0cdc };
-  int msg_value;
-
-  void Zero() { msg_value = 0; }
-  static size_t Size() { return 1 + ::aos::Message::Size(); }
-  size_t Print(char *buffer, size_t length) const;
-  TestMessage() { Zero(); }
-};
-
 }  // namespace
 
 bool IsRealtime() {
   int scheduler;
-  if ((scheduler = sched_getscheduler(0)) == -1) {
-    AOS_PLOG(FATAL, "sched_getscheduler(0) failed\n");
-  }
-  AOS_LOG(INFO, "scheduler is %d\n", scheduler);
+  PCHECK((scheduler = sched_getscheduler(0)) != -1);
+
+  LOG(INFO) << "scheduler is " << scheduler;
   return scheduler == SCHED_FIFO || scheduler == SCHED_RR;
 }
 
@@ -82,7 +87,7 @@
   bool did_timer = false;
   bool did_watcher = false;
 
-  auto timer = loop->AddTimer([&did_timer, &loop, &factory]() {
+  auto timer = loop->AddTimer([&did_timer, &factory]() {
     EXPECT_TRUE(IsRealtime());
     did_timer = true;
     factory.Exit();
@@ -97,9 +102,11 @@
     EXPECT_TRUE(IsRealtime());
     did_onrun = true;
     timer->Setup(loop->monotonic_now() + chrono::milliseconds(100));
-    auto msg = sender.MakeMessage();
-    msg->msg_value = 200;
-    msg.Send();
+
+    aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
+    TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
+    builder.add_value(200);
+    msg.Send(builder.Finish());
   });
 
   factory.Run();
diff --git a/aos/events/simulated-event-loop.cc b/aos/events/simulated-event-loop.cc
deleted file mode 100644
index 85ea21b..0000000
--- a/aos/events/simulated-event-loop.cc
+++ /dev/null
@@ -1,402 +0,0 @@
-#include "aos/events/simulated-event-loop.h"
-
-#include <algorithm>
-#include <deque>
-
-#include "aos/logging/logging.h"
-#include "aos/queue.h"
-#include "aos/testing/test_logging.h"
-#include "aos/util/phased_loop.h"
-
-namespace aos {
-namespace {
-
-class SimulatedSender : public RawSender {
- public:
-  SimulatedSender(SimulatedQueue *queue, EventLoop *event_loop)
-      : queue_(queue), event_loop_(event_loop) {
-    testing::EnableTestLogging();
-  }
-  ~SimulatedSender() {}
-
-  aos::Message *GetMessage() override {
-    return RefCountedBuffer(queue_->size()).release();
-  }
-
-  void Free(aos::Message *msg) override { RefCountedBuffer tmp(msg); }
-
-  bool Send(aos::Message *msg) override {
-    {
-      if (msg->sent_time == monotonic_clock::min_time) {
-        msg->sent_time = event_loop_->monotonic_now();
-      }
-    }
-    queue_->Send(RefCountedBuffer(msg));
-    return true;
-  }
-
-  const char *name() const override { return queue_->name(); }
-
- private:
-  SimulatedQueue *queue_;
-  EventLoop *event_loop_;
-};
-}  // namespace
-
-class SimulatedFetcher : public RawFetcher {
- public:
-  explicit SimulatedFetcher(SimulatedQueue *queue) : queue_(queue) {}
-  ~SimulatedFetcher() { queue_->UnregisterFetcher(this); }
-
-  bool FetchNext() override {
-    if (msgs_.size() == 0) return false;
-
-    msg_ = msgs_.front();
-    msgs_.pop_front();
-    set_most_recent(msg_.get());
-    return true;
-  }
-
-  bool Fetch() override {
-    if (msgs_.size() == 0) {
-      if (!msg_ && queue_->latest_message()) {
-        msg_ = queue_->latest_message();
-        set_most_recent(msg_.get());
-        return true;
-      } else {
-        return false;
-      }
-    }
-
-    // We've had a message enqueued, so we don't need to go looking for the
-    // latest message from before we started.
-    msg_ = msgs_.back();
-    msgs_.clear();
-    set_most_recent(msg_.get());
-    return true;
-  }
-
- private:
-  friend class SimulatedQueue;
-
-  // Internal method for Simulation to add a message to the buffer.
-  void Enqueue(RefCountedBuffer buffer) {
-    msgs_.emplace_back(buffer);
-  }
-
-  SimulatedQueue *queue_;
-  RefCountedBuffer msg_;
-
-  // Messages queued up but not in use.
-  ::std::deque<RefCountedBuffer> msgs_;
-};
-
-class SimulatedTimerHandler : public TimerHandler {
- public:
-  explicit SimulatedTimerHandler(EventScheduler *scheduler,
-                                 ::std::function<void()> fn)
-      : scheduler_(scheduler), fn_(fn) {}
-  ~SimulatedTimerHandler() {}
-
-  void Setup(monotonic_clock::time_point base,
-             monotonic_clock::duration repeat_offset) override {
-    Disable();
-    const ::aos::monotonic_clock::time_point monotonic_now =
-        scheduler_->monotonic_now();
-    base_ = base;
-    repeat_offset_ = repeat_offset;
-    if (base < monotonic_now) {
-      token_ = scheduler_->Schedule(monotonic_now, [this]() { HandleEvent(); });
-    } else {
-      token_ = scheduler_->Schedule(base, [this]() { HandleEvent(); });
-    }
-  }
-
-  void HandleEvent() {
-    const ::aos::monotonic_clock::time_point monotonic_now =
-        scheduler_->monotonic_now();
-    if (repeat_offset_ != ::aos::monotonic_clock::zero()) {
-      // Reschedule.
-      while (base_ <= monotonic_now) base_ += repeat_offset_;
-      token_ = scheduler_->Schedule(base_, [this]() { HandleEvent(); });
-    } else {
-      token_ = EventScheduler::Token();
-    }
-    fn_();
-  }
-
-  void Disable() override {
-    if (token_ != EventScheduler::Token()) {
-      scheduler_->Deschedule(token_);
-      token_ = EventScheduler::Token();
-    }
-  }
-
-  ::aos::monotonic_clock::time_point monotonic_now() const {
-    return scheduler_->monotonic_now();
-  }
-
- private:
-  EventScheduler *scheduler_;
-  EventScheduler::Token token_;
-  // Function to be run on the thread
-  ::std::function<void()> fn_;
-  monotonic_clock::time_point base_;
-  monotonic_clock::duration repeat_offset_;
-};
-
-class SimulatedPhasedLoopHandler : public PhasedLoopHandler {
- public:
-  SimulatedPhasedLoopHandler(EventScheduler *scheduler,
-                             ::std::function<void(int)> fn,
-                             const monotonic_clock::duration interval,
-                             const monotonic_clock::duration offset)
-      : simulated_timer_handler_(scheduler, [this]() { HandleTimerWakeup(); }),
-        phased_loop_(interval, simulated_timer_handler_.monotonic_now(),
-                     offset),
-        fn_(fn) {
-    // TODO(austin): This assumes time doesn't change between when the
-    // constructor is called and when we start running.  It's probably a safe
-    // assumption.
-    Reschedule();
-  }
-
-  void HandleTimerWakeup() {
-    fn_(cycles_elapsed_);
-    Reschedule();
-  }
-
-  void set_interval_and_offset(
-      const monotonic_clock::duration interval,
-      const monotonic_clock::duration offset) override {
-    phased_loop_.set_interval_and_offset(interval, offset);
-  }
-
-  void Reschedule() {
-    cycles_elapsed_ =
-        phased_loop_.Iterate(simulated_timer_handler_.monotonic_now());
-    simulated_timer_handler_.Setup(phased_loop_.sleep_time(),
-                                   ::aos::monotonic_clock::zero());
-  }
-
- private:
-  SimulatedTimerHandler simulated_timer_handler_;
-
-  time::PhasedLoop phased_loop_;
-
-  int cycles_elapsed_ = 1;
-
-  ::std::function<void(int)> fn_;
-};
-
-class SimulatedEventLoop : public EventLoop {
- public:
-  explicit SimulatedEventLoop(
-      EventScheduler *scheduler,
-      ::std::map<::std::pair<::std::string, QueueTypeInfo>, SimulatedQueue>
-          *queues)
-      : scheduler_(scheduler), queues_(queues) {
-    scheduler_->AddRawEventLoop(this);
-  }
-  ~SimulatedEventLoop() override { scheduler_->RemoveRawEventLoop(this); };
-
-  ::aos::monotonic_clock::time_point monotonic_now() override {
-    return scheduler_->monotonic_now();
-  }
-
-  ::std::unique_ptr<RawSender> MakeRawSender(
-      const ::std::string &path, const QueueTypeInfo &type) override;
-
-  ::std::unique_ptr<RawFetcher> MakeRawFetcher(
-      const ::std::string &path, const QueueTypeInfo &type) override;
-
-  void MakeRawWatcher(
-      const ::std::string &path, const QueueTypeInfo &type,
-      ::std::function<void(const ::aos::Message *message)> watcher) override;
-
-  TimerHandler *AddTimer(::std::function<void()> callback) override {
-    timers_.emplace_back(new SimulatedTimerHandler(scheduler_, callback));
-    return timers_.back().get();
-  }
-
-  PhasedLoopHandler *AddPhasedLoop(::std::function<void(int)> callback,
-                                   const monotonic_clock::duration interval,
-                                   const monotonic_clock::duration offset =
-                                       ::std::chrono::seconds(0)) override {
-    phased_loops_.emplace_back(
-        new SimulatedPhasedLoopHandler(scheduler_, callback, interval, offset));
-    return phased_loops_.back().get();
-  }
-
-  void OnRun(::std::function<void()> on_run) override {
-    scheduler_->Schedule(scheduler_->monotonic_now(), on_run);
-  }
-
-  void set_name(const char *name) override { name_ = name; }
-
-  SimulatedQueue *GetSimulatedQueue(
-      const ::std::pair<::std::string, QueueTypeInfo> &);
-
-  void Take(const ::std::string &path);
-
-  void SetRuntimeRealtimePriority(int /*priority*/) override {
-    if (is_running()) {
-      ::aos::Die("Cannot set realtime priority while running.");
-    }
-  }
-
- private:
-  EventScheduler *scheduler_;
-  ::std::map<::std::pair<::std::string, QueueTypeInfo>, SimulatedQueue>
-      *queues_;
-  ::std::vector<std::string> taken_;
-  ::std::vector<std::unique_ptr<TimerHandler>> timers_;
-  ::std::vector<std::unique_ptr<PhasedLoopHandler>> phased_loops_;
-
-  ::std::string name_;
-};
-
-EventScheduler::Token EventScheduler::Schedule(
-    ::aos::monotonic_clock::time_point time, ::std::function<void()> callback) {
-  return events_list_.emplace(time, callback);
-}
-
-void EventScheduler::Deschedule(EventScheduler::Token token) {
-  events_list_.erase(token);
-}
-
-void EventScheduler::RunFor(monotonic_clock::duration duration) {
-  const ::aos::monotonic_clock::time_point end_time =
-      monotonic_now() + duration;
-  testing::MockTime(monotonic_now());
-  for (RawEventLoop *event_loop : raw_event_loops_) {
-    event_loop->set_is_running(true);
-  }
-  is_running_ = true;
-  while (!events_list_.empty() && is_running_) {
-    auto iter = events_list_.begin();
-    ::aos::monotonic_clock::time_point next_time = iter->first;
-    if (next_time > end_time) {
-      break;
-    }
-    now_ = iter->first;
-    testing::MockTime(now_);
-    ::std::function<void()> callback = ::std::move(iter->second);
-    events_list_.erase(iter);
-    callback();
-  }
-  now_ = end_time;
-  if (!is_running_) {
-    for (RawEventLoop *event_loop : raw_event_loops_) {
-      event_loop->set_is_running(false);
-    }
-  }
-  testing::UnMockTime();
-}
-
-void EventScheduler::Run() {
-  testing::MockTime(monotonic_now());
-  for (RawEventLoop *event_loop : raw_event_loops_) {
-    event_loop->set_is_running(true);
-  }
-  is_running_ = true;
-  while (!events_list_.empty() && is_running_) {
-    auto iter = events_list_.begin();
-    now_ = iter->first;
-    testing::MockTime(now_);
-    ::std::function<void()> callback = ::std::move(iter->second);
-    events_list_.erase(iter);
-    callback();
-  }
-  if (!is_running_) {
-    for (RawEventLoop *event_loop : raw_event_loops_) {
-      event_loop->set_is_running(false);
-    }
-  }
-  testing::UnMockTime();
-}
-
-void SimulatedEventLoop::MakeRawWatcher(
-    const std::string &path, const QueueTypeInfo &type,
-    std::function<void(const aos::Message *message)> watcher) {
-  Take(path);
-  ::std::pair<::std::string, QueueTypeInfo> key(path, type);
-  GetSimulatedQueue(key)->MakeRawWatcher(watcher);
-}
-
-std::unique_ptr<RawSender> SimulatedEventLoop::MakeRawSender(
-    const std::string &path, const QueueTypeInfo &type) {
-  Take(path);
-  ::std::pair<::std::string, QueueTypeInfo> key(path, type);
-  return GetSimulatedQueue(key)->MakeRawSender(this);
-}
-
-std::unique_ptr<RawFetcher> SimulatedEventLoop::MakeRawFetcher(
-    const std::string &path, const QueueTypeInfo &type) {
-  ::std::pair<::std::string, QueueTypeInfo> key(path, type);
-  return GetSimulatedQueue(key)->MakeRawFetcher();
-}
-
-SimulatedQueue *SimulatedEventLoop::GetSimulatedQueue(
-    const ::std::pair<::std::string, QueueTypeInfo> &type) {
-  auto it = queues_->find(type);
-  if (it == queues_->end()) {
-    it =
-        queues_
-            ->emplace(type, SimulatedQueue(type.second, type.first, scheduler_))
-            .first;
-  }
-  return &it->second;
-}
-
-void SimulatedQueue::MakeRawWatcher(
-    ::std::function<void(const aos::Message *message)> watcher) {
-  watchers_.push_back(watcher);
-}
-
-::std::unique_ptr<RawSender> SimulatedQueue::MakeRawSender(
-    EventLoop *event_loop) {
-  return ::std::unique_ptr<RawSender>(new SimulatedSender(this, event_loop));
-}
-
-::std::unique_ptr<RawFetcher> SimulatedQueue::MakeRawFetcher() {
-  ::std::unique_ptr<SimulatedFetcher> fetcher(new SimulatedFetcher(this));
-  fetchers_.push_back(fetcher.get());
-  return ::std::move(fetcher);
-}
-
-void SimulatedQueue::Send(RefCountedBuffer message) {
-  latest_message_ = message;
-  if (scheduler_->is_running()) {
-    for (auto &watcher : watchers_) {
-      scheduler_->Schedule(scheduler_->monotonic_now(),
-                           [watcher, message]() { watcher(message.get()); });
-    }
-  }
-  for (auto &fetcher : fetchers_) {
-    fetcher->Enqueue(message);
-  }
-}
-
-void SimulatedQueue::UnregisterFetcher(SimulatedFetcher *fetcher) {
-  fetchers_.erase(::std::find(fetchers_.begin(), fetchers_.end(), fetcher));
-}
-
-void SimulatedEventLoop::Take(const ::std::string &path) {
-  if (is_running()) {
-    ::aos::Die("Cannot add new objects while running.\n");
-  }
-  const auto prior = ::std::find(taken_.begin(), taken_.end(), path);
-  if (prior != taken_.end()) {
-    ::aos::Die("%s is already being used.", path.c_str());
-  } else {
-    taken_.emplace_back(path);
-  }
-}
-
-::std::unique_ptr<EventLoop> SimulatedEventLoopFactory::MakeEventLoop() {
-  return ::std::unique_ptr<EventLoop>(
-      new SimulatedEventLoop(&scheduler_, &queues_));
-}
-
-}  // namespace aos
diff --git a/aos/events/simulated-event-loop.h b/aos/events/simulated-event-loop.h
deleted file mode 100644
index 2fcc9d1..0000000
--- a/aos/events/simulated-event-loop.h
+++ /dev/null
@@ -1,214 +0,0 @@
-#ifndef _AOS_EVENTS_SIMULATED_EVENT_LOOP_H_
-#define _AOS_EVENTS_SIMULATED_EVENT_LOOP_H_
-
-#include <algorithm>
-#include <map>
-#include <memory>
-#include <unordered_set>
-#include <utility>
-#include <vector>
-
-#include "aos/events/event-loop.h"
-
-namespace aos {
-
-// This class manages allocation of queue messages for simulation.
-// Unfortunately, because the current interfaces all assume that we pass around
-// raw pointers to messages we can't use a std::shared_ptr or the such, and
-// because aos::Message's themselves to not have any sort of built-in support
-// for this, we need to manage memory for the Messages in some custom fashion.
-// In this case, we do so by allocating a ref-counter in the bytes immediately
-// preceding the aos::Message. We then provide a constructor that takes just a
-// pointer to an existing message and we assume that it was allocated using this
-// class, and can decrement the counter if the RefCountedBuffer we constructed
-// goes out of scope. There are currently no checks to ensure that pointers
-// passed into this class were actually allocated using this class.
-class RefCountedBuffer {
- public:
-  RefCountedBuffer() {}
-  ~RefCountedBuffer() { clear(); }
-
-  // Create a RefCountedBuffer for some Message that was already allocated using
-  // a RefCountedBuffer class. This, or some function like it, is required to
-  // allow us to let users of the simulated event loops work with raw pointers
-  // to messages.
-  explicit RefCountedBuffer(aos::Message *data) : data_(data) {}
-
-  // Allocates memory for a new message of a given size. Does not initialize the
-  // memory or call any constructors.
-  explicit RefCountedBuffer(size_t size) {
-    data_ = reinterpret_cast<uint8_t *>(malloc(kRefCountSize + size)) +
-            kRefCountSize;
-    // Initialize the allocated memory with an integer
-    *GetRefCount() = 1;
-  }
-
-  RefCountedBuffer(const RefCountedBuffer &other) {
-    data_ = other.data_;
-    if (data_ != nullptr) {
-      ++*GetRefCount();
-    }
-  }
-
-  RefCountedBuffer(RefCountedBuffer &&other) { std::swap(data_, other.data_); }
-
-  RefCountedBuffer &operator=(const RefCountedBuffer &other) {
-    if (this == &other) return *this;
-    clear();
-    data_ = other.data_;
-    ++*GetRefCount();
-    return *this;
-  }
-
-  RefCountedBuffer &operator=(RefCountedBuffer &&other) {
-    if (this == &other) return *this;
-    std::swap(data_, other.data_);
-    return *this;
-  }
-
-  operator bool() const { return data_ != nullptr; }
-
-  aos::Message *get() const { return static_cast<aos::Message *>(data_); }
-
-  aos::Message *release() {
-    auto tmp = get();
-    data_ = nullptr;
-    return tmp;
-  }
-
-  void clear() {
-    if (data_ != nullptr) {
-      if (--*GetRefCount() == 0) {
-        // Free memory block from the start of the allocated block
-        free(GetRefCount());
-      }
-      data_ = nullptr;
-    }
-  }
-
- private:
-  void *data_ = nullptr;
-  // Qty. memory to be allocated to the ref counter
-  static constexpr size_t kRefCountSize = sizeof(int64_t);
-
-  int64_t *GetRefCount() {
-    // Need to cast the void* to an 8 bit long object (size of void* is
-    // technically 0)
-    return reinterpret_cast<int64_t *>(static_cast<void *>(
-        reinterpret_cast<uint8_t *>(data_) - kRefCountSize));
-  }
-};
-
-class EventScheduler {
- public:
-  using QueueType = ::std::multimap<::aos::monotonic_clock::time_point,
-                                    ::std::function<void()>>;
-  using Token = QueueType::iterator;
-
-  // Schedule an event with a callback function
-  // Returns an iterator to the event
-  Token Schedule(::aos::monotonic_clock::time_point time,
-                 ::std::function<void()> callback);
-
-  // Deschedule an event by its iterator
-  void Deschedule(Token token);
-
-  void Run();
-  void RunFor(::aos::monotonic_clock::duration duration);
-
-  void Exit() {
-    is_running_ = false;
-  }
-
-  bool is_running() const { return is_running_; }
-
-  void AddRawEventLoop(RawEventLoop *event_loop) {
-    raw_event_loops_.push_back(event_loop);
-  }
-  void RemoveRawEventLoop(RawEventLoop *event_loop) {
-    raw_event_loops_.erase(::std::find(raw_event_loops_.begin(),
-                                       raw_event_loops_.end(), event_loop));
-  }
-
-  ::aos::monotonic_clock::time_point monotonic_now() const { return now_; }
-
- private:
-  ::aos::monotonic_clock::time_point now_ = ::aos::monotonic_clock::epoch();
-  QueueType events_list_;
-  bool is_running_ = false;
-  ::std::vector<RawEventLoop *> raw_event_loops_;
-};
-
-// Class for simulated fetchers.
-class SimulatedFetcher;
-
-class SimulatedQueue {
- public:
-  explicit SimulatedQueue(const QueueTypeInfo &type, const ::std::string &name,
-                          EventScheduler *scheduler)
-      : type_(type), name_(name), scheduler_(scheduler){};
-
-  ~SimulatedQueue() { AOS_CHECK_EQ(0u, fetchers_.size()); }
-
-  // Makes a connected raw sender which calls Send below.
-  ::std::unique_ptr<RawSender> MakeRawSender(EventLoop *event_loop);
-
-  // Makes a connected raw fetcher.
-  ::std::unique_ptr<RawFetcher> MakeRawFetcher();
-
-  // Registers a watcher for the queue.
-  void MakeRawWatcher(
-      ::std::function<void(const ::aos::Message *message)> watcher);
-
-  // Sends the message to all the connected receivers and fetchers.
-  void Send(RefCountedBuffer message);
-
-  // Unregisters a fetcher.
-  void UnregisterFetcher(SimulatedFetcher *fetcher);
-
-  const RefCountedBuffer &latest_message() { return latest_message_; }
-
-  size_t size() const { return type_.size; }
-
-  const char *name() const { return name_.c_str(); }
-
- private:
-  const QueueTypeInfo type_;
-  const ::std::string name_;
-
-  // List of all watchers.
-  ::std::vector<std::function<void(const aos::Message *message)>> watchers_;
-
-  // List of all fetchers.
-  ::std::vector<SimulatedFetcher *> fetchers_;
-  RefCountedBuffer latest_message_;
-  EventScheduler *scheduler_;
-};
-
-class SimulatedEventLoopFactory {
- public:
-  ::std::unique_ptr<EventLoop> MakeEventLoop();
-
-  // Starts executing the event loops unconditionally.
-  void Run() { scheduler_.Run(); }
-  // Executes the event loops for a duration.
-  void RunFor(monotonic_clock::duration duration) {
-    scheduler_.RunFor(duration);
-  }
-
-  // Stops executing all event loops.  Meant to be called from within an event
-  // loop handler.
-  void Exit() { scheduler_.Exit(); }
-
-  monotonic_clock::time_point monotonic_now() const {
-    return scheduler_.monotonic_now();
-  }
-
- private:
-  EventScheduler scheduler_;
-  ::std::map<::std::pair<::std::string, QueueTypeInfo>, SimulatedQueue> queues_;
-};
-
-}  // namespace aos
-
-#endif  //_AOS_EVENTS_TEST_EVENT_LOOP_H_
diff --git a/aos/events/simulated_event_loop.cc b/aos/events/simulated_event_loop.cc
new file mode 100644
index 0000000..9bc74d5
--- /dev/null
+++ b/aos/events/simulated_event_loop.cc
@@ -0,0 +1,514 @@
+#include "aos/events/simulated_event_loop.h"
+
+#include <algorithm>
+#include <deque>
+
+#include "absl/container/btree_map.h"
+#include "absl/container/btree_set.h"
+#include "aos/json_to_flatbuffer.h"
+#include "aos/util/phased_loop.h"
+
+namespace aos {
+
+// Container for both a message, and the context for it for simulation.  This
+// makes tracking the timestamps associated with the data easy.
+struct SimulatedMessage {
+  // Struct to let us force data to be well aligned.
+  struct OveralignedChar {
+    char data alignas(32);
+  };
+
+  // Context for the data.
+  Context context;
+
+  // The data.
+  char *data() { return reinterpret_cast<char *>(&actual_data[0]); }
+
+  // Then the data.
+  OveralignedChar actual_data[];
+};
+
+class SimulatedFetcher;
+
+class SimulatedChannel {
+ public:
+  explicit SimulatedChannel(const Channel *channel, EventScheduler *scheduler)
+      : channel_(CopyFlatBuffer(channel)),
+        scheduler_(scheduler),
+        next_queue_index_(ipc_lib::QueueIndex::Zero(channel->max_size())) {}
+
+  ~SimulatedChannel() { CHECK_EQ(0u, fetchers_.size()); }
+
+  // Makes a connected raw sender which calls Send below.
+  ::std::unique_ptr<RawSender> MakeRawSender(EventLoop *event_loop);
+
+  // Makes a connected raw fetcher.
+  ::std::unique_ptr<RawFetcher> MakeRawFetcher();
+
+  // Registers a watcher for the queue.
+  void MakeRawWatcher(
+      ::std::function<void(const Context &context, const void *message)>
+          watcher);
+
+  // Sends the message to all the connected receivers and fetchers.
+  void Send(std::shared_ptr<SimulatedMessage> message);
+
+  // Unregisters a fetcher.
+  void UnregisterFetcher(SimulatedFetcher *fetcher);
+
+  std::shared_ptr<SimulatedMessage> latest_message() { return latest_message_; }
+
+  size_t max_size() const { return channel_.message().max_size(); }
+
+  const absl::string_view name() const {
+    return channel_.message().name()->string_view();
+  }
+
+  const Channel *channel() const { return &channel_.message(); }
+
+ private:
+  const FlatbufferDetachedBuffer<Channel> channel_;
+
+  // List of all watchers.
+  ::std::vector<
+      std::function<void(const Context &context, const void *message)>>
+      watchers_;
+
+  // List of all fetchers.
+  ::std::vector<SimulatedFetcher *> fetchers_;
+  std::shared_ptr<SimulatedMessage> latest_message_;
+  EventScheduler *scheduler_;
+
+  ipc_lib::QueueIndex next_queue_index_;
+};
+
+namespace {
+
+// Creates a SimulatedMessage with size bytes of storage.
+// This is a shared_ptr so we don't have to implement refcounting or copying.
+std::shared_ptr<SimulatedMessage> MakeSimulatedMessage(size_t size) {
+  SimulatedMessage *message = reinterpret_cast<SimulatedMessage *>(
+      malloc(sizeof(SimulatedMessage) + size));
+  message->context.size = size;
+  message->context.data = message->data();
+
+  return std::shared_ptr<SimulatedMessage>(message, free);
+}
+
+class SimulatedSender : public RawSender {
+ public:
+  SimulatedSender(SimulatedChannel *simulated_channel, EventLoop *event_loop)
+      : simulated_channel_(simulated_channel), event_loop_(event_loop) {}
+  ~SimulatedSender() {}
+
+  void *data() override {
+    if (!message_) {
+      message_ = MakeSimulatedMessage(simulated_channel_->max_size());
+    }
+    return message_->data();
+  }
+
+  size_t size() override { return simulated_channel_->max_size(); }
+
+  bool Send(size_t length) override {
+    CHECK_LE(length, size()) << ": Attempting to send too big a message.";
+    message_->context.monotonic_sent_time = event_loop_->monotonic_now();
+    message_->context.realtime_sent_time = event_loop_->realtime_now();
+    CHECK_LE(length, message_->context.size);
+    message_->context.size = length;
+
+    // TODO(austin): Track sending too fast.
+    simulated_channel_->Send(message_);
+
+    // Drop the reference to the message so that we allocate a new message for
+    // next time.  Otherwise we will continue to reuse the same memory for all
+    // messages and corrupt it.
+    message_.reset();
+    return true;
+  }
+
+  bool Send(void *msg, size_t size) override {
+    CHECK_LE(size, this->size()) << ": Attempting to send too big a message.";
+
+    // This is wasteful, but since flatbuffers fill from the back end of the
+    // queue, we need it to be full sized.
+    message_ = MakeSimulatedMessage(simulated_channel_->max_size());
+
+    // Now fill in the message.  size is already populated above, and
+    // queue_index will be populated in queue_.  Put this at the back of the
+    // data segment.
+    memcpy(message_->data() + simulated_channel_->max_size() - size, msg, size);
+
+    return Send(size);
+  }
+
+  const absl::string_view name() const override {
+    return simulated_channel_->name();
+  }
+
+ private:
+  SimulatedChannel *simulated_channel_;
+  EventLoop *event_loop_;
+
+  std::shared_ptr<SimulatedMessage> message_;
+};
+}  // namespace
+
+class SimulatedFetcher : public RawFetcher {
+ public:
+  explicit SimulatedFetcher(SimulatedChannel *queue) : queue_(queue) {}
+  ~SimulatedFetcher() { queue_->UnregisterFetcher(this); }
+
+  bool FetchNext() override {
+    if (msgs_.size() == 0) return false;
+
+    SetMsg(msgs_.front());
+    msgs_.pop_front();
+    return true;
+  }
+
+  bool Fetch() override {
+    if (msgs_.size() == 0) {
+      if (!msg_ && queue_->latest_message()) {
+        SetMsg(queue_->latest_message());
+        return true;
+      } else {
+        return false;
+      }
+    }
+
+    // We've had a message enqueued, so we don't need to go looking for the
+    // latest message from before we started.
+    SetMsg(msgs_.back());
+    msgs_.clear();
+    return true;
+  }
+
+ private:
+  friend class SimulatedChannel;
+
+  // Updates the state inside RawFetcher to point to the data in msg_.
+  void SetMsg(std::shared_ptr<SimulatedMessage> msg) {
+    msg_ = msg;
+    data_ = msg_->context.data;
+    context_ = msg_->context;
+  }
+
+  // Internal method for Simulation to add a message to the buffer.
+  void Enqueue(std::shared_ptr<SimulatedMessage> buffer) {
+    msgs_.emplace_back(buffer);
+  }
+
+  SimulatedChannel *queue_;
+  std::shared_ptr<SimulatedMessage> msg_;
+
+  // Messages queued up but not in use.
+  ::std::deque<std::shared_ptr<SimulatedMessage>> msgs_;
+};
+
+class SimulatedTimerHandler : public TimerHandler {
+ public:
+  explicit SimulatedTimerHandler(EventScheduler *scheduler,
+                                 ::std::function<void()> fn)
+      : scheduler_(scheduler), token_(scheduler_->InvalidToken()), fn_(fn) {}
+  ~SimulatedTimerHandler() {}
+
+  void Setup(monotonic_clock::time_point base,
+             monotonic_clock::duration repeat_offset) override {
+    Disable();
+    const ::aos::monotonic_clock::time_point monotonic_now =
+        scheduler_->monotonic_now();
+    base_ = base;
+    repeat_offset_ = repeat_offset;
+    if (base < monotonic_now) {
+      token_ = scheduler_->Schedule(monotonic_now, [this]() { HandleEvent(); });
+    } else {
+      token_ = scheduler_->Schedule(base, [this]() { HandleEvent(); });
+    }
+  }
+
+  void HandleEvent() {
+    const ::aos::monotonic_clock::time_point monotonic_now =
+        scheduler_->monotonic_now();
+    if (repeat_offset_ != ::aos::monotonic_clock::zero()) {
+      // Reschedule.
+      while (base_ <= monotonic_now) base_ += repeat_offset_;
+      token_ = scheduler_->Schedule(base_, [this]() { HandleEvent(); });
+    } else {
+      token_ = scheduler_->InvalidToken();
+    }
+    fn_();
+  }
+
+  void Disable() override {
+    if (token_ != scheduler_->InvalidToken()) {
+      scheduler_->Deschedule(token_);
+      token_ = scheduler_->InvalidToken();
+    }
+  }
+
+  ::aos::monotonic_clock::time_point monotonic_now() const {
+    return scheduler_->monotonic_now();
+  }
+
+ private:
+  EventScheduler *scheduler_;
+  EventScheduler::Token token_;
+  // Function to be run on the thread
+  ::std::function<void()> fn_;
+  monotonic_clock::time_point base_;
+  monotonic_clock::duration repeat_offset_;
+};
+
+class SimulatedPhasedLoopHandler : public PhasedLoopHandler {
+ public:
+  SimulatedPhasedLoopHandler(EventScheduler *scheduler,
+                             ::std::function<void(int)> fn,
+                             const monotonic_clock::duration interval,
+                             const monotonic_clock::duration offset)
+      : simulated_timer_handler_(scheduler, [this]() { HandleTimerWakeup(); }),
+        phased_loop_(interval, simulated_timer_handler_.monotonic_now(),
+                     offset),
+        fn_(fn) {
+    // TODO(austin): This assumes time doesn't change between when the
+    // constructor is called and when we start running.  It's probably a safe
+    // assumption.
+    Reschedule();
+  }
+
+  void HandleTimerWakeup() {
+    fn_(cycles_elapsed_);
+    Reschedule();
+  }
+
+  void set_interval_and_offset(
+      const monotonic_clock::duration interval,
+      const monotonic_clock::duration offset) override {
+    phased_loop_.set_interval_and_offset(interval, offset);
+  }
+
+  void Reschedule() {
+    cycles_elapsed_ =
+        phased_loop_.Iterate(simulated_timer_handler_.monotonic_now());
+    simulated_timer_handler_.Setup(phased_loop_.sleep_time(),
+                                   ::aos::monotonic_clock::zero());
+  }
+
+ private:
+  SimulatedTimerHandler simulated_timer_handler_;
+
+  time::PhasedLoop phased_loop_;
+
+  int cycles_elapsed_ = 1;
+
+  ::std::function<void(int)> fn_;
+};
+
+class SimulatedEventLoop : public EventLoop {
+ public:
+  explicit SimulatedEventLoop(
+      EventScheduler *scheduler,
+      absl::btree_map<SimpleChannel, std::unique_ptr<SimulatedChannel>>
+          *channels,
+      const Configuration *configuration,
+      std::vector<std::pair<EventLoop *, std::function<void(bool)>>>
+          *raw_event_loops)
+      : EventLoop(configuration),
+        scheduler_(scheduler),
+        channels_(channels),
+        raw_event_loops_(raw_event_loops) {
+    raw_event_loops_->push_back(
+        std::make_pair(this, [this](bool value) { set_is_running(value); }));
+  }
+  ~SimulatedEventLoop() override {
+    for (auto it = raw_event_loops_->begin(); it != raw_event_loops_->end();
+         ++it) {
+      if (it->first == this) {
+        raw_event_loops_->erase(it);
+        break;
+      }
+    }
+  }
+
+  ::aos::monotonic_clock::time_point monotonic_now() override {
+    return scheduler_->monotonic_now();
+  }
+
+  ::aos::realtime_clock::time_point realtime_now() override {
+    return scheduler_->realtime_now();
+  }
+
+  ::std::unique_ptr<RawSender> MakeRawSender(const Channel *channel) override;
+
+  ::std::unique_ptr<RawFetcher> MakeRawFetcher(const Channel *channel) override;
+
+  void MakeRawWatcher(
+      const Channel *channel,
+      ::std::function<void(const Context &context, const void *message)>
+          watcher) override;
+
+  TimerHandler *AddTimer(::std::function<void()> callback) override {
+    timers_.emplace_back(new SimulatedTimerHandler(scheduler_, callback));
+    return timers_.back().get();
+  }
+
+  PhasedLoopHandler *AddPhasedLoop(::std::function<void(int)> callback,
+                                   const monotonic_clock::duration interval,
+                                   const monotonic_clock::duration offset =
+                                       ::std::chrono::seconds(0)) override {
+    phased_loops_.emplace_back(
+        new SimulatedPhasedLoopHandler(scheduler_, callback, interval, offset));
+    return phased_loops_.back().get();
+  }
+
+  void OnRun(::std::function<void()> on_run) override {
+    scheduler_->Schedule(scheduler_->monotonic_now(), on_run);
+  }
+
+  void set_name(const absl::string_view name) override {
+    name_ = std::string(name);
+  }
+  const absl::string_view name() const override { return name_; }
+
+  SimulatedChannel *GetSimulatedChannel(const Channel *channel);
+
+  void Take(const Channel *channel);
+
+  void SetRuntimeRealtimePriority(int /*priority*/) override {
+    CHECK(!is_running()) << ": Cannot set realtime priority while running.";
+  }
+
+ private:
+  EventScheduler *scheduler_;
+  absl::btree_map<SimpleChannel, std::unique_ptr<SimulatedChannel>> *channels_;
+  std::vector<std::pair<EventLoop *, std::function<void(bool)>>>
+      *raw_event_loops_;
+  absl::btree_set<SimpleChannel> taken_;
+  ::std::vector<std::unique_ptr<TimerHandler>> timers_;
+  ::std::vector<std::unique_ptr<PhasedLoopHandler>> phased_loops_;
+
+  ::std::string name_;
+};
+
+void SimulatedEventLoop::MakeRawWatcher(
+    const Channel *channel,
+    std::function<void(const Context &channel, const void *message)> watcher) {
+  Take(channel);
+  GetSimulatedChannel(channel)->MakeRawWatcher(watcher);
+}
+
+std::unique_ptr<RawSender> SimulatedEventLoop::MakeRawSender(
+    const Channel *channel) {
+  Take(channel);
+  return GetSimulatedChannel(channel)->MakeRawSender(this);
+}
+
+std::unique_ptr<RawFetcher> SimulatedEventLoop::MakeRawFetcher(
+    const Channel *channel) {
+  return GetSimulatedChannel(channel)->MakeRawFetcher();
+}
+
+SimulatedChannel *SimulatedEventLoop::GetSimulatedChannel(
+    const Channel *channel) {
+  auto it = channels_->find(SimpleChannel(channel));
+  if (it == channels_->end()) {
+    it = channels_
+             ->emplace(SimpleChannel(channel),
+                       std::unique_ptr<SimulatedChannel>(
+                           new SimulatedChannel(channel, scheduler_)))
+             .first;
+  }
+  return it->second.get();
+}
+
+void SimulatedChannel::MakeRawWatcher(
+    ::std::function<void(const Context &context, const void *message)>
+        watcher) {
+  watchers_.push_back(watcher);
+}
+
+::std::unique_ptr<RawSender> SimulatedChannel::MakeRawSender(
+    EventLoop *event_loop) {
+  return ::std::unique_ptr<RawSender>(new SimulatedSender(this, event_loop));
+}
+
+::std::unique_ptr<RawFetcher> SimulatedChannel::MakeRawFetcher() {
+  ::std::unique_ptr<SimulatedFetcher> fetcher(new SimulatedFetcher(this));
+  fetchers_.push_back(fetcher.get());
+  return ::std::move(fetcher);
+}
+
+void SimulatedChannel::Send(std::shared_ptr<SimulatedMessage> message) {
+  message->context.queue_index = next_queue_index_.index();
+  message->context.data =
+      message->data() + channel()->max_size() - message->context.size;
+  next_queue_index_ = next_queue_index_.Increment();
+
+  latest_message_ = message;
+  if (scheduler_->is_running()) {
+    for (auto &watcher : watchers_) {
+      scheduler_->Schedule(scheduler_->monotonic_now(), [watcher, message]() {
+        watcher(message->context, message->context.data);
+      });
+    }
+  }
+  for (auto &fetcher : fetchers_) {
+    fetcher->Enqueue(message);
+  }
+}
+
+void SimulatedChannel::UnregisterFetcher(SimulatedFetcher *fetcher) {
+  fetchers_.erase(::std::find(fetchers_.begin(), fetchers_.end(), fetcher));
+}
+
+SimpleChannel::SimpleChannel(const Channel *channel)
+    : name(CHECK_NOTNULL(CHECK_NOTNULL(channel)->name())->str()),
+      type(CHECK_NOTNULL(CHECK_NOTNULL(channel)->type())->str()) {}
+
+void SimulatedEventLoop::Take(const Channel *channel) {
+  CHECK(!is_running()) << ": Cannot add new objects while running.";
+
+  auto result = taken_.insert(SimpleChannel(channel));
+  CHECK(result.second) << ": " << FlatbufferToJson(channel)
+                       << " is already being used.";
+}
+
+SimulatedEventLoopFactory::SimulatedEventLoopFactory(
+    const Configuration *configuration)
+    : configuration_(configuration) {}
+SimulatedEventLoopFactory::~SimulatedEventLoopFactory() {}
+
+::std::unique_ptr<EventLoop> SimulatedEventLoopFactory::MakeEventLoop() {
+  return ::std::unique_ptr<EventLoop>(new SimulatedEventLoop(
+      &scheduler_, &channels_, configuration_, &raw_event_loops_));
+}
+
+void SimulatedEventLoopFactory::RunFor(monotonic_clock::duration duration) {
+  for (const std::pair<EventLoop *, std::function<void(bool)>> &event_loop :
+       raw_event_loops_) {
+    event_loop.second(true);
+  }
+  scheduler_.RunFor(duration);
+  if (!scheduler_.is_running()) {
+    for (const std::pair<EventLoop *, std::function<void(bool)>> &event_loop :
+         raw_event_loops_) {
+      event_loop.second(false);
+    }
+  }
+}
+
+void SimulatedEventLoopFactory::Run() {
+  for (const std::pair<EventLoop *, std::function<void(bool)>> &event_loop :
+       raw_event_loops_) {
+    event_loop.second(true);
+  }
+  scheduler_.Run();
+  if (!scheduler_.is_running()) {
+    for (const std::pair<EventLoop *, std::function<void(bool)>> &event_loop :
+         raw_event_loops_) {
+      event_loop.second(false);
+    }
+  }
+}
+
+}  // namespace aos
diff --git a/aos/events/simulated_event_loop.h b/aos/events/simulated_event_loop.h
new file mode 100644
index 0000000..485ab68
--- /dev/null
+++ b/aos/events/simulated_event_loop.h
@@ -0,0 +1,86 @@
+#ifndef AOS_EVENTS_SIMULATED_EVENT_LOOP_H_
+#define AOS_EVENTS_SIMULATED_EVENT_LOOP_H_
+
+#include <algorithm>
+#include <map>
+#include <memory>
+#include <unordered_set>
+#include <utility>
+#include <vector>
+
+#include "absl/container/btree_map.h"
+#include "aos/events/event_loop.h"
+#include "aos/events/event_scheduler.h"
+#include "aos/flatbuffer_merge.h"
+#include "aos/flatbuffers.h"
+#include "aos/ipc_lib/index.h"
+#include "glog/logging.h"
+
+namespace aos {
+
+// Class for simulated fetchers.
+class SimulatedChannel;
+
+struct SimpleChannel {
+  SimpleChannel(const Channel *channel);
+  std::string name;
+  std::string type;
+
+  std::string DebugString() const {
+    return std::string("{ ") + name + ", " + type + "}";
+  }
+
+  bool operator==(const SimpleChannel &other) const {
+    return name == other.name && type == other.type;
+  }
+  bool operator<(const SimpleChannel &other) const {
+    int name_compare = other.name.compare(name);
+    if (name_compare == 0) {
+      return other.type < type;
+    } else if (name_compare < 0) {
+      return true;
+    } else {
+      return false;
+    }
+  }
+};
+
+class SimulatedEventLoopFactory {
+ public:
+  // Constructs a SimulatedEventLoopFactory with the provided configuration.
+  // This configuration must remain in scope for the lifetime of the factory and
+  // all sub-objects.
+  SimulatedEventLoopFactory(const Configuration *configuration);
+  ~SimulatedEventLoopFactory();
+
+  ::std::unique_ptr<EventLoop> MakeEventLoop();
+
+  // Starts executing the event loops unconditionally.
+  void Run();
+  // Executes the event loops for a duration.
+  void RunFor(monotonic_clock::duration duration);
+
+  // Stops executing all event loops.  Meant to be called from within an event
+  // loop handler.
+  void Exit() { scheduler_.Exit(); }
+
+  monotonic_clock::time_point monotonic_now() const {
+    return scheduler_.monotonic_now();
+  }
+  realtime_clock::time_point realtime_now() const {
+    return scheduler_.realtime_now();
+  }
+
+ private:
+  const Configuration *configuration_;
+  EventScheduler scheduler_;
+  // Map from name, type to queue.
+  absl::btree_map<SimpleChannel, std::unique_ptr<SimulatedChannel>> channels_;
+  // List of event loops to manage running and not running for.
+  std::vector<std::pair<EventLoop *, std::function<void(bool)>>>
+      raw_event_loops_;
+};
+
+}  // namespace aos
+
+#endif  // AOS_EVENTS_SIMULATED_EVENT_LOOP_H_
diff --git a/aos/events/simulated-event-loop_test.cc b/aos/events/simulated_event_loop_test.cc
similarity index 90%
rename from aos/events/simulated-event-loop_test.cc
rename to aos/events/simulated_event_loop_test.cc
index e987a11..356c25b 100644
--- a/aos/events/simulated-event-loop_test.cc
+++ b/aos/events/simulated_event_loop_test.cc
@@ -1,5 +1,6 @@
-#include "aos/events/simulated-event-loop.h"
-#include "aos/events/event-loop_param_test.h"
+#include "aos/events/simulated_event_loop.h"
+
+#include "aos/events/event_loop_param_test.h"
 #include "gtest/gtest.h"
 
 namespace aos {
@@ -9,6 +10,8 @@
 
 class SimulatedEventLoopTestFactory : public EventLoopTestFactory {
  public:
+  SimulatedEventLoopTestFactory() : event_loop_factory_(configuration()) {}
+
   ::std::unique_ptr<EventLoop> Make() override {
     return event_loop_factory_.MakeEventLoop();
   }
@@ -68,7 +71,7 @@
 // Test that running for a time period with no handlers causes time to progress
 // correctly.
 TEST(SimulatedEventLoopTest, RunForNoHandlers) {
-  SimulatedEventLoopFactory simulated_event_loop_factory;
+  SimulatedEventLoopFactory simulated_event_loop_factory(nullptr);
   ::std::unique_ptr<EventLoop> event_loop =
       simulated_event_loop_factory.MakeEventLoop();
 
@@ -83,12 +86,12 @@
 // Test that running for a time with a periodic handler causes time to end
 // correctly.
 TEST(SimulatedEventLoopTest, RunForTimerHandler) {
-  SimulatedEventLoopFactory simulated_event_loop_factory;
+  SimulatedEventLoopFactory simulated_event_loop_factory(nullptr);
   ::std::unique_ptr<EventLoop> event_loop =
       simulated_event_loop_factory.MakeEventLoop();
 
   int counter = 0;
-  auto timer = event_loop->AddTimer([&counter, &event_loop]() { ++counter; });
+  auto timer = event_loop->AddTimer([&counter]() { ++counter; });
   event_loop->OnRun([&event_loop, &timer] {
     timer->Setup(event_loop->monotonic_now() + chrono::milliseconds(50),
                  chrono::milliseconds(100));
diff --git a/aos/events/test_message.fbs b/aos/events/test_message.fbs
new file mode 100644
index 0000000..1d26c2e
--- /dev/null
+++ b/aos/events/test_message.fbs
@@ -0,0 +1,7 @@
+namespace aos;
+
+table TestMessage {
+  value:int;
+}
+
+root_type TestMessage;
diff --git a/aos/flatbuffers.h b/aos/flatbuffers.h
index 448f34b..fc91cf9 100644
--- a/aos/flatbuffers.h
+++ b/aos/flatbuffers.h
@@ -1,6 +1,9 @@
 #ifndef AOS_FLATBUFFERS_H_
 #define AOS_FLATBUFFERS_H_
 
+#include <array>
+
+#include "absl/strings/string_view.h"
 #include "flatbuffers/flatbuffers.h"
 
 namespace aos {
@@ -20,6 +23,8 @@
   virtual uint8_t *data() = 0;
   virtual size_t size() const = 0;
 
+  void Reset() { is_allocated_ = false; }
+
  private:
   bool is_allocated_ = false;
 };
@@ -37,11 +42,27 @@
   std::array<uint8_t, S> buffer_;
 };
 
+// This class adapts a preallocated memory region to an Allocator.
+class PreallocatedAllocator : public FixedAllocatorBase {
+ public:
+  PreallocatedAllocator(void *data, size_t size) : data_(data), size_(size) {}
+  uint8_t *data() override { return reinterpret_cast<uint8_t *>(data_); }
+  const uint8_t *data() const override {
+    return reinterpret_cast<const uint8_t *>(data_);
+  }
+  size_t size() const override { return size_; }
+
+ private:
+  void* data_;
+  size_t size_;
+};
+
 // Base class representing an object which holds the memory representing a root
 // flatbuffer.
 template <typename T>
 class Flatbuffer {
  public:
+  virtual ~Flatbuffer() {}
   // Returns the MiniReflectTypeTable for T.
   static const flatbuffers::TypeTable *MiniReflectTypeTable() {
     return T::MiniReflectTypeTable();
@@ -82,6 +103,8 @@
     return *this;
   }
 
+  virtual ~FlatbufferArray() override {}
+
   // Creates a builder wrapping the underlying data.
   flatbuffers::FlatBufferBuilder FlatBufferBuilder() {
     data_.deallocate(data_.data(), data_.size());
@@ -99,6 +122,39 @@
   size_t size_ = data_.size();
 };
 
+// String backed flatbuffer.
+template <typename T>
+class FlatbufferString : public Flatbuffer<T> {
+ public:
+  // Builds a flatbuffer using the contents of the string.
+  FlatbufferString(const absl::string_view data) : data_(data) {}
+  // Builds a Flatbuffer by copying the data from the other flatbuffer.
+  FlatbufferString(const Flatbuffer<T> &other) {
+    data_ = std::string(other.data(), other.size());
+  }
+
+  // Coppies the data from the other flatbuffer.
+  FlatbufferString &operator=(const Flatbuffer<T> &other) {
+    data_ = std::string(other.data(), other.size());
+    return *this;
+  }
+
+  virtual ~FlatbufferString() override {}
+
+  const uint8_t *data() const override {
+    return reinterpret_cast<const uint8_t *>(data_.data());
+  }
+  uint8_t *data() override {
+    // TODO(james): when we get c++17, can we drop the second cast?
+    return const_cast<uint8_t *>(
+        reinterpret_cast<const uint8_t *>(data_.data()));
+  }
+  size_t size() const override { return data_.size(); }
+
+ private:
+  std::string data_;
+};
+
 // This object associates the message type with the memory storing the
 // flatbuffer.  This only stores root tables.
 //
@@ -120,6 +176,8 @@
     return *this;
   }
 
+  virtual ~FlatbufferDetachedBuffer() override {}
+
   // Constructs an empty flatbuffer of type T.
   static FlatbufferDetachedBuffer<T> Empty() {
     flatbuffers::FlatBufferBuilder fbb;
diff --git a/aos/init.cc b/aos/init.cc
index fdb1800..ac18413 100644
--- a/aos/init.cc
+++ b/aos/init.cc
@@ -14,8 +14,9 @@
 #include <malloc.h>
 
 #include "aos/die.h"
-#include "aos/logging/implementations.h"
 #include "aos/ipc_lib/shared_mem.h"
+#include "aos/logging/implementations.h"
+#include "aos/realtime.h"
 
 namespace FLAG__namespace_do_not_use_directly_use_DECLARE_double_instead {
 extern double FLAGS_tcmalloc_release_rate __attribute__((weak));
@@ -34,25 +35,6 @@
 }  // namespace logging
 namespace {
 
-void SetSoftRLimit(int resource, rlim64_t soft, bool set_for_root) {
-  bool am_root = getuid() == 0;
-  if (set_for_root || !am_root) {
-    struct rlimit64 rlim;
-    if (getrlimit64(resource, &rlim) == -1) {
-      PDie("%s-init: getrlimit64(%d) failed",
-           program_invocation_short_name, resource);
-    }
-    rlim.rlim_cur = soft;
-    rlim.rlim_max = ::std::max(rlim.rlim_max, soft);
-
-    if (setrlimit64(resource, &rlim) == -1) {
-      PDie("%s-init: setrlimit64(%d, {cur=%ju,max=%ju}) failed",
-           program_invocation_short_name, resource, (uintmax_t)rlim.rlim_cur,
-           (uintmax_t)rlim.rlim_max);
-    }
-  }
-}
-
 // Common stuff that needs to happen at the beginning of both the realtime and
 // non-realtime initialization sequences. May be called twice.
 void InitStart() {
@@ -68,35 +50,11 @@
 
 }  // namespace
 
-void LockAllMemory() {
-  // Allow locking as much as we want into RAM.
-  SetSoftRLimit(RLIMIT_MEMLOCK, RLIM_INFINITY, false);
-
-  InitStart();
-  if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
-    PDie("%s-init: mlockall failed", program_invocation_short_name);
-  }
-
-  // Don't give freed memory back to the OS.
-  AOS_CHECK_EQ(1, mallopt(M_TRIM_THRESHOLD, -1));
-  // Don't use mmap for large malloc chunks.
-  AOS_CHECK_EQ(1, mallopt(M_MMAP_MAX, 0));
-
-  if (&FLAGS_tcmalloc_release_rate) {
-    // Tell tcmalloc not to return memory.
-    FLAGS_tcmalloc_release_rate = 0.0;
-  }
-
-  // Forces the memory pages for all the stack space that we're ever going to
-  // use to be loaded into memory (so it can be locked there).
-  uint8_t data[4096 * 8];
-  // Not 0 because linux might optimize that to a 0-filled page.
-  memset(data, 1, sizeof(data));
-
-  static const size_t kHeapPreallocSize = 512 * 1024;
-  char *const heap_data = static_cast<char *>(malloc(kHeapPreallocSize));
-  memset(heap_data, 1, kHeapPreallocSize);
-  free(heap_data);
+void InitGoogle(int *argc, char ***argv) {
+  FLAGS_logtostderr = true;
+  google::InitGoogleLogging((*argv)[0]);
+  gflags::ParseCommandLineFlags(argc, argv, true);
+  google::InstallFailureSignalHandler();
 }
 
 void InitNRT(bool for_realtime) {
@@ -120,16 +78,6 @@
   GoRT(relative_priority);
 }
 
-void InitRT() {
-  LockAllMemory();
-
-  // Only let rt processes run for 3 seconds straight.
-  SetSoftRLimit(RLIMIT_RTTIME, 3000000, true);
-
-  // Allow rt processes up to priority 40.
-  SetSoftRLimit(RLIMIT_RTPRIO, 40, false);
-}
-
 void GoRT(int relative_priority) {
   if (ShouldBeRealtime()) {
     InitRT();
@@ -155,30 +103,6 @@
   aos_core_free_shared_mem();
 }
 
-void WriteCoreDumps() {
-  // Do create core files of unlimited size.
-  SetSoftRLimit(RLIMIT_CORE, RLIM_INFINITY, true);
-}
-
-void SetCurrentThreadRealtimePriority(int priority) {
-  // Make sure we will only be allowed to run for 3 seconds straight.
-  SetSoftRLimit(RLIMIT_RTTIME, 3000000, true);
-
-  struct sched_param param;
-  param.sched_priority = priority;
-  if (sched_setscheduler(0, SCHED_FIFO, &param) == -1) {
-    AOS_PLOG(FATAL, "sched_setscheduler(0, SCHED_FIFO, %d) failed\n", priority);
-  }
-}
-
-void UnsetCurrentThreadRealtimePriority() {
-  struct sched_param param;
-  param.sched_priority = 0;
-  if (sched_setscheduler(0, SCHED_OTHER, &param) == -1) {
-    AOS_PLOG(FATAL, "sched_setscheduler(0, SCHED_OTHER, 0) failed\n");
-  }
-}
-
 void PinCurrentThreadToCPU(int number) {
   cpu_set_t cpuset;
   CPU_ZERO(&cpuset);
@@ -186,13 +110,4 @@
   AOS_PRCHECK(pthread_setaffinity_np(pthread_self(), sizeof(cpuset), &cpuset));
 }
 
-void SetCurrentThreadName(const ::std::string &name) {
-  if (name.size() > 16) {
-    AOS_LOG(FATAL, "thread name '%s' too long\n", name.c_str());
-  }
-  AOS_LOG(INFO, "this thread is changing to '%s'\n", name.c_str());
-  AOS_PCHECK(prctl(PR_SET_NAME, name.c_str()));
-  logging::internal::ReloadThreadName();
-}
-
 }  // namespace aos
diff --git a/aos/init.h b/aos/init.h
index be99a24..85d5da7 100644
--- a/aos/init.h
+++ b/aos/init.h
@@ -5,6 +5,9 @@
 
 namespace aos {
 
+// Initializes glog and gflags.
+void InitGoogle(int *argc, char ***argv);
+
 // In order to use shared memory, one of the Init* functions must be called in
 // exactly 1 thread per process. It is OK to keep going without calling one of
 // them again after fork(2)ing.
@@ -23,35 +26,12 @@
 // exit gracefully).
 void Cleanup();
 
-// Locks everything into memory and sets the limits.  This plus InitNRT are
-// everything you need to do before SetCurrentThreadRealtimePriority will make
-// your thread RT.  Called as part of ShmEventLoop::Run()
-void InitRT();
-
 // Performs the realtime parts of initialization after InitNRT(true) has been called.
 void GoRT(int relative_priority = 0);
 
-// Sets up this process to write core dump files.
-// This is called by Init*, but it's here for other files that want this
-// behavior without calling Init*.
-void WriteCoreDumps();
-
-// Sets the current thread's realtime priority.
-void SetCurrentThreadRealtimePriority(int priority);
-
-// Sets the current thread back down to non-realtime priority.
-void UnsetCurrentThreadRealtimePriority();
-
 // Pins the current thread to CPU #number.
 void PinCurrentThreadToCPU(int number);
 
-// Sets the name of the current thread.
-// This will displayed by `top -H`, dump_rtprio, and show up in logs.
-// name can have a maximum of 16 characters.
-void SetCurrentThreadName(const ::std::string &name);
-
-void LockAllMemory();
-
 }  // namespace aos
 
 #endif  // AOS_INIT_H_
diff --git a/aos/input/BUILD b/aos/input/BUILD
index 0da8d01..b4ceea6 100644
--- a/aos/input/BUILD
+++ b/aos/input/BUILD
@@ -9,11 +9,10 @@
         "joystick_input.h",
     ],
     deps = [
-        "//aos/events:event-loop",
+        "//aos/events:event_loop",
         "//aos/input:driver_station_data",
         "//aos/logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:robot_state_fbs",
     ],
 )
 
@@ -29,10 +28,11 @@
         "//aos:math",
         "//aos/input:driver_station_data",
         "//aos/logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:robot_state_fbs",
+        "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops/drivetrain:drivetrain_config",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/control_loops/drivetrain:drivetrain_goal_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
     ],
 )
 
@@ -45,7 +45,8 @@
         "driver_station_data.h",
     ],
     deps = [
-        "//aos/robot_state",
+        "//aos/robot_state:joystick_state_fbs",
+        "@com_github_google_glog//:glog",
     ],
 )
 
@@ -54,12 +55,12 @@
     srcs = ["action_joystick_input.cc"],
     hdrs = ["action_joystick_input.h"],
     deps = [
+        ":drivetrain_input",
         "//aos:init",
         "//aos/actions:action_lib",
-        "//aos/input:drivetrain_input",
         "//aos/input:joystick_input",
         "//aos/logging",
-        "//frc971/autonomous:auto_queue",
+        "//frc971/autonomous:auto_fbs",
         "//frc971/autonomous:base_autonomous_actor",
     ],
 )
diff --git a/aos/input/action_joystick_input.cc b/aos/input/action_joystick_input.cc
index 509f4c5..376009b 100644
--- a/aos/input/action_joystick_input.cc
+++ b/aos/input/action_joystick_input.cc
@@ -1,7 +1,7 @@
 #include "aos/input/action_joystick_input.h"
 
 #include "aos/input/driver_station_data.h"
-#include "frc971/autonomous/auto.q.h"
+#include "frc971/autonomous/auto_generated.h"
 #include "frc971/autonomous/base_autonomous_actor.h"
 
 using ::aos::input::driver_station::ControlBit;
@@ -49,8 +49,10 @@
 
 void ActionJoystickInput::StartAuto() {
   AOS_LOG(INFO, "Starting auto mode\n");
-  action_queue_.EnqueueAction(
-      autonomous_action_factory_.Make(GetAutonomousMode()));
+  frc971::autonomous::AutonomousActionParamsT params;
+  params.mode = GetAutonomousMode();
+
+  action_queue_.EnqueueAction(autonomous_action_factory_.Make(params));
   auto_action_running_ = true;
 }
 
diff --git a/aos/input/action_joystick_input.h b/aos/input/action_joystick_input.h
index 3057ace..781e224 100644
--- a/aos/input/action_joystick_input.h
+++ b/aos/input/action_joystick_input.h
@@ -4,7 +4,7 @@
 #include "aos/input/driver_station_data.h"
 #include "aos/input/drivetrain_input.h"
 #include "aos/input/joystick_input.h"
-#include "frc971/autonomous/auto.q.h"
+#include "frc971/autonomous/auto_generated.h"
 #include "frc971/autonomous/base_autonomous_actor.h"
 
 namespace aos {
@@ -99,7 +99,7 @@
       AOS_LOG(WARNING, "no auto mode values\n");
       return 0;
     }
-    return autonomous_mode_fetcher_->mode;
+    return autonomous_mode_fetcher_->mode();
   }
 
   // True if the internal state machine thinks auto is running right now.
diff --git a/aos/input/driver_station_data.cc b/aos/input/driver_station_data.cc
index 8898ca1..9e3bc52 100644
--- a/aos/input/driver_station_data.cc
+++ b/aos/input/driver_station_data.cc
@@ -1,20 +1,39 @@
 #include "aos/input/driver_station_data.h"
 
+#include "glog/logging.h"
+
 namespace aos {
 namespace input {
 namespace driver_station {
 
 Data::Data() : current_values_(), old_values_() {}
 
-void Data::Update(const JoystickState &new_values) {
+void Data::Update(const JoystickState *new_values) {
   old_values_ = current_values_;
-  current_values_ = new_values;
+  CHECK(new_values->has_joysticks());
+  CHECK_EQ(new_values->joysticks()->size(), current_values_.joysticks.size());
+  for (size_t i = 0; i < current_values_.joysticks.size(); ++i) {
+    const Joystick *joystick = new_values->joysticks()->Get(i);
+    current_values_.joysticks[i].buttons =
+        joystick->buttons();
+    current_values_.joysticks[i].pov = joystick->pov();
+    for (size_t j = 0; j < joystick->axis()->size(); ++j) {
+      current_values_.joysticks[i].axis[j] = joystick->axis()->Get(j);
+    }
+
+    current_values_.joysticks[i].pov = joystick->pov();
+  }
+  current_values_.test_mode = new_values->test_mode();
+  current_values_.fms_attached = new_values->fms_attached();
+  current_values_.enabled = new_values->enabled();
+  current_values_.autonomous = new_values->autonomous();
+  current_values_.team_id = new_values->team_id();
+  current_values_.switch_left = new_values->switch_left();
+  current_values_.scale_left = new_values->scale_left();
 }
 
-namespace {
-
-bool GetButton(const ButtonLocation location,
-               const JoystickState &values) {
+bool Data::GetButton(const ButtonLocation location,
+                     const Data::SavedJoystickState &values) {
   if (location.joystick() < 0 ||
       location.joystick() > static_cast<int>(values.joysticks.size())) {
     return false;
@@ -23,15 +42,16 @@
     return false;
   }
   return values.joysticks[location.joystick() - 1].buttons &
-      (1 << (location.number() - 1));
+         (1 << (location.number() - 1));
 }
 
-bool DoGetPOV(const POVLocation location, const JoystickState &values) {
+bool Data::DoGetPOV(const POVLocation location,
+                    const Data::SavedJoystickState &values) {
   return values.joysticks[location.joystick() - 1].pov == location.number();
 }
 
-bool GetControlBitValue(const ControlBit bit,
-                        const JoystickState &values) {
+bool Data::GetControlBitValue(const ControlBit bit,
+                              const Data::SavedJoystickState &values) {
   switch (bit) {
     case ControlBit::kTestMode:
       return values.test_mode;
@@ -46,8 +66,6 @@
   }
 }
 
-}  // namespace
-
 bool Data::IsPressed(const ButtonLocation location) const {
   return GetButton(location, current_values_);
 }
diff --git a/aos/input/driver_station_data.h b/aos/input/driver_station_data.h
index 6a52248..18eb579 100644
--- a/aos/input/driver_station_data.h
+++ b/aos/input/driver_station_data.h
@@ -4,9 +4,10 @@
 // This file defines several types to support nicely looking at the data
 // received from the driver's station.
 
+#include <array>
 #include <memory>
 
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/robot_state/joystick_state_generated.h"
 
 namespace aos {
 namespace input {
@@ -20,8 +21,7 @@
       : joystick_(joystick), number_(number) {}
 
   // How many joysticks there are.
-  static const int kJoysticks = sizeof(JoystickState::joysticks) /
-                                sizeof(JoystickState::joysticks[0]);
+  static const int kJoysticks = 6;
 
   // Which joystick number this is (1-based).
   int joystick() const { return joystick_; }
@@ -68,8 +68,7 @@
       : JoystickFeature(joystick, number) {}
 
   // How many axes there are available on each joystick.
-  static const int kAxes = sizeof(Joystick::axis) /
-                           sizeof(Joystick::axis[0]);
+  static const int kAxes = 6;
 };
 
 class Data {
@@ -79,7 +78,7 @@
   Data();
 
   // Updates the current information with a new set of values.
-  void Update(const JoystickState &new_values);
+  void Update(const JoystickState *new_values);
 
   bool IsPressed(POVLocation location) const;
   bool PosEdge(POVLocation location) const;
@@ -101,7 +100,34 @@
   float GetAxis(JoystickAxis axis) const;
 
  private:
-  JoystickState current_values_, old_values_;
+  struct SavedJoystickState {
+    struct SavedJoystick {
+      uint16_t buttons = 0;
+      std::array<double, JoystickAxis::kAxes> axis;
+      int pov = 0;
+    };
+
+    std::array<SavedJoystick, JoystickFeature::kJoysticks> joysticks;
+    bool test_mode = false;
+    bool fms_attached = false;
+    bool enabled = false;
+    bool autonomous = false;
+    uint16_t team_id = 0;
+
+    // 2018 scale and switch positions.
+    bool switch_left = false;
+    bool scale_left = false;
+  };
+
+  static bool GetButton(const ButtonLocation location,
+                        const Data::SavedJoystickState &values);
+  static bool DoGetPOV(const POVLocation location,
+                       const Data::SavedJoystickState &values);
+
+  static bool GetControlBitValue(const ControlBit bit,
+                                 const Data::SavedJoystickState &values);
+
+  SavedJoystickState current_values_, old_values_;
 };
 
 }  // namespace driver_station
diff --git a/aos/input/drivetrain_input.cc b/aos/input/drivetrain_input.cc
index a0bbf2c..687c8bb 100644
--- a/aos/input/drivetrain_input.cc
+++ b/aos/input/drivetrain_input.cc
@@ -8,13 +8,17 @@
 #include "aos/commonmath.h"
 #include "aos/input/driver_station_data.h"
 #include "aos/logging/logging.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 
 using ::aos::input::driver_station::ButtonLocation;
 using ::aos::input::driver_station::ControlBit;
 using ::aos::input::driver_station::JoystickAxis;
 using ::aos::input::driver_station::POVLocation;
 
+namespace drivetrain = frc971::control_loops::drivetrain;
+
 namespace aos {
 namespace input {
 
@@ -33,7 +37,7 @@
 
   drivetrain_status_fetcher_.Fetch();
   if (drivetrain_status_fetcher_.get()) {
-    robot_velocity_ = drivetrain_status_fetcher_->robot_speed;
+    robot_velocity_ = drivetrain_status_fetcher_->robot_speed();
   }
 
   // If we have a vision align function, and it is in control, don't run the
@@ -71,9 +75,9 @@
 
   if (drivetrain_status_fetcher_.get()) {
     if (is_control_loop_driving && !last_is_control_loop_driving_) {
-      left_goal_ = drivetrain_status_fetcher_->estimated_left_position +
+      left_goal_ = drivetrain_status_fetcher_->estimated_left_position() +
                    wheel * wheel_multiplier_;
-      right_goal_ = drivetrain_status_fetcher_->estimated_right_position -
+      right_goal_ = drivetrain_status_fetcher_->estimated_right_position() -
                     wheel * wheel_multiplier_;
     }
   }
@@ -82,24 +86,36 @@
       left_goal_ - wheel * wheel_multiplier_ + throttle * 0.3;
   const double current_right_goal =
       right_goal_ + wheel * wheel_multiplier_ + throttle * 0.3;
-  auto new_drivetrain_goal = drivetrain_goal_sender_.MakeMessage();
-  new_drivetrain_goal->wheel = wheel;
-  new_drivetrain_goal->wheel_velocity = wheel_velocity;
-  new_drivetrain_goal->wheel_torque = wheel_torque;
-  new_drivetrain_goal->throttle = throttle;
-  new_drivetrain_goal->throttle_velocity = throttle_velocity;
-  new_drivetrain_goal->throttle_torque = throttle_torque;
-  new_drivetrain_goal->highgear = high_gear;
-  new_drivetrain_goal->quickturn = data.IsPressed(quick_turn_);
-  new_drivetrain_goal->controller_type =
-      is_line_following ? 3 : (is_control_loop_driving ? 1 : 0);
-  new_drivetrain_goal->left_goal = current_left_goal;
-  new_drivetrain_goal->right_goal = current_right_goal;
+  auto builder = drivetrain_goal_sender_.MakeBuilder();
 
-  new_drivetrain_goal->linear.max_velocity = 3.0;
-  new_drivetrain_goal->linear.max_acceleration = 20.0;
+  frc971::ProfileParameters::Builder linear_builder =
+      builder.MakeBuilder<frc971::ProfileParameters>();
 
-  if (!new_drivetrain_goal.Send()) {
+  linear_builder.add_max_velocity(3.0);
+  linear_builder.add_max_acceleration(20.0);
+
+  flatbuffers::Offset<frc971::ProfileParameters> linear_offset =
+      linear_builder.Finish();
+
+  auto goal_builder = builder.MakeBuilder<drivetrain::Goal>();
+  goal_builder.add_wheel(wheel);
+  goal_builder.add_wheel_velocity(wheel_velocity);
+  goal_builder.add_wheel_torque(wheel_torque);
+  goal_builder.add_throttle(throttle);
+  goal_builder.add_throttle_velocity(throttle_velocity);
+  goal_builder.add_throttle_torque(throttle_torque);
+  goal_builder.add_highgear(high_gear);
+  goal_builder.add_quickturn(data.IsPressed(quick_turn_));
+  goal_builder.add_controller_type(
+      is_line_following
+          ? drivetrain::ControllerType_LINE_FOLLOWER
+          : (is_control_loop_driving ? drivetrain::ControllerType_MOTION_PROFILE
+                                     : drivetrain::ControllerType_POLYDRIVE));
+  goal_builder.add_left_goal(current_left_goal);
+  goal_builder.add_right_goal(current_right_goal);
+  goal_builder.add_linear(linear_offset);
+
+  if (!builder.Send(goal_builder.Finish())) {
     AOS_LOG(WARNING, "sending stick values failed\n");
   }
 
@@ -304,8 +320,7 @@
 }
 ::std::unique_ptr<DrivetrainInputReader> DrivetrainInputReader::Make(
     ::aos::EventLoop *event_loop, InputType type,
-    const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>
-        &dt_config) {
+    const drivetrain::DrivetrainConfig<double> &dt_config) {
   std::unique_ptr<DrivetrainInputReader> drivetrain_input_reader;
 
   using InputType = DrivetrainInputReader::InputType;
diff --git a/aos/input/drivetrain_input.h b/aos/input/drivetrain_input.h
index 26dfe95..0c43d99 100644
--- a/aos/input/drivetrain_input.h
+++ b/aos/input/drivetrain_input.h
@@ -9,8 +9,10 @@
 
 #include "aos/input/driver_station_data.h"
 #include "aos/logging/logging.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 
 namespace aos {
 namespace input {
@@ -60,12 +62,11 @@
         turn2_use_(turn2_use),
         drivetrain_status_fetcher_(
             event_loop
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Status>(
-                    ".frc971.control_loops.drivetrain_queue.status")),
+                ->MakeFetcher<::frc971::control_loops::drivetrain::Status>(
+                    "/drivetrain")),
         drivetrain_goal_sender_(
-            event_loop
-                ->MakeSender<::frc971::control_loops::DrivetrainQueue::Goal>(
-                    ".frc971.control_loops.drivetrain_queue.goal")) {}
+            event_loop->MakeSender<::frc971::control_loops::drivetrain::Goal>(
+                "/drivetrain")) {}
 
   virtual ~DrivetrainInputReader() = default;
 
@@ -130,9 +131,9 @@
   virtual WheelAndThrottle GetWheelAndThrottle(
       const ::aos::input::driver_station::Data &data) = 0;
 
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Status>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Status>
       drivetrain_status_fetcher_;
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Goal>
+  ::aos::Sender<::frc971::control_loops::drivetrain::Goal>
       drivetrain_goal_sender_;
 
   double robot_velocity_ = 0.0;
diff --git a/aos/input/joystick_input.cc b/aos/input/joystick_input.cc
index d1bd302..743e138 100644
--- a/aos/input/joystick_input.cc
+++ b/aos/input/joystick_input.cc
@@ -3,18 +3,17 @@
 #include <string.h>
 #include <atomic>
 
-#include "aos/robot_state/robot_state.q.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
+#include "aos/robot_state/robot_state_generated.h"
 
 namespace aos {
 namespace input {
 
-void JoystickInput::HandleData(const ::aos::JoystickState &joystick_state) {
+void JoystickInput::HandleData(const ::aos::JoystickState *joystick_state) {
   data_.Update(joystick_state);
 
-  mode_ = static_cast<int>(joystick_state.switch_left) |
-          (static_cast<int>(joystick_state.scale_left) << 1);
+  mode_ = static_cast<int>(joystick_state->switch_left()) |
+          (static_cast<int>(joystick_state->scale_left()) << 1);
 
   {
     using driver_station::JoystickFeature;
diff --git a/aos/input/joystick_input.h b/aos/input/joystick_input.h
index ed72e78..5e8bf5a 100644
--- a/aos/input/joystick_input.h
+++ b/aos/input/joystick_input.h
@@ -3,7 +3,7 @@
 
 #include <atomic>
 
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
 #include "aos/input/driver_station_data.h"
 
 namespace aos {
@@ -21,7 +21,7 @@
     event_loop_->MakeWatcher(
         ".aos.joystick_state",
         [this](const ::aos::JoystickState &joystick_state) {
-          this->HandleData(joystick_state);
+          this->HandleData(&joystick_state);
         });
     event_loop->SetRuntimeRealtimePriority(29);
   }
@@ -30,7 +30,7 @@
   int mode() const { return mode_; }
 
  private:
-  void HandleData(const ::aos::JoystickState &joystick_state);
+  void HandleData(const ::aos::JoystickState *joystick_state);
 
   // Subclasses should do whatever they want with data here.
   virtual void RunIteration(const driver_station::Data &data) = 0;
@@ -41,12 +41,6 @@
   int mode_;
 };
 
-// Class which will proxy joystick information from UDP packets to the queues.
-class JoystickProxy {
- public:
-  void Run();
-};
-
 }  // namespace input
 }  // namespace aos
 
diff --git a/aos/ipc_lib/BUILD b/aos/ipc_lib/BUILD
index 684620a..908cb80 100644
--- a/aos/ipc_lib/BUILD
+++ b/aos/ipc_lib/BUILD
@@ -1,5 +1,3 @@
-package(default_visibility = ["//visibility:public"])
-
 cc_library(
     name = "aos_sync",
     srcs = [
@@ -11,11 +9,12 @@
     linkopts = [
         "-lpthread",
     ],
+    visibility = ["//visibility:public"],
     deps = [
         "//aos:macros",
-        "@com_google_absl//absl/base",
-        "//aos/logging",
         "//aos/util:compiler_memory_barrier",
+        "@com_github_google_glog//:glog",
+        "@com_google_absl//absl/base",
     ],
 )
 
@@ -27,6 +26,7 @@
     hdrs = [
         "core_lib.h",
     ],
+    visibility = ["//visibility:public"],
     deps = [
         ":aos_sync",
         ":shared_mem_types",
@@ -36,7 +36,7 @@
 cc_library(
     name = "shared_mem",
     srcs = [
-        "shared_mem.c",
+        "shared_mem.cc",
     ],
     hdrs = [
         "shared_mem.h",
@@ -44,11 +44,12 @@
     linkopts = [
         "-lrt",
     ],
+    visibility = ["//visibility:public"],
     deps = [
         ":aos_sync",
         ":core_lib",
         ":shared_mem_types",
-        "//aos/logging",
+        "@com_github_google_glog//:glog",
     ],
 )
 
@@ -75,11 +76,11 @@
     linkopts = [
         "-lrt",
     ],
+    visibility = ["//visibility:public"],
     deps = [
         ":core_lib",
         ":shared_mem",
         "//aos:condition",
-        "//aos/logging",
         "//aos/mutex",
         "//aos/util:options",
     ],
@@ -157,8 +158,9 @@
     hdrs = [
         "signalfd.h",
     ],
+    visibility = ["//visibility:public"],
     deps = [
-        "//aos/logging",
+        "@com_github_google_glog//:glog",
     ],
 )
 
@@ -166,6 +168,7 @@
     name = "index",
     srcs = ["index.cc"],
     hdrs = ["index.h"],
+    visibility = ["//visibility:public"],
 )
 
 cc_test(
@@ -174,7 +177,7 @@
     deps = [
         ":index",
         "//aos/testing:googletest",
-        "//aos/testing:test_logging",
+        "@com_github_google_glog//:glog",
     ],
 )
 
@@ -185,11 +188,11 @@
         "lockless_queue_memory.h",
     ],
     hdrs = ["lockless_queue.h"],
+    visibility = ["//visibility:public"],
     deps = [
         ":aos_sync",
         ":index",
-        "//aos:init",
-        "//aos/logging",
+        "//aos:realtime",
         "//aos/time",
         "//aos/util:compiler_memory_barrier",
         "@com_github_google_glog//:glog",
@@ -208,7 +211,7 @@
     deps = [
         ":lockless_queue",
         "//aos:event",
-        "//third_party/googletest:gtest",
+        "//aos/testing:googletest",
     ],
 )
 
@@ -225,7 +228,6 @@
         "//aos/libc:aos_strsignal",
         "//aos/testing:googletest",
         "//aos/testing:prevent_exit",
-        "//aos/testing:test_logging",
     ],
 )
 
diff --git a/aos/ipc_lib/aos_sync.cc b/aos/ipc_lib/aos_sync.cc
index 3bdba21..efb1fb1 100644
--- a/aos/ipc_lib/aos_sync.cc
+++ b/aos/ipc_lib/aos_sync.cc
@@ -26,10 +26,10 @@
 #include <algorithm>
 #include <type_traits>
 
-#include "aos/logging/logging.h"
+#include "absl/base/call_once.h"
 #include "aos/macros.h"
 #include "aos/util/compiler_memory_barrier.h"
-#include "absl/base/call_once.h"
+#include "glog/logging.h"
 
 using ::aos::linux_code::ipc_lib::FutexAccessorObserver;
 
@@ -354,16 +354,16 @@
   return r;
 }
 
-// This gets called by functions before AOS_LOG(FATAL)ing with error messages
+// This gets called by functions before LOG(FATAL)ing with error messages
 // that would be incorrect if the error was caused by a process forking without
 // initialize_in_new_thread getting called in the fork.
 void check_cached_tid(pid_t tid) {
   pid_t actual = do_get_tid();
   if (tid != actual) {
-    AOS_LOG(FATAL,
-            "task %jd forked into %jd without letting aos_sync know"
-            " so we're not really sure what's going on\n",
-            static_cast<intmax_t>(tid), static_cast<intmax_t>(actual));
+    LOG(FATAL) << "task " << static_cast<intmax_t>(tid) << " forked into "
+               << static_cast<intmax_t>(actual)
+               << " without letting aos_sync know so we're not really sure "
+                  "what's going on";
   }
 }
 
@@ -378,9 +378,9 @@
 }
 
 void InstallAtforkHook() {
-  if (pthread_atfork(NULL, NULL, atfork_child) != 0) {
-    AOS_PLOG(FATAL, "pthread_atfork(NULL, NULL, %p) failed", atfork_child);
-  }
+  PCHECK(pthread_atfork(NULL, NULL, &atfork_child) == 0)
+      << ": pthread_atfork(NULL, NULL, "
+      << reinterpret_cast<void *>(&atfork_child) << ") failed";
 }
 
 // This gets called to set everything up in a new thread by get_tid().
@@ -472,11 +472,10 @@
   robust_head.futex_offset = static_cast<ssize_t>(offsetof(aos_mutex, futex)) -
                              static_cast<ssize_t>(offsetof(aos_mutex, next));
   robust_head.pending_next = 0;
-  if (syscall(SYS_set_robust_list, robust_head_next_value(), sizeof(robust_head)) !=
-      0) {
-    AOS_PLOG(FATAL, "set_robust_list(%p, %zd) failed",
-             reinterpret_cast<void *>(robust_head.next), sizeof(robust_head));
-  }
+  PCHECK(syscall(SYS_set_robust_list, robust_head_next_value(),
+                 sizeof(robust_head)) == 0)
+      << ": set_robust_list(" << reinterpret_cast<void *>(robust_head.next)
+      << ", " << sizeof(robust_head) << ") failed";
   if (kRobustListDebug) {
     printf("%" PRId32 ": init done\n", get_tid());
   }
@@ -675,12 +674,12 @@
           }
         }
         my_robust_list::robust_head.pending_next = 0;
-        if (ret == -EDEADLK) {
-          AOS_LOG(FATAL, "multiple lock of %p by %" PRId32 "\n", m, tid);
-        }
-        AOS_PELOG(FATAL, -ret, "FUTEX_LOCK_PI(%p(=%" PRIu32 "), 1, %p) failed",
-                  &m->futex, __atomic_load_n(&m->futex, __ATOMIC_SEQ_CST),
-                  timeout);
+        CHECK_NE(ret, -EDEADLK) << ": multiple lock of " << m << " by " << tid;
+
+        errno = -ret;
+        PLOG(FATAL) << "FUTEX_LOCK_PI(" << &m->futex
+                    << "(=" << __atomic_load_n(&m->futex, __ATOMIC_SEQ_CST)
+                    << "), 1, " << timeout << ") failed";
       } else {
         if (kLockDebug) {
           printf("%" PRId32 ": %p kernel lock done\n", tid, m);
@@ -746,8 +745,9 @@
         continue;
       }
       my_robust_list::robust_head.pending_next = 0;
-      AOS_PELOG(FATAL, -ret, "FUTEX_CMP_REQUEUE_PI(%p, 1, %d, %p, *%p) failed",
-                c, number_requeue, &m->futex, c);
+      errno = -ret;
+      PLOG(FATAL) << "FUTEX_CMP_REQUEUE_PI(" << c << ", 1, " << number_requeue
+                  << ", " << &m->futex << ", *" << c << ") failed";
     } else {
       return;
     }
@@ -778,11 +778,10 @@
     my_robust_list::robust_head.pending_next = 0;
     check_cached_tid(tid);
     if ((value & FUTEX_TID_MASK) == 0) {
-      AOS_LOG(FATAL, "multiple unlock of aos_mutex %p by %" PRId32 "\n", m,
-              tid);
+      LOG(FATAL) << "multiple unlock of aos_mutex " << m << " by " << tid;
     } else {
-      AOS_LOG(FATAL, "aos_mutex %p is locked by %" PRId32 ", not %" PRId32 "\n",
-              m, value & FUTEX_TID_MASK, tid);
+      LOG(FATAL) << "aos_mutex " << m << " is locked by "
+                 << (value & FUTEX_TID_MASK) << ", not " << tid;
     }
   }
 
@@ -795,7 +794,8 @@
     const int ret = sys_futex_unlock_pi(&m->futex);
     if (ret != 0) {
       my_robust_list::robust_head.pending_next = 0;
-      AOS_PELOG(FATAL, -ret, "FUTEX_UNLOCK_PI(%p) failed", &m->futex);
+      errno = -ret;
+      PLOG(FATAL) << "FUTEX_UNLOCK_PI(" << (&m->futex) << ") failed";
     }
   } else {
     // There aren't any waiters, so no need to call into the kernel.
@@ -832,8 +832,9 @@
           return 4;
         }
         my_robust_list::robust_head.pending_next = 0;
-        AOS_PELOG(FATAL, -ret, "FUTEX_TRYLOCK_PI(%p, 0, NULL) failed",
-                  &m->futex);
+        errno = -ret;
+        PLOG(FATAL) << "FUTEX_TRYLOCK_PI(" << (&m->futex)
+                    << ", 0, NULL) failed";
       }
     }
   }
@@ -898,9 +899,9 @@
         continue;
       }
       my_robust_list::robust_head.pending_next = 0;
-      AOS_PELOG(FATAL, -ret,
-                "FUTEX_WAIT_REQUEUE_PI(%p, %" PRIu32 ", %p) failed", c,
-                wait_start, &m->futex);
+      errno = -ret;
+      PLOG(FATAL) << "FUTEX_WAIT_REQUEUE_PI(" << c << ", " << wait_start << ", "
+                  << (&m->futex) << ") failed";
     } else {
       // Record that the kernel relocked it for us.
       lock_pthread_mutex(m);
diff --git a/aos/ipc_lib/index_test.cc b/aos/ipc_lib/index_test.cc
index 689ed24..2e9a37b 100644
--- a/aos/ipc_lib/index_test.cc
+++ b/aos/ipc_lib/index_test.cc
@@ -1,7 +1,7 @@
 #include "aos/ipc_lib/index.h"
 
-#include "aos/testing/test_logging.h"
 #include "gtest/gtest.h"
+#include "glog/logging.h"
 
 namespace aos {
 namespace ipc_lib {
@@ -10,7 +10,8 @@
 class QueueIndexTest : public ::testing::Test {
  protected:
   uint32_t GetIndex(const QueueIndex &index) {
-    printf("Index, count: %x, %x\n", index.index_, index.count_);
+    LOG(INFO) << "Index, count: " << std::hex << index.index_ << ", "
+              << index.count_;
     return index.index();
   }
 
diff --git a/aos/ipc_lib/ipc_comparison.cc b/aos/ipc_lib/ipc_comparison.cc
index 5ea1c8b..1553159 100644
--- a/aos/ipc_lib/ipc_comparison.cc
+++ b/aos/ipc_lib/ipc_comparison.cc
@@ -28,6 +28,7 @@
 #include "aos/logging/implementations.h"
 #include "aos/logging/logging.h"
 #include "aos/mutex/mutex.h"
+#include "aos/realtime.h"
 #include "aos/time/time.h"
 
 DEFINE_string(method, "", "Which IPC method to use");
diff --git a/aos/ipc_lib/lockless_queue.cc b/aos/ipc_lib/lockless_queue.cc
index cd0e2ae..c2b0254 100644
--- a/aos/ipc_lib/lockless_queue.cc
+++ b/aos/ipc_lib/lockless_queue.cc
@@ -9,9 +9,8 @@
 #include <iostream>
 #include <sstream>
 
-#include "aos/init.h"
 #include "aos/ipc_lib/lockless_queue_memory.h"
-#include "aos/logging/logging.h"
+#include "aos/realtime.h"
 #include "aos/util/compiler_memory_barrier.h"
 #include "glog/logging.h"
 
@@ -20,8 +19,6 @@
 
 namespace {
 
-constexpr bool kDebug = false;
-
 void GrabQueueSetupLockOrDie(LocklessQueueMemory *memory) {
   const int result = mutex_grab(&(memory->queue_setup_lock));
   CHECK(result == 0 || result == 1);
@@ -59,9 +56,7 @@
     const uint32_t tid =
         __atomic_load_n(&(sender->tid.futex), __ATOMIC_RELAXED);
     if (tid & FUTEX_OWNER_DIED) {
-      if (kDebug) {
-        printf("Found an easy death for sender %zu\n", i);
-      }
+      VLOG(3) << "Found an easy death for sender " << i;
       const Index to_replace = sender->to_replace.RelaxedLoad();
       const Index scratch_index = sender->scratch_index.Load();
 
@@ -119,9 +114,7 @@
     return;
   }
 
-  if (kDebug) {
-    printf("Starting hard cleanup\n");
-  }
+  VLOG(3) << "Starting hard cleanup";
 
   size_t num_accounted_for = 0;
   size_t num_missing = 0;
@@ -166,9 +159,8 @@
         // Candidate.
         CHECK_LE(to_replace.message_index(), accounted_for.size());
         if (accounted_for[to_replace.message_index()]) {
-          if (kDebug) {
-            printf("Sender %zu died, to_replace is already accounted for\n", i);
-          }
+          VLOG(3) << "Sender " << i
+                  << " died, to_replace is already accounted for";
           // If both are accounted for, we are corrupt...
           CHECK(!accounted_for[scratch_index.message_index()]);
 
@@ -185,9 +177,8 @@
           --num_missing;
           ++num_accounted_for;
         } else if (accounted_for[scratch_index.message_index()]) {
-          if (kDebug) {
-            printf("Sender %zu died, scratch_index is already accounted for\n", i);
-          }
+          VLOG(3) << "Sender " << i
+                  << " died, scratch_index is already accounted for";
           // scratch_index is accounted for.  That means we did the insert,
           // but didn't record it.
           CHECK(to_replace.valid());
@@ -204,9 +195,7 @@
           --num_missing;
           ++num_accounted_for;
         } else {
-          if (kDebug) {
-            printf("Sender %zu died, neither is accounted for\n", i);
-          }
+          VLOG(3) << "Sender " << i << " died, neither is accounted for";
           // Ambiguous.  There will be an unambiguous one somewhere that we
           // can do first.
         }
@@ -406,7 +395,8 @@
   // creating a pidfd is likely not RT.
   for (size_t i = 0; i < num_watchers; ++i) {
     Watcher *w = memory_->GetWatcher(i);
-    // Start by reading the tid.  This needs to be atomic to force it to come first.
+    // Start by reading the tid.  This needs to be atomic to force it to come
+    // first.
     watcher_copy_[i].tid = __atomic_load_n(&(w->tid.futex), __ATOMIC_SEQ_CST);
     watcher_copy_[i].pid = w->pid;
     watcher_copy_[i].priority = w->priority;
@@ -521,18 +511,32 @@
   return index;
 }
 
+size_t LocklessQueue::Sender::size() { return memory_->message_data_size(); }
+
+void *LocklessQueue::Sender::Data() {
+  ::aos::ipc_lib::Sender *sender = memory_->GetSender(sender_index_);
+  Index scratch_index = sender->scratch_index.RelaxedLoad();
+  Message *message = memory_->GetMessage(scratch_index);
+  message->header.queue_index.Invalidate();
+
+  return &message->data[0];
+}
+
 void LocklessQueue::Sender::Send(const char *data, size_t length) {
+  CHECK_LE(length, size());
+  memcpy(Data(), data, length);
+  Send(length);
+}
+
+void LocklessQueue::Sender::Send(size_t length) {
   const size_t queue_size = memory_->queue_size();
-  CHECK_LE(length, memory_->message_data_size());
+  CHECK_LE(length, size());
 
   ::aos::ipc_lib::Sender *sender = memory_->GetSender(sender_index_);
   Index scratch_index = sender->scratch_index.RelaxedLoad();
   Message *message = memory_->GetMessage(scratch_index);
 
-  message->header.queue_index.Invalidate();
-
   message->header.length = length;
-  memcpy(&message->data[0], data, length);
 
   while (true) {
     const QueueIndex actual_next_queue_index =
@@ -564,10 +568,8 @@
       memory_->next_queue_index.CompareAndExchangeStrong(
           actual_next_queue_index, incremented_queue_index);
 
-      if (kDebug) {
-        printf("We were beat.  Try again.  Was %x, is %x\n", to_replace.get(),
-               decremented_queue_index.index());
-      }
+      VLOG(3) << "We were beat.  Try again.  Was " << std::hex
+              << to_replace.get() << ", is " << decremented_queue_index.index();
       continue;
     }
 
@@ -581,12 +583,10 @@
               ->header.queue_index.RelaxedLoad(queue_size);
       if (previous_index != decremented_queue_index && previous_index.valid()) {
         // Retry.
-        if (kDebug) {
-          printf(
-              "Something fishy happened, queue index doesn't match.  Retrying. "
-              " Previous index was %x, should be %x\n",
-              previous_index.index(), decremented_queue_index.index());
-        }
+        VLOG(3) << "Something fishy happened, queue index doesn't match.  "
+                   "Retrying.  Previous index was "
+                << std::hex << previous_index.index() << ", should be "
+                << decremented_queue_index.index();
         continue;
       }
     }
@@ -597,8 +597,7 @@
     // Before we are fully done filling out the message, update the Sender state
     // with the new index to write.  This re-uses the barrier for the
     // queue_index store.
-    const Index index_to_write(next_queue_index,
-                               scratch_index.message_index());
+    const Index index_to_write(next_queue_index, scratch_index.message_index());
 
     sender->scratch_index.RelaxedStore(index_to_write);
 
@@ -616,9 +615,7 @@
              ->CompareAndExchangeStrong(to_replace, index_to_write)) {
       // Aw, didn't succeed.  Retry.
       sender->to_replace.RelaxedInvalidate();
-      if (kDebug) {
-        printf("Failed to wrap into queue\n");
-      }
+      VLOG(3) << "Failed to wrap into queue";
       continue;
     }
 
@@ -661,10 +658,8 @@
     if (starting_queue_index != queue_index) {
       // If we found a message that is exactly 1 loop old, we just wrapped.
       if (starting_queue_index == queue_index.DecrementBy(queue_size)) {
-        if (kDebug) {
-          printf("Matches: %x, %x\n", starting_queue_index.index(),
-                 queue_index.DecrementBy(queue_size).index());
-        }
+        VLOG(3) << "Matches: " << std::hex << starting_queue_index.index()
+                << ", " << queue_index.DecrementBy(queue_size).index();
         return ReadResult::NOTHING_NEW;
       } else {
         // Someone has re-used this message between when we pulled it out of the
@@ -673,9 +668,7 @@
         Message *new_m = memory_->GetMessage(queue_index);
         if (m != new_m) {
           m = new_m;
-          if (kDebug) {
-            printf("Retrying, m doesn't match\n");
-          }
+          VLOG(3) << "Retrying, m doesn't match";
           continue;
         }
 
@@ -686,17 +679,14 @@
         // Either we got too far behind (signaled by this being a valid
         // message), or this is one of the initial messages which are invalid.
         if (starting_queue_index.valid()) {
-          if (kDebug) {
-            printf("Too old.  Tried for %x, got %x, behind by %d\n",
-                   queue_index.index(), starting_queue_index.index(),
-                   starting_queue_index.index() - queue_index.index());
-          }
+          VLOG(3) << "Too old.  Tried for " << std::hex << queue_index.index()
+                  << ", got " << starting_queue_index.index() << ", behind by "
+                  << std::dec
+                  << (starting_queue_index.index() - queue_index.index());
           return ReadResult::TOO_OLD;
         }
 
-        if (kDebug) {
-          printf("Initial\n");
-        }
+        VLOG(3) << "Initial";
 
         // There isn't a valid message at this location.
         //
@@ -705,28 +695,24 @@
         // asking for something crazy, like something before the beginning of
         // the queue.  Tell them that they are behind.
         if (uint32_queue_index < memory_->queue_size()) {
-          if (kDebug) {
-            printf("Near zero, %x\n", uint32_queue_index);
-          }
+          VLOG(3) << "Near zero, " << std::hex << uint32_queue_index;
           return ReadResult::NOTHING_NEW;
         } else {
-          if (kDebug) {
-            printf("not near zero, %x\n", uint32_queue_index);
-          }
+          VLOG(3) << "not near zero, " << std::hex << uint32_queue_index;
           return ReadResult::TOO_OLD;
         }
       }
     }
-    if (kDebug) {
-      printf("Eq: %x, %x\n", starting_queue_index.index(), queue_index.index());
-    }
+    VLOG(3) << "Eq: " << std::hex << starting_queue_index.index() << ", "
+            << queue_index.index();
     break;
   }
 
-  // Then read the data out.
+  // Then read the data out.  Copy it all out to be deterministic and so we can
+  // make length be from either end.
   *monotonic_sent_time = m->header.monotonic_sent_time;
   *realtime_sent_time = m->header.realtime_sent_time;
-  memcpy(data, &m->data[0], m->header.length);
+  memcpy(data, &m->data[0], message_data_size());
   *length = m->header.length;
 
   // And finally, confirm that the message *still* points to the queue index we
@@ -735,20 +721,22 @@
   // it's lifetime.
   const QueueIndex final_queue_index = m->header.queue_index.Load(queue_size);
   if (final_queue_index != queue_index) {
-    if (kDebug) {
-      printf(
-          "Changed out from under us.  Reading %x, finished with %x, delta: "
-          "%d\n",
-          queue_index.index(), final_queue_index.index(),
-          final_queue_index.index() - queue_index.index());
-    }
-    return ReadResult::TOO_OLD;
+    VLOG(3) << "Changed out from under us.  Reading " << std::hex
+            << queue_index.index() << ", finished with "
+            << final_queue_index.index() << ", delta: " << std::dec
+            << (final_queue_index.index() - queue_index.index());
+    return ReadResult::OVERWROTE;
   }
 
   return ReadResult::GOOD;
 }
 
-uint32_t LocklessQueue::LatestQueueIndex() {
+size_t LocklessQueue::queue_size() const { return memory_->queue_size(); }
+size_t LocklessQueue::message_data_size() const {
+  return memory_->message_data_size();
+}
+
+QueueIndex LocklessQueue::LatestQueueIndex() {
   const size_t queue_size = memory_->queue_size();
 
   // There is only one interesting case.  We need to know if the queue is empty.
@@ -757,7 +745,7 @@
       memory_->next_queue_index.Load(queue_size);
   if (next_queue_index.valid()) {
     const QueueIndex current_queue_index = next_queue_index.DecrementBy(1u);
-    return current_queue_index.index();
+    return current_queue_index;
   } else {
     return empty_queue_index();
   }
@@ -845,7 +833,8 @@
   }
   ::std::cout << "  }" << ::std::endl;
 
-  ::std::cout << "  Sender senders[" << memory->num_senders() << "] {" << ::std::endl;
+  ::std::cout << "  Sender senders[" << memory->num_senders() << "] {"
+              << ::std::endl;
   for (size_t i = 0; i < memory->num_senders(); ++i) {
     Sender *s = memory->GetSender(i);
     ::std::cout << "    [" << i << "] -> Sender {" << ::std::endl;
diff --git a/aos/ipc_lib/lockless_queue.h b/aos/ipc_lib/lockless_queue.h
index dafc157..fcc5d79 100644
--- a/aos/ipc_lib/lockless_queue.h
+++ b/aos/ipc_lib/lockless_queue.h
@@ -106,7 +106,7 @@
 // Prints to stdout the data inside the queue for debugging.
 void PrintLocklessQueueMemory(LocklessQueueMemory *memory);
 
-const static int kWakeupSignal = SIGRTMIN + 2;
+const static unsigned int kWakeupSignal = SIGRTMIN + 2;
 
 // Class to manage sending and receiving data in the lockless queue.  This is
 // separate from the actual memory backing the queue so that memory can be
@@ -122,6 +122,8 @@
   // Returns the number of messages in the queue.
   size_t QueueSize() const;
 
+  size_t message_data_size() const;
+
   // Registers this thread to receive the kWakeupSignal signal when Wakeup is
   // called. Returns false if there was an error in registration.
   bool RegisterWakeup(int priority);
@@ -137,8 +139,9 @@
   // If you ask for a queue index 2 past the newest, you will still get
   // NOTHING_NEW until that gets overwritten with new data.  If you ask for an
   // element newer than QueueSize() from the current message, we consider it
-  // behind by a large amount and return TOO_OLD.
-  enum class ReadResult { TOO_OLD, GOOD, NOTHING_NEW };
+  // behind by a large amount and return TOO_OLD.  If the message is modified
+  // out from underneath us as we read it, return OVERWROTE.
+  enum class ReadResult { TOO_OLD, GOOD, NOTHING_NEW, OVERWROTE };
   ReadResult Read(uint32_t queue_index,
                   ::aos::monotonic_clock::time_point *monotonic_sent_time,
                   ::aos::realtime_clock::time_point *realtime_sent_time,
@@ -147,8 +150,12 @@
   // Returns the index to the latest queue message.  Returns empty_queue_index()
   // if there are no messages in the queue.  Do note that this index wraps if
   // more than 2^32 messages are sent.
-  uint32_t LatestQueueIndex();
-  static constexpr uint32_t empty_queue_index() { return 0xffffffff; }
+  QueueIndex LatestQueueIndex();
+  static QueueIndex empty_queue_index() { return QueueIndex::Invalid(); }
+
+  // Returns the size of the queue.  This is mostly useful for manipulating
+  // QueueIndex.
+  size_t queue_size() const;
 
   // TODO(austin): Return the oldest queue index.  This lets us catch up nicely
   // if we got behind.
@@ -181,6 +188,14 @@
 
     ~Sender();
 
+    // Sends a message without copying the data.
+    // Copy at most size() bytes of data into the memory pointed to by Data(),
+    // and then call Send().
+    // Note: calls to Data() are expensive enough that you should cache it.
+    size_t size();
+    void *Data();
+    void Send(size_t length);
+
     // Sends up to length data.  Does not wakeup the target.
     void Send(const char *data, size_t length);
 
diff --git a/aos/ipc_lib/lockless_queue_death_test.cc b/aos/ipc_lib/lockless_queue_death_test.cc
index 7a68273..4f1d7e4 100644
--- a/aos/ipc_lib/lockless_queue_death_test.cc
+++ b/aos/ipc_lib/lockless_queue_death_test.cc
@@ -11,10 +11,10 @@
 #include <memory>
 #include <thread>
 
-#include "aos/init.h"
 #include "aos/ipc_lib/aos_sync.h"
 #include "aos/ipc_lib/lockless_queue_memory.h"
 #include "aos/libc/aos_strsignal.h"
+#include "aos/realtime.h"
 #include "aos/testing/prevent_exit.h"
 #include "aos/testing/test_logging.h"
 #include "gflags/gflags.h"
@@ -507,14 +507,14 @@
 
   TestShmRobustness(
       config,
-      [this, config, tid](void *memory) {
+      [config, tid](void *memory) {
         // Initialize the queue and grab the tid.
         LocklessQueue queue(
             reinterpret_cast<aos::ipc_lib::LocklessQueueMemory *>(memory),
             config);
         *tid = gettid();
       },
-      [this, config](void *memory) {
+      [config](void *memory) {
         // Now try to write 2 messages.  We will get killed a bunch as this
         // tries to happen.
         LocklessQueue queue(
@@ -527,7 +527,7 @@
           sender.Send(data, s + 1);
         }
       },
-      [this, config, tid](void *raw_memory) {
+      [config, tid](void *raw_memory) {
         // Confirm that we can create 2 senders (the number in the queue), and
         // send a message.  And that all the messages in the queue are valid.
         ::aos::ipc_lib::LocklessQueueMemory *memory =
diff --git a/aos/ipc_lib/lockless_queue_test.cc b/aos/ipc_lib/lockless_queue_test.cc
index f3b49b6..b9cb54d 100644
--- a/aos/ipc_lib/lockless_queue_test.cc
+++ b/aos/ipc_lib/lockless_queue_test.cc
@@ -11,11 +11,10 @@
 
 #include "aos/event.h"
 #include "aos/events/epoll.h"
-#include "aos/init.h"
 #include "aos/ipc_lib/aos_sync.h"
 #include "aos/ipc_lib/queue_racer.h"
 #include "aos/ipc_lib/signalfd.h"
-#include "aos/testing/test_logging.h"
+#include "aos/realtime.h"
 #include "gflags/gflags.h"
 #include "gtest/gtest.h"
 
@@ -43,7 +42,6 @@
 class LocklessQueueTest : public ::testing::Test {
  public:
   LocklessQueueTest() {
-    ::aos::testing::EnableTestLogging();
     config_.num_watchers = 10;
     config_.num_senders = 100;
     config_.queue_size = 10000;
@@ -247,8 +245,8 @@
   // Send enough messages to wrap.
   for (int i = 0; i < 20000; ++i) {
     // Confirm that the queue index makes sense given the number of sends.
-    EXPECT_EQ(queue.LatestQueueIndex(),
-              i == 0 ? LocklessQueue::empty_queue_index() : i - 1);
+    EXPECT_EQ(queue.LatestQueueIndex().index(),
+              i == 0 ? LocklessQueue::empty_queue_index().index() : i - 1);
 
     // Send a trivial piece of data.
     char data[100];
@@ -257,7 +255,7 @@
 
     // Confirm that the queue index still makes sense.  This is easier since the
     // empty case has been handled.
-    EXPECT_EQ(queue.LatestQueueIndex(), i);
+    EXPECT_EQ(queue.LatestQueueIndex().index(), i);
 
     // Read a result from 5 in the past.
     ::aos::monotonic_clock::time_point monotonic_sent_time;
diff --git a/aos/ipc_lib/queue.cc b/aos/ipc_lib/queue.cc
index 5b6a0fa..3b6e5a1 100644
--- a/aos/ipc_lib/queue.cc
+++ b/aos/ipc_lib/queue.cc
@@ -172,7 +172,7 @@
   MessageHeader *header = __atomic_load_n(&free_messages_, __ATOMIC_RELAXED);
   do {
     if (__builtin_expect(header == nullptr, 0)) {
-      AOS_LOG(FATAL, "overused pool of queue %p (%s)\n", this, name_);
+      LOG(FATAL) << "overused pool of queue " << this << " (" << name_ << ")";
     }
   } while (__builtin_expect(
       !__atomic_compare_exchange_n(&free_messages_, &header, header->next, true,
@@ -195,10 +195,8 @@
   static_assert((sizeof(RawQueue::MessageHeader) % 8) == 0,
                 "need to revalidate size/alignent assumptions");
 
-  if (queue_length < 1) {
-    AOS_LOG(FATAL, "queue length %d of %s needs to be at least 1\n",
-            queue_length, name);
-  }
+  CHECK_GE(queue_length, 1) << ": queue length " << queue_length << " of "
+                            << name << " needs to be at least 1";
 
   const size_t name_size = strlen(name) + 1;
   char *temp = static_cast<char *>(shm_malloc(name_size));
@@ -249,8 +247,8 @@
     printf("fetching queue %s\n", name);
   }
   if (mutex_lock(&global_core->mem_struct->queues.lock) != 0) {
-    AOS_LOG(FATAL, "mutex_lock(%p) failed\n",
-            &global_core->mem_struct->queues.lock);
+    LOG(FATAL) << "mutex_lock(" << &global_core->mem_struct->queues.lock
+               << ") failed";
   }
   RawQueue *current =
       static_cast<RawQueue *>(global_core->mem_struct->queues.pointer);
@@ -302,14 +300,14 @@
 
 bool RawQueue::DoWriteMessage(void *msg, Options<RawQueue> options) {
   if (kWriteDebug) {
-    printf("queue: %p->WriteMessage(%p, %x)\n", this, msg, options.printable());
+    printf("queue: %p->WriteMessage(%p, %x), len :%zu\n", this, msg, options.printable(), msg_length_);
   }
 
   bool signal_readable;
 
   {
     IPCMutexLocker locker(&data_lock_);
-    AOS_CHECK(!locker.owner_died());
+    CHECK(!locker.owner_died());
 
     int new_end;
     while (true) {
@@ -334,7 +332,7 @@
         if (kWriteDebug) {
           printf("queue: going to wait for writable_ of %p\n", this);
         }
-        AOS_CHECK(!writable_.Wait());
+        CHECK(!writable_.Wait());
       }
     }
     data_[data_end_] = msg;
@@ -390,7 +388,7 @@
         if (wait_result == Condition::WaitResult::kOk) {
           break;
         }
-        AOS_CHECK(wait_result != Condition::WaitResult::kOwnerDied);
+        CHECK(wait_result != Condition::WaitResult::kOwnerDied);
         if (wait_result == Condition::WaitResult::kTimeout) {
           return false;
         }
@@ -427,7 +425,7 @@
   void *msg = NULL;
 
   IPCMutexLocker locker(&data_lock_);
-  AOS_CHECK(!locker.owner_died());
+  CHECK(!locker.owner_died());
 
   if (!ReadCommonStart(options, nullptr, chrono::nanoseconds(0))) {
     if (kReadDebug) {
@@ -490,7 +488,7 @@
   void *msg = NULL;
 
   IPCMutexLocker locker(&data_lock_);
-  AOS_CHECK(!locker.owner_died());
+  CHECK(!locker.owner_died());
 
   if (!ReadCommonStart(options, index, timeout)) {
     if (kReadDebug) {
diff --git a/aos/ipc_lib/queue.h b/aos/ipc_lib/queue.h
index 5b68f2e..6e07993 100644
--- a/aos/ipc_lib/queue.h
+++ b/aos/ipc_lib/queue.h
@@ -5,7 +5,7 @@
 #include "aos/mutex/mutex.h"
 #include "aos/condition.h"
 #include "aos/util/options.h"
-#include "aos/logging/logging.h"
+#include "glog/logging.h"
 
 // TODO(brians) add valgrind client requests to the queue and shared_mem_malloc
 // code to make checking for leaks work better
@@ -90,10 +90,11 @@
     static constexpr Options<RawQueue> kWriteFailureOptions =
         kNonBlock | kBlock | kOverride;
     if (!options.NoOthersSet(kWriteFailureOptions)) {
-      AOS_LOG(FATAL, "illegal write options in %x\n", options.printable());
+      LOG(FATAL) << "illegal write options in " << std::hex
+                 << options.printable();
     }
     if (!options.ExactlyOneSet(kWriteFailureOptions)) {
-      AOS_LOG(FATAL, "invalid write options %x\n", options.printable());
+      LOG(FATAL) << "invalid write options " << std::hex << options.printable();
     }
     return DoWriteMessage(msg, options);
   }
@@ -123,7 +124,7 @@
     CheckReadOptions(options);
     static constexpr Options<RawQueue> kFromEndAndPeek = kFromEnd | kPeek;
     if (options.AllSet(kFromEndAndPeek)) {
-      AOS_LOG(FATAL, "ReadMessageIndex(kFromEnd | kPeek) is not allowed\n");
+      LOG(FATAL) << "ReadMessageIndex(kFromEnd | kPeek) is not allowed";
     }
     return DoReadMessageIndex(options, index, timeout);
   }
@@ -161,11 +162,12 @@
     static constexpr Options<RawQueue> kValidOptions =
         kPeek | kFromEnd | kNonBlock | kBlock;
     if (!options.NoOthersSet(kValidOptions)) {
-      AOS_LOG(FATAL, "illegal read options in %x\n", options.printable());
+      LOG(FATAL) << "illegal read options in " << std::hex
+                 << options.printable();
     }
     static constexpr Options<RawQueue> kBlockChoices = kNonBlock | kBlock;
     if (!options.ExactlyOneSet(kBlockChoices)) {
-      AOS_LOG(FATAL, "invalid read options %x\n", options.printable());
+      LOG(FATAL) << "invalid read options " << std::hex << options.printable();
     }
   }
 
diff --git a/aos/ipc_lib/queue_racer.cc b/aos/ipc_lib/queue_racer.cc
index 53490a0..bb754d8 100644
--- a/aos/ipc_lib/queue_racer.cc
+++ b/aos/ipc_lib/queue_racer.cc
@@ -82,12 +82,15 @@
       //
       // So, grab them in order.
       const uint64_t finished_writes = finished_writes_.load();
-      const uint32_t latest_queue_index_uint32_t = queue.LatestQueueIndex();
+      const QueueIndex latest_queue_index_queue_index =
+          queue.LatestQueueIndex();
       const uint64_t started_writes = started_writes_.load();
 
+      const uint32_t latest_queue_index_uint32_t =
+          queue.LatestQueueIndex().index();
       uint64_t latest_queue_index = latest_queue_index_uint32_t;
 
-      if (latest_queue_index_uint32_t != LocklessQueue::empty_queue_index()) {
+      if (latest_queue_index_queue_index != LocklessQueue::empty_queue_index()) {
         // If we got smaller, we wrapped.
         if (latest_queue_index_uint32_t < last_queue_index) {
           ++wrap_count;
@@ -104,19 +107,19 @@
 
       // If we are at the beginning, the queue needs to always return empty.
       if (started_writes == 0) {
-        EXPECT_EQ(latest_queue_index_uint32_t,
+        EXPECT_EQ(latest_queue_index_queue_index,
                   LocklessQueue::empty_queue_index());
         EXPECT_EQ(finished_writes, 0);
       } else {
         if (finished_writes == 0) {
           // Plausible to be at the beginning.
-          if (latest_queue_index_uint32_t !=
+          if (latest_queue_index_queue_index !=
               LocklessQueue::empty_queue_index()) {
             // Otherwise, we have started.  The queue is always allowed to
             EXPECT_GE(started_writes, latest_queue_index + 1);
           }
         } else {
-          EXPECT_NE(latest_queue_index_uint32_t,
+          EXPECT_NE(latest_queue_index_queue_index,
                     LocklessQueue::empty_queue_index());
           // latest_queue_index is an index, not a count.  So it always reads 1
           // low.
diff --git a/aos/ipc_lib/queue_racer.h b/aos/ipc_lib/queue_racer.h
index 59435b1..eaeedd4 100644
--- a/aos/ipc_lib/queue_racer.h
+++ b/aos/ipc_lib/queue_racer.h
@@ -36,7 +36,7 @@
 
   size_t CurrentIndex() {
     LocklessQueue queue(memory_, config_);
-    return queue.LatestQueueIndex();
+    return queue.LatestQueueIndex().index();
   }
 
  private:
diff --git a/aos/ipc_lib/raw_queue_test.cc b/aos/ipc_lib/raw_queue_test.cc
index aa3b335..3048e1b 100644
--- a/aos/ipc_lib/raw_queue_test.cc
+++ b/aos/ipc_lib/raw_queue_test.cc
@@ -191,7 +191,8 @@
       case 0:  // child
         if (kForkSleep != chrono::milliseconds(0)) {
           AOS_LOG(INFO, "pid %jd sleeping for %" PRId64 "ns\n",
-                  static_cast<intmax_t>(getpid()), kForkSleep.count());
+                  static_cast<intmax_t>(getpid()),
+                  static_cast<int64_t>(kForkSleep.count()));
           this_thread::sleep_for(kForkSleep);
         }
         ::aos::testing::PreventExit();
diff --git a/aos/ipc_lib/shared_mem.c b/aos/ipc_lib/shared_mem.cc
similarity index 71%
rename from aos/ipc_lib/shared_mem.c
rename to aos/ipc_lib/shared_mem.cc
index da55ebc..93ced7d 100644
--- a/aos/ipc_lib/shared_mem.c
+++ b/aos/ipc_lib/shared_mem.cc
@@ -10,9 +10,9 @@
 #include <stdlib.h>
 #include <assert.h>
 
-#include "aos/ipc_lib/core_lib.h"
-#include "aos/logging/logging.h"
 #include "aos/ipc_lib/aos_sync.h"
+#include "aos/ipc_lib/core_lib.h"
+#include "glog/logging.h"
 
 // the path for the shared memory segment. see shm_open(3) for restrictions
 #define AOS_SHM_NAME "/aos_shared_mem"
@@ -61,7 +61,7 @@
       if (shm == -1 && errno == EEXIST) {
         printf("shared_mem: going to shm_unlink(%s)\n", global_core->shm_name);
         if (shm_unlink(global_core->shm_name) == -1) {
-          AOS_PLOG(WARNING, "shm_unlink(%s) failed", global_core->shm_name);
+          PLOG(WARNING) << "shm_unlink(" << global_core->shm_name << ") failed";
           break;
         }
       } else {
@@ -73,22 +73,22 @@
     global_core->owner = 0;
   }
   if (shm == -1) {
-    AOS_PLOG(FATAL, "shm_open(%s, O_RDWR [| O_CREAT | O_EXCL, 0|0666) failed",
-             global_core->shm_name);
+    PLOG(FATAL) << "shm_open(" << global_core->shm_name
+                << ", O_RDWR [| O_CREAT | O_EXCL, 0|0666) failed";
   }
   if (global_core->owner) {
-    if (ftruncate(shm, SIZEOFSHMSEG) == -1) {
-      AOS_PLOG(FATAL, "fruncate(%d, 0x%zx) failed", shm, (size_t)SIZEOFSHMSEG);
-    }
+    PCHECK(ftruncate(shm, SIZEOFSHMSEG) == 0)
+        << ": fruncate(" << shm << ", 0x" << std::hex << (size_t)SIZEOFSHMSEG
+        << ") failed";
   }
   int flags = MAP_SHARED | MAP_FIXED;
   if (lock) flags |= MAP_LOCKED | MAP_POPULATE;
   void *shm_address = mmap((void *)SHM_START, SIZEOFSHMSEG,
                            PROT_READ | PROT_WRITE, flags, shm, 0);
-  if (shm_address == MAP_FAILED) {
-    AOS_PLOG(FATAL, "shared_mem: mmap(%p, 0x%zx, stuff, %x, %d, 0) failed",
-             (void *)SHM_START, (size_t)SIZEOFSHMSEG, flags, shm);
-  }
+  PCHECK(shm_address != MAP_FAILED)
+      << std::hex << "shared_mem: mmap(" << (void *)SHM_START << ", 0x"
+      << (size_t)SIZEOFSHMSEG << ", stuff, " << flags << ", " << shm
+      << ", 0) failed";
   if (create) {
     printf("shared_mem: creating %s, shm at: %p\n", global_core->shm_name,
            shm_address);
@@ -96,19 +96,18 @@
     printf("shared_mem: not creating, shm at: %p\n", shm_address);
   }
   if (close(shm) == -1) {
-    AOS_PLOG(WARNING, "close(%d(=shm) failed", shm);
+    PLOG(WARNING) << "close(" << shm << "(=shm) failed";
   }
-  if (shm_address != (void *)SHM_START) {
-    AOS_LOG(FATAL, "shm isn't at hard-coded %p. at %p instead\n",
-            (void *)SHM_START, shm_address);
-  }
+  PCHECK(shm_address == (void *)SHM_START)
+      << "shm isn't at hard-coded " << (void *)SHM_START << ". at "
+      << shm_address << " instead";
   aos_core_use_address_as_shared_mem(shm_address, SIZEOFSHMSEG);
-  AOS_LOG(INFO, "shared_mem: end of create_shared_mem owner=%d\n",
-          global_core->owner);
+  LOG(INFO) << "shared_mem: end of create_shared_mem owner="
+            << global_core->owner;
 }
 
 void aos_core_use_address_as_shared_mem(void *address, size_t size) {
-  global_core->mem_struct = address;
+  global_core->mem_struct = reinterpret_cast<aos_shm_core_t *>(address);
   global_core->size = size;
   global_core->shared_mem =
       (uint8_t *)address + sizeof(*global_core->mem_struct);
@@ -118,22 +117,19 @@
     futex_set(&global_core->mem_struct->creation_condition);
   } else {
     if (futex_wait(&global_core->mem_struct->creation_condition) != 0) {
-      AOS_LOG(FATAL, "waiting on creation_condition failed\n");
+      LOG(FATAL) << "waiting on creation_condition failed";
     }
   }
 }
 
 void aos_core_free_shared_mem() {
   void *shm_address = global_core->shared_mem;
-  if (munmap((void *)SHM_START, SIZEOFSHMSEG) == -1) {
-    AOS_PLOG(FATAL, "munmap(%p, 0x%zx) failed", shm_address,
-             (size_t)SIZEOFSHMSEG);
-  }
+  PCHECK(munmap((void *)SHM_START, SIZEOFSHMSEG) != -1)
+      << ": munmap(" << shm_address << ", 0x" << std::hex
+      << (size_t)SIZEOFSHMSEG << ") failed";
   if (global_core->owner) {
-    if (shm_unlink(global_core->shm_name)) {
-      AOS_PLOG(FATAL, "shared_mem: shm_unlink(%s) failed",
-               global_core->shm_name);
-    }
+    PCHECK(shm_unlink(global_core->shm_name) == 0)
+        << ": shared_mem: shm_unlink(" << global_core->shm_name << ") failed";
   }
 }
 
diff --git a/aos/ipc_lib/signalfd.cc b/aos/ipc_lib/signalfd.cc
index 045444b..af95598 100644
--- a/aos/ipc_lib/signalfd.cc
+++ b/aos/ipc_lib/signalfd.cc
@@ -5,12 +5,12 @@
 #include <unistd.h>
 #include <initializer_list>
 
-#include "aos/logging/logging.h"
+#include "glog/logging.h"
 
 namespace aos {
 namespace ipc_lib {
 
-SignalFd::SignalFd(::std::initializer_list<int> signals) {
+SignalFd::SignalFd(::std::initializer_list<unsigned int> signals) {
   // Build up the mask with the provided signals.
   sigemptyset(&mask_);
   for (int signal : signals) {
@@ -18,7 +18,7 @@
   }
   // Then build a signalfd.  Make it nonblocking so it works well with an epoll
   // loop, and have it close on exec.
-  AOS_PCHECK(fd_ = signalfd(-1, &mask_, SFD_NONBLOCK | SFD_CLOEXEC));
+  PCHECK((fd_ = signalfd(-1, &mask_, SFD_NONBLOCK | SFD_CLOEXEC)) != 0);
   // Now that we have a consumer of the signal, block the signals so the
   // signalfd gets them.
   pthread_sigmask(SIG_BLOCK, &mask_, nullptr);
@@ -27,7 +27,7 @@
 SignalFd::~SignalFd() {
   // Unwind the constructor.  Unblock the signals and close the fd.
   pthread_sigmask(SIG_UNBLOCK, &mask_, nullptr);
-  AOS_PCHECK(close(fd_));
+  PCHECK(close(fd_) == 0);
 }
 
 signalfd_siginfo SignalFd::Read() {
diff --git a/aos/ipc_lib/signalfd.h b/aos/ipc_lib/signalfd.h
index a545a80..7d2021a 100644
--- a/aos/ipc_lib/signalfd.h
+++ b/aos/ipc_lib/signalfd.h
@@ -13,7 +13,7 @@
  public:
   // Constructs a SignalFd for the provided list of signals.
   // Blocks the signals at the same time in this thread.
-  SignalFd(::std::initializer_list<int> signals);
+  SignalFd(::std::initializer_list<unsigned int> signals);
 
   SignalFd(const SignalFd &) = delete;
   SignalFd &operator=(const SignalFd &) = delete;
diff --git a/aos/json_to_flatbuffer.cc b/aos/json_to_flatbuffer.cc
index 13a3a38..34cdffe 100644
--- a/aos/json_to_flatbuffer.cc
+++ b/aos/json_to_flatbuffer.cc
@@ -152,7 +152,7 @@
                const absl::string_view data, flatbuffers::uoffset_t *table_end);
 
   // Adds *_value for the provided field.  If we are in a vector, queues the
-  // data up in vector_elements_.  Returns true on success.
+  // data up in vector_elements.  Returns true on success.
   bool AddElement(int field_index, int64_t int_value);
   bool AddElement(int field_index, double double_value);
   bool AddElement(int field_index, const ::std::string &data);
@@ -184,19 +184,19 @@
 
     // Field elements that need to be inserted.
     ::std::vector<FieldElement> elements;
+
+    // For scalar types (not strings, and not nested tables), the vector ends
+    // up being implemented as a start and end, and a block of data.  So we
+    // can't just push offsets in as we go.  We either need to reproduce the
+    // logic inside flatbuffers, or build up vectors of the data.  Vectors will
+    // be a bit of extra stack space, but whatever.
+    //
+    // Strings and nested structures are vectors of offsets.
+    // into the vector. Once you get to the end, you build up a vector and
+    // push that into the field.
+    ::std::vector<Element> vector_elements;
   };
   ::std::vector<FlatBufferContext> stack_;
-
-  // For scalar types (not strings, and not nested tables), the vector ends
-  // up being implemented as a start and end, and a block of data.  So we
-  // can't just push offsets in as we go.  We either need to reproduce the
-  // logic inside flatbuffers, or build up vectors of the data.  Vectors will
-  // be a bit of extra stack space, but whatever.
-  //
-  // Strings and nested structures are vectors of offsets.
-  // into the vector. Once you get to the end, you build up a vector and
-  // push that into the field.
-  ::std::vector<Element> vector_elements_;
 };
 
 bool JsonParser::DoParse(const flatbuffers::TypeTable *typetable,
@@ -225,7 +225,7 @@
 
       case Tokenizer::TokenType::kStartObject:  // {
         if (stack_.size() == 0) {
-          stack_.push_back({typetable, false, -1, "", {}});
+          stack_.push_back({typetable, false, -1, "", {}, {}});
         } else {
           int field_index = stack_.back().field_index;
 
@@ -241,7 +241,7 @@
           flatbuffers::TypeFunction type_function =
               stack_.back().typetable->type_refs[type_code.sequence_ref];
 
-          stack_.push_back({type_function(), false, -1, "", {}});
+          stack_.push_back({type_function(), false, -1, "", {}, {}});
         }
         break;
       case Tokenizer::TokenType::kEndObject:  // }
@@ -267,7 +267,7 @@
 
             // Do the right thing if we are in a vector.
             if (in_vector()) {
-              vector_elements_.emplace_back(
+              stack_.back().vector_elements.emplace_back(
                   flatbuffers::Offset<flatbuffers::String>(end));
             } else {
               stack_.back().elements.emplace_back(
@@ -363,7 +363,7 @@
   }
 
   if (in_vector()) {
-    vector_elements_.emplace_back(int_value);
+    stack_.back().vector_elements.emplace_back(int_value);
   } else {
     stack_.back().elements.emplace_back(field_index, int_value);
   }
@@ -380,7 +380,7 @@
   }
 
   if (in_vector()) {
-    vector_elements_.emplace_back(double_value);
+    stack_.back().vector_elements.emplace_back(double_value);
   } else {
     stack_.back().elements.emplace_back(field_index, double_value);
   }
@@ -396,9 +396,61 @@
     return false;
   }
 
-  if (in_vector()) {
-    vector_elements_.emplace_back(fbb_.CreateString(data));
+  const flatbuffers::ElementaryType elementary_type =
+      static_cast<flatbuffers::ElementaryType>(type_code.base_type);
+  switch (elementary_type) {
+    case flatbuffers::ET_CHAR:
+    case flatbuffers::ET_UCHAR:
+    case flatbuffers::ET_SHORT:
+    case flatbuffers::ET_USHORT:
+    case flatbuffers::ET_INT:
+    case flatbuffers::ET_UINT:
+    case flatbuffers::ET_LONG:
+    case flatbuffers::ET_ULONG:
+      if (type_code.sequence_ref != -1) {
+        // We have an enum.
+        const flatbuffers::TypeTable *type_table = stack_.back().typetable;
+        flatbuffers::TypeFunction type_function =
+            type_table->type_refs[type_code.sequence_ref];
 
+        const flatbuffers::TypeTable *enum_type_table = type_function();
+
+        CHECK_EQ(enum_type_table->st, flatbuffers::ST_ENUM);
+
+        int64_t int_value = 0;
+        bool found = false;
+        for (size_t i = 0; i < enum_type_table->num_elems; ++i) {
+          if (data == enum_type_table->names[i]) {
+            int_value = i;
+            found = true;
+            break;
+          }
+        }
+
+        if (!found) {
+          printf("Enum value '%s' not found for field '%s'\n", data.c_str(),
+                 type_table->names[field_index]);
+          return false;
+        }
+
+        if (in_vector()) {
+          stack_.back().vector_elements.emplace_back(int_value);
+        } else {
+          stack_.back().elements.emplace_back(field_index, int_value);
+        }
+        return true;
+      }
+    case flatbuffers::ET_UTYPE:
+    case flatbuffers::ET_BOOL:
+    case flatbuffers::ET_FLOAT:
+    case flatbuffers::ET_DOUBLE:
+    case flatbuffers::ET_STRING:
+    case flatbuffers::ET_SEQUENCE:
+      break;
+  }
+
+  if (in_vector()) {
+    stack_.back().vector_elements.emplace_back(fbb_.CreateString(data));
   } else {
     stack_.back().elements.emplace_back(field_index, fbb_.CreateString(data));
   }
@@ -540,8 +592,6 @@
   const flatbuffers::ElementaryType elementary_type =
       static_cast<flatbuffers::ElementaryType>(type_code.base_type);
   switch (elementary_type) {
-    case flatbuffers::ET_UTYPE:
-    case flatbuffers::ET_BOOL:
     case flatbuffers::ET_CHAR:
     case flatbuffers::ET_UCHAR:
     case flatbuffers::ET_SHORT:
@@ -550,14 +600,20 @@
     case flatbuffers::ET_UINT:
     case flatbuffers::ET_LONG:
     case flatbuffers::ET_ULONG:
+    case flatbuffers::ET_UTYPE:
+    case flatbuffers::ET_BOOL:
     case flatbuffers::ET_FLOAT:
     case flatbuffers::ET_DOUBLE:
       printf("Mismatched type for field '%s'. Got: string, expected %s\n",
              typetable->names[field_index],
              ElementaryTypeName(elementary_type));
+      CHECK_EQ(type_code.sequence_ref, -1)
+          << ": Field name " << typetable->names[field_index]
+          << " Got string expected " << ElementaryTypeName(elementary_type);
       return false;
-    case flatbuffers::ET_SEQUENCE:
     case flatbuffers::ET_STRING:
+      CHECK_EQ(type_code.sequence_ref, -1);
+    case flatbuffers::ET_SEQUENCE:
       fbb->AddOffset(field_offset, offset_element);
       return true;
   }
@@ -573,17 +629,19 @@
 
   // Vectors have a start (unfortunately which needs to know the size)
   fbb_.StartVector(
-      vector_elements_.size(),
+      stack_.back().vector_elements.size(),
       flatbuffers::InlineSize(elementary_type, stack_.back().typetable));
 
   // Then the data (in reverse order for some reason...)
-  for (size_t i = vector_elements_.size(); i > 0;) {
-    const Element &element = vector_elements_[--i];
+  for (size_t i = stack_.back().vector_elements.size(); i > 0;) {
+    const Element &element = stack_.back().vector_elements[--i];
     switch (element.type) {
       case Element::ElementType::INT:
         if (!PushElement(elementary_type, element.int_element)) return false;
         break;
       case Element::ElementType::DOUBLE:
+        CHECK_EQ(type_code.sequence_ref, -1)
+            << ": Field index is " << field_index;
         if (!PushElement(elementary_type, element.double_element)) return false;
         break;
       case Element::ElementType::OFFSET:
@@ -595,8 +653,8 @@
   // Then an End which is placed into the buffer the same as any other offset.
   stack_.back().elements.emplace_back(
       field_index, flatbuffers::Offset<flatbuffers::String>(
-                       fbb_.EndVector(vector_elements_.size())));
-  vector_elements_.clear();
+                       fbb_.EndVector(stack_.back().vector_elements.size())));
+  stack_.back().vector_elements.clear();
   return true;
 }
 
diff --git a/aos/json_to_flatbuffer.fbs b/aos/json_to_flatbuffer.fbs
index 2e90a53..8942cc8 100644
--- a/aos/json_to_flatbuffer.fbs
+++ b/aos/json_to_flatbuffer.fbs
@@ -1,5 +1,26 @@
 namespace aos.testing;
 
+enum BaseType : byte {
+    None,
+    UType,
+    Bool,
+    Byte,
+    UByte,
+    Short,
+    UShort,
+    Int,
+    UInt,
+    Long,
+    ULong,
+    Float,
+    Double,
+    String,
+    Vector,
+    Obj,     // Used for tables & structs.
+    Union,
+    Array
+}
+
 table Location {
   name:string;
   type:string;
@@ -18,6 +39,14 @@
   maps:[Map];
 }
 
+table VectorOfStrings {
+  str:[string];
+}
+
+table VectorOfVectorOfString {
+  v:[VectorOfStrings];
+}
+
 table Configuration {
   locations:[Location] (id: 0);
   maps:[Map] (id: 1);
@@ -48,32 +77,37 @@
 
   foo_string:string (id: 15);
 
+  foo_enum:BaseType (id: 16);
+  foo_enum_default:BaseType = None (id: 17);
+
   // Test vectors now.
-  vector_foo_byte:[byte] (id: 16);
-  vector_foo_ubyte:[ubyte] (id: 17);
-  vector_foo_bool:[bool] (id: 18);
+  vector_foo_byte:[byte] (id: 18);
+  vector_foo_ubyte:[ubyte] (id: 19);
+  vector_foo_bool:[bool] (id: 20);
 
-  vector_foo_short:[short] (id: 19);
-  vector_foo_ushort:[ushort] (id: 20);
+  vector_foo_short:[short] (id: 21);
+  vector_foo_ushort:[ushort] (id: 22);
 
-  vector_foo_int:[int] (id: 21);
-  vector_foo_uint:[uint] (id: 22);
+  vector_foo_int:[int] (id: 23);
+  vector_foo_uint:[uint] (id: 24);
 
-  vector_foo_long:[long] (id: 23);
-  vector_foo_ulong:[ulong] (id: 24);
+  vector_foo_long:[long] (id: 25);
+  vector_foo_ulong:[ulong] (id: 26);
 
-  vector_foo_float:[float] (id: 25);
-  vector_foo_double:[double] (id: 26);
+  vector_foo_float:[float] (id: 27);
+  vector_foo_double:[double] (id: 28);
 
-  vector_foo_string:[string] (id: 27);
+  vector_foo_string:[string] (id: 29);
+
+  vector_foo_enum:[BaseType] (id: 30);
 
   // And a simple nested application.
-  single_application:Application (id: 28);
-
-  // TODO(austin): enum
+  single_application:Application (id: 31);
 
   // And nest this object to get some crazy coverage.
-  nested_config:Configuration (id: 29);
+  nested_config:Configuration (id: 32);
+
+  vov:VectorOfVectorOfString (id: 33);
 }
 
 root_type Configuration;
diff --git a/aos/json_to_flatbuffer_test.cc b/aos/json_to_flatbuffer_test.cc
index a048e0a..84ac0ed 100644
--- a/aos/json_to_flatbuffer_test.cc
+++ b/aos/json_to_flatbuffer_test.cc
@@ -57,6 +57,12 @@
   EXPECT_TRUE(JsonAndBack("{ \"foo_float\": 5.0 }"));
   EXPECT_TRUE(JsonAndBack("{ \"foo_double\": 5.0 }"));
 
+  EXPECT_TRUE(JsonAndBack("{ \"foo_enum\": \"None\" }"));
+  EXPECT_TRUE(JsonAndBack("{ \"foo_enum\": \"UType\" }"));
+
+  EXPECT_TRUE(JsonAndBack("{ \"foo_enum_default\": \"None\" }"));
+  EXPECT_TRUE(JsonAndBack("{ \"foo_enum_default\": \"UType\" }"));
+
   EXPECT_TRUE(JsonAndBack("{ \"foo_string\": \"baz\" }"));
 }
 
@@ -72,6 +78,13 @@
   EXPECT_FALSE(JsonAndBack("{ \"foo\": 5 }"));
 }
 
+// Tests that an invalid enum type is handled correctly.
+TEST_F(JsonToFlatbufferTest, InvalidEnumName) {
+  EXPECT_FALSE(JsonAndBack("{ \"foo_enum\": \"5ype\" }"));
+
+  EXPECT_FALSE(JsonAndBack("{ \"foo_enum_default\": \"7ype\" }"));
+}
+
 // Test that adding a duplicate field results in an error.
 TEST_F(JsonToFlatbufferTest, DuplicateField) {
   EXPECT_FALSE(
@@ -106,19 +119,29 @@
 // Test arrays of simple types.
 TEST_F(JsonToFlatbufferTest, Array) {
   EXPECT_TRUE(JsonAndBack("{ \"vector_foo_byte\": [ 9, 7, 1 ] }"));
+  EXPECT_TRUE(JsonAndBack("{ \"vector_foo_byte\": [  ] }"));
   EXPECT_TRUE(JsonAndBack("{ \"vector_foo_ubyte\": [ 9, 7, 1 ] }"));
+  EXPECT_TRUE(JsonAndBack("{ \"vector_foo_ubyte\": [  ] }"));
 
   EXPECT_TRUE(JsonAndBack("{ \"vector_foo_short\": [ 9, 7, 1 ] }"));
+  EXPECT_TRUE(JsonAndBack("{ \"vector_foo_short\": [  ] }"));
   EXPECT_TRUE(JsonAndBack("{ \"vector_foo_ushort\": [ 9, 7, 1 ] }"));
+  EXPECT_TRUE(JsonAndBack("{ \"vector_foo_ushort\": [  ] }"));
 
   EXPECT_TRUE(JsonAndBack("{ \"vector_foo_int\": [ 9, 7, 1 ] }"));
+  EXPECT_TRUE(JsonAndBack("{ \"vector_foo_int\": [  ] }"));
   EXPECT_TRUE(JsonAndBack("{ \"vector_foo_uint\": [ 9, 7, 1 ] }"));
+  EXPECT_TRUE(JsonAndBack("{ \"vector_foo_uint\": [  ] }"));
 
   EXPECT_TRUE(JsonAndBack("{ \"vector_foo_long\": [ 9, 7, 1 ] }"));
+  EXPECT_TRUE(JsonAndBack("{ \"vector_foo_long\": [  ] }"));
   EXPECT_TRUE(JsonAndBack("{ \"vector_foo_ulong\": [ 9, 7, 1 ] }"));
+  EXPECT_TRUE(JsonAndBack("{ \"vector_foo_ulong\": [  ] }"));
 
   EXPECT_TRUE(JsonAndBack("{ \"vector_foo_float\": [ 9.0, 7.0, 1.0 ] }"));
+  EXPECT_TRUE(JsonAndBack("{ \"vector_foo_float\": [  ] }"));
   EXPECT_TRUE(JsonAndBack("{ \"vector_foo_double\": [ 9.0, 7.0, 1.0 ] }"));
+  EXPECT_TRUE(JsonAndBack("{ \"vector_foo_double\": [  ] }"));
 
   EXPECT_TRUE(JsonAndBack("{ \"vector_foo_float\": [ 9, 7, 1 ] }",
                           "{ \"vector_foo_float\": [ 9.0, 7.0, 1.0 ] }"));
@@ -126,6 +149,9 @@
                           "{ \"vector_foo_double\": [ 9.0, 7.0, 1.0 ] }"));
 
   EXPECT_TRUE(JsonAndBack("{ \"vector_foo_string\": [ \"bar\", \"baz\" ] }"));
+  EXPECT_TRUE(JsonAndBack("{ \"vector_foo_string\": [  ] }"));
+  EXPECT_TRUE(JsonAndBack("{ \"vector_foo_enum\": [ \"None\", \"UType\", \"Bool\" ] }"));
+  EXPECT_TRUE(JsonAndBack("{ \"vector_foo_enum\": [  ] }"));
 }
 
 // Test nested messages, and arrays of nested messages.
@@ -133,8 +159,13 @@
   EXPECT_TRUE(
       JsonAndBack("{ \"single_application\": { \"name\": \"woot\" } }"));
 
+  EXPECT_TRUE(JsonAndBack("{ \"single_application\": {  } }"));
+
   EXPECT_TRUE(JsonAndBack(
       "{ \"apps\": [ { \"name\": \"woot\" }, { \"name\": \"wow\" } ] }"));
+
+  EXPECT_TRUE(JsonAndBack(
+      "{ \"apps\": [ {  }, {  } ] }"));
 }
 
 // Test that we can parse an empty message.
@@ -158,8 +189,13 @@
                   "\"vector_foo_double\": [ 9.0, 7.0, 1.0 ] }"));
 }
 
+// Tests that multiple arrays get properly handled.
+TEST_F(JsonToFlatbufferTest, NestedArrays) {
+  EXPECT_TRUE(
+      JsonAndBack("{ \"vov\": { \"v\": [ { \"str\": [ \"a\", \"b\" ] }, { \"str\": [ \"c\", \"d\" ] } ] } }"));
+}
+
 // TODO(austin): Missmatched values.
-// TODO(austin): enums
 //
 // TODO(austin): unions?
 
diff --git a/aos/json_tokenizer.cc b/aos/json_tokenizer.cc
index 78bf46e..e3aa7ea 100644
--- a/aos/json_tokenizer.cc
+++ b/aos/json_tokenizer.cc
@@ -1,5 +1,7 @@
 #include "aos/json_tokenizer.h"
 
+#include <cerrno>
+
 namespace aos {
 
 void Tokenizer::ConsumeWhitespace() {
@@ -267,7 +269,13 @@
 
         ConsumeWhitespace();
 
-        state_ = State::kExpectField;
+        // And then if we encounter the end again, go to the end state.
+        if (Consume("}")) {
+          ConsumeWhitespace();
+          state_ = State::kExpectObjectEnd;
+        } else {
+          state_ = State::kExpectField;
+        }
         return TokenType::kStartObject;
       } else if (Consume("[")) {
         // Values are in arrays.  Record and recurse.
@@ -293,6 +301,22 @@
         field_value_ = "false";
         result = TokenType::kFalseValue;
       } else {
+        switch (object_type_.back()) {
+          case ObjectType::kObject:
+            if (Consume("}")) {
+              ConsumeWhitespace();
+              state_ = State::kExpectObjectEnd;
+              return Next();
+            }
+            break;
+          case ObjectType::kArray:
+            if (Consume("]")) {
+              ConsumeWhitespace();
+              state_ = State::kExpectArrayEnd;
+              return Next();
+            }
+            break;
+        }
         // Couldn't parse, so we have a syntax error.
         fprintf(stderr, "Error line %d, invalid field value.\n", linenumber_);
       }
diff --git a/aos/libc/BUILD b/aos/libc/BUILD
index 48a9ffd..234c29a 100644
--- a/aos/libc/BUILD
+++ b/aos/libc/BUILD
@@ -9,7 +9,7 @@
         "aos_strsignal.h",
     ],
     deps = [
-        "//aos/logging",
+        "@com_github_google_glog//:glog",
     ],
 )
 
@@ -20,7 +20,6 @@
     ],
     deps = [
         ":aos_strsignal",
-        "//aos/logging",
         "//aos/testing:googletest",
     ],
 )
diff --git a/aos/libc/aos_strsignal.cc b/aos/libc/aos_strsignal.cc
index a3331f9..9262ac6 100644
--- a/aos/libc/aos_strsignal.cc
+++ b/aos/libc/aos_strsignal.cc
@@ -2,14 +2,15 @@
 
 #include <signal.h>
 
-#include "aos/logging/logging.h"
+#include "glog/logging.h"
 
 const char *aos_strsignal(int signal) {
   static thread_local char buffer[512];
 
   if (signal >= SIGRTMIN && signal <= SIGRTMAX) {
-    AOS_CHECK(snprintf(buffer, sizeof(buffer), "Real-time signal %d",
-                       signal - SIGRTMIN) > 0);
+    CHECK_GT(snprintf(buffer, sizeof(buffer), "Real-time signal %d",
+                      signal - SIGRTMIN),
+             0);
     return buffer;
   }
 
@@ -17,6 +18,6 @@
     return sys_siglist[signal];
   }
 
-  AOS_CHECK(snprintf(buffer, sizeof(buffer), "Unknown signal %d", signal) > 0);
+  CHECK_GT(snprintf(buffer, sizeof(buffer), "Unknown signal %d", signal), 0);
   return buffer;
 }
diff --git a/aos/logging/BUILD b/aos/logging/BUILD
index 60c561b..6157e52 100644
--- a/aos/logging/BUILD
+++ b/aos/logging/BUILD
@@ -20,25 +20,6 @@
     ],
 )
 
-cc_library(
-    name = "replay",
-    srcs = [
-        "replay.cc",
-    ],
-    hdrs = [
-        "replay.h",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [
-        ":binary_log_file",
-        ":logging",
-        ":queue_logging",
-        "//aos:queues",
-        "//aos/events:event-loop",
-        "//aos/ipc_lib:queue",
-    ],
-)
-
 cc_binary(
     name = "binary_log_writer",
     srcs = [
@@ -52,7 +33,6 @@
         "//aos:configuration",
         "//aos:die",
         "//aos:init",
-        "//aos:queue_types",
         "//aos/ipc_lib:queue",
         "//aos/time",
     ],
@@ -85,7 +65,6 @@
         ":logging",
         "//aos:configuration",
         "//aos:init",
-        "//aos:queue_types",
         "//aos/util:string_to_num",
     ],
 )
@@ -123,42 +102,6 @@
 )
 
 cc_library(
-    name = "queue_logging",
-    srcs = [
-        "queue_logging.cc",
-    ],
-    hdrs = [
-        "queue_logging.h",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [
-        ":logging",
-        ":sizes",
-        "//aos:die",
-        "//aos:queue_types",
-    ],
-)
-
-cc_library(
-    name = "matrix_logging",
-    srcs = [
-        "matrix_logging.cc",
-    ],
-    hdrs = [
-        "matrix_logging.h",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [
-        ":logging",
-        ":sizes",
-        "//aos:die",
-        "//aos:generated_queue_headers",
-        "//aos:queue_types",
-        "//third_party/eigen",
-    ],
-)
-
-cc_library(
     name = "printf_formats",
     hdrs = [
         "printf_formats.h",
@@ -183,11 +126,11 @@
     visibility = ["//visibility:public"],
     deps = [
         ":logging",
+        ":printf_formats",
         ":sizes",
         "//aos:die",
         "//aos:macros",
         "//aos:once",
-        "//aos:queue_types",
         "//aos/ipc_lib:queue",
         "//aos/mutex",
         "//aos/time",
diff --git a/aos/logging/binary_log_writer.cc b/aos/logging/binary_log_writer.cc
index be19d45..5b1dc38 100644
--- a/aos/logging/binary_log_writer.cc
+++ b/aos/logging/binary_log_writer.cc
@@ -18,7 +18,6 @@
 #include "aos/die.h"
 #include "aos/logging/binary_log_file.h"
 #include "aos/logging/implementations.h"
-#include "aos/queue_types.h"
 #include "aos/time/time.h"
 #include "aos/configuration.h"
 #include "aos/init.h"
@@ -29,41 +28,6 @@
 namespace linux_code {
 namespace {
 
-void CheckTypeWritten(uint32_t type_id, LogFileWriter *writer,
-                      ::std::unordered_set<uint32_t> *written_type_ids) {
-  if (written_type_ids->count(type_id) > 0) return;
-  if (MessageType::IsPrimitive(type_id)) return;
-
-  const MessageType &type = type_cache::Get(type_id);
-  for (int i = 0; i < type.number_fields; ++i) {
-    CheckTypeWritten(type.fields[i]->type, writer, written_type_ids);
-  }
-
-  char buffer[1024];
-  ssize_t size = type.Serialize(buffer, sizeof(buffer));
-  if (size == -1) {
-    AOS_LOG(WARNING, "%zu-byte buffer is too small to serialize type %s\n",
-            sizeof(buffer), type.name.c_str());
-    return;
-  }
-  LogFileMessageHeader *const output =
-      writer->GetWritePosition(sizeof(LogFileMessageHeader) + size);
-
-  output->time_sec = output->time_nsec = 0;
-  output->source = getpid();
-  output->name_size = 0;
-  output->sequence = 0;
-  output->level = FATAL;
-
-  memcpy(output + 1, buffer, size);
-  output->message_size = size;
-
-  output->type = LogFileMessageHeader::MessageType::kStructType;
-  futex_set(&output->marker);
-
-  written_type_ids->insert(type_id);
-}
-
 void AllocateLogName(char **filename, const char *directory) {
   int fileindex = 0;
   DIR *const d = opendir(directory);
@@ -205,7 +169,6 @@
   RawQueue *queue = GetLoggingQueue();
 
   ::std::unordered_set<uint32_t> written_type_ids;
-  off_t clear_type_ids_cookie = 0;
 
   while (true) {
     const LogMessage *const msg =
@@ -222,21 +185,6 @@
     const size_t raw_output_length =
         sizeof(LogFileMessageHeader) + msg->name_length + msg->message_length;
     size_t output_length = raw_output_length;
-    if (msg->type == LogMessage::Type::kStruct) {
-      output_length += sizeof(msg->structure.type_id) + sizeof(uint32_t) +
-                       msg->structure.string_length;
-      if (writer.ShouldClearSeekableData(&clear_type_ids_cookie,
-                                         output_length)) {
-        writer.ForceNewPage();
-        written_type_ids.clear();
-      }
-      CheckTypeWritten(msg->structure.type_id, &writer, &written_type_ids);
-    } else if (msg->type == LogMessage::Type::kMatrix) {
-      output_length +=
-          sizeof(msg->matrix.type) + sizeof(uint32_t) + sizeof(uint16_t) +
-          sizeof(uint16_t) + msg->matrix.string_length;
-      AOS_CHECK(MessageType::IsPrimitive(msg->matrix.type));
-    }
     LogFileMessageHeader *const output = writer.GetWritePosition(output_length);
     char *output_strings = reinterpret_cast<char *>(output) + sizeof(*output);
     output->name_size = msg->name_length;
@@ -254,50 +202,6 @@
                msg->message_length);
         output->type = LogFileMessageHeader::MessageType::kString;
         break;
-      case LogMessage::Type::kStruct: {
-        char *position = output_strings + msg->name_length;
-
-        memcpy(position, &msg->structure.type_id,
-               sizeof(msg->structure.type_id));
-        position += sizeof(msg->structure.type_id);
-        output->message_size += sizeof(msg->structure.type_id);
-
-        const uint32_t length = msg->structure.string_length;
-        memcpy(position, &length, sizeof(length));
-        position += sizeof(length);
-        memcpy(position, msg->structure.serialized,
-               length + msg->message_length);
-        position += length + msg->message_length;
-        output->message_size += sizeof(length) + length;
-
-        output->type = LogFileMessageHeader::MessageType::kStruct;
-      } break;
-      case LogMessage::Type::kMatrix: {
-        char *position = output_strings + msg->name_length;
-
-        memcpy(position, &msg->matrix.type, sizeof(msg->matrix.type));
-        position += sizeof(msg->matrix.type);
-        output->message_size += sizeof(msg->matrix.type);
-
-        uint32_t length = msg->matrix.string_length;
-        memcpy(position, &length, sizeof(length));
-        position += sizeof(length);
-        output->message_size += sizeof(length);
-
-        uint16_t rows = msg->matrix.rows, cols = msg->matrix.cols;
-        memcpy(position, &rows, sizeof(rows));
-        position += sizeof(rows);
-        memcpy(position, &cols, sizeof(cols));
-        position += sizeof(cols);
-        output->message_size += sizeof(rows) + sizeof(cols);
-        AOS_CHECK_EQ(msg->message_length,
-                     MessageType::Sizeof(msg->matrix.type) * rows * cols);
-
-        memcpy(position, msg->matrix.data, msg->message_length + length);
-        output->message_size += length;
-
-        output->type = LogFileMessageHeader::MessageType::kMatrix;
-      } break;
     }
 
     if (output->message_size - msg->message_length !=
diff --git a/aos/logging/context.cc b/aos/logging/context.cc
index 2fcb301..72c1970 100644
--- a/aos/logging/context.cc
+++ b/aos/logging/context.cc
@@ -1,5 +1,9 @@
 #include "aos/logging/context.h"
 
+#ifndef _GNU_SOURCE
+#define _GNU_SOURCE /* See feature_test_macros(7) */
+#endif
+
 #include <string.h>
 #include <sys/prctl.h>
 #include <sys/types.h>
@@ -7,6 +11,11 @@
 
 #include <string>
 
+#include <errno.h>
+
+extern char *program_invocation_name;
+extern char *program_invocation_short_name;
+
 #include "aos/die.h"
 #include "aos/complex_thread_local.h"
 
diff --git a/aos/logging/implementations.cc b/aos/logging/implementations.cc
index 632d90b..2220e4e 100644
--- a/aos/logging/implementations.cc
+++ b/aos/logging/implementations.cc
@@ -8,7 +8,6 @@
 
 #include "aos/die.h"
 #include "aos/logging/printf_formats.h"
-#include "aos/queue_types.h"
 #include "aos/time/time.h"
 #include "aos/ipc_lib/queue.h"
 #include "aos/once.h"
@@ -23,10 +22,15 @@
 // Some of the things specified in the LogImplementation documentation doesn't
 // apply here (mostly the parts about being able to use AOS_LOG) because this is
 // the root one.
-class RootLogImplementation : public SimpleLogImplementation {
+class RootLogImplementation : public LogImplementation {
  public:
   void have_other_implementation() { only_implementation_ = false; }
 
+ protected:
+  virtual ::aos::monotonic_clock::time_point monotonic_now() const {
+    return ::aos::monotonic_clock::now();
+  }
+
  private:
   void set_next(LogImplementation *) override {
     AOS_LOG(FATAL, "can't have a next logger from here\n");
@@ -101,66 +105,6 @@
 
 }  // namespace
 
-void FillInMessageStructure(bool add_to_type_cache, log_level level,
-                            monotonic_clock::time_point monotonic_now,
-                            const ::std::string &message_string, size_t size,
-                            const MessageType *type,
-                            const ::std::function<size_t(char *)> &serialize,
-                            LogMessage *message) {
-  if (add_to_type_cache) {
-    type_cache::AddShm(type->id);
-  }
-  message->structure.type_id = type->id;
-
-  FillInMessageBase(level, monotonic_now, message);
-
-  if (message_string.size() + size > sizeof(message->structure.serialized)) {
-    AOS_LOG(
-        FATAL,
-        "serialized struct %s (size %zd + %zd > %zd) and message %s too big\n",
-        type->name.c_str(), message_string.size(), size,
-        sizeof(message->structure.serialized), message_string.c_str());
-  }
-  message->structure.string_length = message_string.size();
-  memcpy(message->structure.serialized, message_string.data(),
-         message->structure.string_length);
-
-  message->message_length = serialize(
-      &message->structure.serialized[message->structure.string_length]);
-  message->type = LogMessage::Type::kStruct;
-}
-
-void FillInMessageMatrix(log_level level,
-                         monotonic_clock::time_point monotonic_now,
-                         const ::std::string &message_string, uint32_t type_id,
-                         int rows, int cols, const void *data,
-                         LogMessage *message) {
-  AOS_CHECK(MessageType::IsPrimitive(type_id));
-  message->matrix.type = type_id;
-
-  const auto element_size = MessageType::Sizeof(type_id);
-
-  FillInMessageBase(level, monotonic_now, message);
-
-  message->message_length = rows * cols * element_size;
-  if (message_string.size() + message->message_length >
-      sizeof(message->matrix.data)) {
-    AOS_LOG(FATAL,
-            "%dx%d matrix of type %" PRIu32
-            " (size %u) and message %s is too big\n",
-            rows, cols, type_id, element_size, message_string.c_str());
-  }
-  message->matrix.string_length = message_string.size();
-  memcpy(message->matrix.data, message_string.data(),
-         message->matrix.string_length);
-
-  message->matrix.rows = rows;
-  message->matrix.cols = cols;
-  SerializeMatrix(type_id, &message->matrix.data[message->matrix.string_length],
-                  data, rows, cols);
-  message->type = LogMessage::Type::kMatrix;
-}
-
 void FillInMessage(log_level level, monotonic_clock::time_point monotonic_now,
                    const char *format, va_list ap, LogMessage *message) {
   FillInMessageBase(level, monotonic_now, message);
@@ -180,105 +124,12 @@
       fprintf(output, AOS_LOGGING_BASE_FORMAT "%.*s", BASE_ARGS,
               static_cast<int>(message.message_length), message.message);
       break;
-    case LogMessage::Type::kStruct: {
-      char buffer[4096];
-      size_t output_length = sizeof(buffer);
-      size_t input_length = message.message_length;
-      if (!PrintMessage(
-              buffer, &output_length,
-              message.structure.serialized + message.structure.string_length,
-              &input_length, type_cache::Get(message.structure.type_id))) {
-        AOS_LOG(
-            FATAL,
-            "printing message (%.*s) of type %s into %zu-byte buffer failed\n",
-            static_cast<int>(message.message_length), message.message,
-            type_cache::Get(message.structure.type_id).name.c_str(),
-            sizeof(buffer));
-      }
-      if (input_length > 0) {
-        AOS_LOG(WARNING, "%zu extra bytes on message of type %s\n",
-                input_length,
-                type_cache::Get(message.structure.type_id).name.c_str());
-      }
-      fprintf(output, AOS_LOGGING_BASE_FORMAT "%.*s: %.*s\n", BASE_ARGS,
-              static_cast<int>(message.structure.string_length),
-              message.structure.serialized,
-              static_cast<int>(sizeof(buffer) - output_length), buffer);
-    } break;
-    case LogMessage::Type::kMatrix: {
-      char buffer[1024];
-      size_t output_length = sizeof(buffer);
-      if (message.message_length !=
-          static_cast<size_t>(message.matrix.rows * message.matrix.cols *
-                              MessageType::Sizeof(message.matrix.type))) {
-        AOS_LOG(FATAL, "expected %d bytes of matrix data but have %zu\n",
-                message.matrix.rows * message.matrix.cols *
-                    MessageType::Sizeof(message.matrix.type),
-                message.message_length);
-      }
-      if (!PrintMatrix(buffer, &output_length,
-                       message.matrix.data + message.matrix.string_length,
-                       message.matrix.type, message.matrix.rows,
-                       message.matrix.cols)) {
-        AOS_LOG(FATAL, "printing %dx%d matrix of type %" PRIu32 " failed\n",
-                message.matrix.rows, message.matrix.cols, message.matrix.type);
-      }
-      fprintf(output, AOS_LOGGING_BASE_FORMAT "%.*s: %.*s\n", BASE_ARGS,
-              static_cast<int>(message.matrix.string_length),
-              message.matrix.data,
-              static_cast<int>(sizeof(buffer) - output_length), buffer);
-    } break;
   }
 #undef BASE_ARGS
 }
 
 }  // namespace internal
 
-void SimpleLogImplementation::LogStruct(
-    log_level level, const ::std::string &message, size_t size,
-    const MessageType *type, const ::std::function<size_t(char *)> &serialize) {
-  char serialized[1024];
-  if (size > sizeof(serialized)) {
-    AOS_LOG(FATAL, "structure of type %s too big to serialize\n",
-            type->name.c_str());
-  }
-  size_t used = serialize(serialized);
-  char printed[1024];
-  size_t printed_bytes = sizeof(printed);
-  if (!PrintMessage(printed, &printed_bytes, serialized, &used, *type)) {
-    AOS_LOG(FATAL,
-            "PrintMessage(%p, %p(=%zd), %p, %p(=%zd), %p(name=%s)) failed\n",
-            printed, &printed_bytes, printed_bytes, serialized, &used, used,
-            type, type->name.c_str());
-  }
-  DoLogVariadic(level, "%.*s: %.*s\n", static_cast<int>(message.size()),
-                message.data(),
-                static_cast<int>(sizeof(printed) - printed_bytes), printed);
-}
-
-void SimpleLogImplementation::LogMatrix(
-    log_level level, const ::std::string &message, uint32_t type_id,
-    int rows, int cols, const void *data) {
-  char serialized[1024];
-  if (static_cast<size_t>(rows * cols * MessageType::Sizeof(type_id)) >
-      sizeof(serialized)) {
-    AOS_LOG(FATAL, "matrix of size %u too big to serialize\n",
-            rows * cols * MessageType::Sizeof(type_id));
-  }
-  SerializeMatrix(type_id, serialized, data, rows, cols);
-  char printed[1024];
-  size_t printed_bytes = sizeof(printed);
-  if (!PrintMatrix(printed, &printed_bytes, serialized, type_id, rows, cols)) {
-    AOS_LOG(FATAL,
-            "PrintMatrix(%p, %p(=%zd), %p, %" PRIu32 ", %d, %d) failed\n",
-            printed, &printed_bytes, printed_bytes, serialized, type_id, rows,
-            cols);
-  }
-  DoLogVariadic(level, "%.*s: %.*s\n", static_cast<int>(message.size()),
-                message.data(),
-                static_cast<int>(sizeof(printed) - printed_bytes), printed);
-}
-
 void HandleMessageLogImplementation::DoLog(log_level level, const char *format,
                                            va_list ap) {
   LogMessage message;
@@ -286,25 +137,6 @@
   HandleMessage(message);
 }
 
-void HandleMessageLogImplementation::LogStruct(
-    log_level level, const ::std::string &message_string, size_t size,
-    const MessageType *type, const ::std::function<size_t(char *)> &serialize) {
-  LogMessage message;
-  internal::FillInMessageStructure(fill_type_cache(), level, monotonic_now(),
-                                   message_string, size, type, serialize,
-                                   &message);
-  HandleMessage(message);
-}
-
-void HandleMessageLogImplementation::LogMatrix(
-    log_level level, const ::std::string &message_string, uint32_t type_id,
-    int rows, int cols, const void *data) {
-  LogMessage message;
-  internal::FillInMessageMatrix(level, monotonic_now(), message_string, type_id,
-                                rows, cols, data, &message);
-  HandleMessage(message);
-}
-
 StreamLogImplementation::StreamLogImplementation(FILE *stream)
     : stream_(stream) {}
 
@@ -415,25 +247,6 @@
     internal::FillInMessage(level, monotonic_now(), format, ap, message);
     Write(message);
   }
-
-  void LogStruct(log_level level, const ::std::string &message_string,
-                 size_t size, const MessageType *type,
-                 const ::std::function<size_t(char *)> &serialize) override {
-    LogMessage *message = GetMessageOrDie();
-    internal::FillInMessageStructure(fill_type_cache(), level, monotonic_now(),
-                                     message_string, size, type, serialize,
-                                     message);
-    Write(message);
-  }
-
-  void LogMatrix(log_level level, const ::std::string &message_string,
-                 uint32_t type_id, int rows, int cols,
-                 const void *data) override {
-    LogMessage *message = GetMessageOrDie();
-    internal::FillInMessageMatrix(level, monotonic_now(), message_string,
-                                  type_id, rows, cols, data, message);
-    Write(message);
-  }
 };
 
 }  // namespace
diff --git a/aos/logging/implementations.h b/aos/logging/implementations.h
index 5f7e1c5..27c0472 100644
--- a/aos/logging/implementations.h
+++ b/aos/logging/implementations.h
@@ -43,7 +43,7 @@
 // Contains all of the information about a given logging call.
 struct LogMessage {
   enum class Type : uint8_t {
-    kString, kStruct, kMatrix
+    kString
   };
 
   int32_t seconds, nseconds;
@@ -100,23 +100,6 @@
   return LOG_UNKNOWN;
 }
 
-// A LogImplementation where LogStruct and LogMatrix just create a string with
-// PrintMessage and then forward on to DoLog.
-class SimpleLogImplementation : public LogImplementation {
- protected:
-  virtual ::aos::monotonic_clock::time_point monotonic_now() const {
-    return ::aos::monotonic_clock::now();
-  }
-
- private:
-  void LogStruct(log_level level, const ::std::string &message, size_t size,
-                 const MessageType *type,
-                 const ::std::function<size_t(char *)> &serialize) override;
-  void LogMatrix(log_level level, const ::std::string &message,
-                 uint32_t type_id, int rows, int cols,
-                 const void *data) override;
-};
-
 // Implements all of the DoLog* methods in terms of a (pure virtual in this
 // class) HandleMessage method that takes a pointer to the message.
 class HandleMessageLogImplementation : public LogImplementation {
@@ -128,12 +111,6 @@
  private:
   __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 3, 0)))
   void DoLog(log_level level, const char *format, va_list ap) override;
-  void LogStruct(log_level level, const ::std::string &message_string,
-                 size_t size, const MessageType *type,
-                 const ::std::function<size_t(char *)> &serialize) override;
-  void LogMatrix(log_level level, const ::std::string &message_string,
-                 uint32_t type_id, int rows, int cols,
-                 const void *data) override;
 
   virtual void HandleMessage(const LogMessage &message) = 0;
 };
@@ -186,23 +163,6 @@
 // goes.
 namespace internal {
 
-// Fills in all the parts of message according to the given inputs (with type
-// kStruct).
-void FillInMessageStructure(bool add_to_type_cache, log_level level,
-                            ::aos::monotonic_clock::time_point monotonic_now,
-                            const ::std::string &message_string, size_t size,
-                            const MessageType *type,
-                            const ::std::function<size_t(char *)> &serialize,
-                            LogMessage *message);
-
-// Fills in all the parts of the message according to the given inputs (with
-// type kMatrix).
-void FillInMessageMatrix(log_level level,
-                         ::aos::monotonic_clock::time_point monotonic_now,
-                         const ::std::string &message_string, uint32_t type_id,
-                         int rows, int cols, const void *data,
-                         LogMessage *message);
-
 // Fills in *message according to the given inputs (with type kString).
 // Used for implementing LogImplementation::DoLog.
 void FillInMessage(log_level level,
diff --git a/aos/logging/implementations_test.cc b/aos/logging/implementations_test.cc
index 2accf35..d97e165 100644
--- a/aos/logging/implementations_test.cc
+++ b/aos/logging/implementations_test.cc
@@ -19,9 +19,13 @@
 
 namespace chrono = ::std::chrono;
 
-class TestLogImplementation : public SimpleLogImplementation {
-  __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 3, 0)))
-  void DoLog(log_level level, const char *format, va_list ap) override {
+class TestLogImplementation : public LogImplementation {
+  virtual ::aos::monotonic_clock::time_point monotonic_now() const {
+    return ::aos::monotonic_clock::now();
+  }
+
+  __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 3, 0))) void DoLog(
+      log_level level, const char *format, va_list ap) override {
     internal::FillInMessage(level, monotonic_now(), format, ap, &message_);
 
     if (level == FATAL) {
@@ -175,7 +179,8 @@
   monotonic_clock::time_point end = monotonic_clock::now();
   auto diff = end - start;
   printf("short message took %" PRId64 " nsec for %ld\n",
-         chrono::duration_cast<chrono::nanoseconds>(diff).count(),
+         static_cast<int64_t>(
+             chrono::duration_cast<chrono::nanoseconds>(diff).count()),
          kTimingCycles);
 
   start = monotonic_clock::now();
@@ -185,7 +190,8 @@
   end = monotonic_clock::now();
   diff = end - start;
   printf("long message took %" PRId64 " nsec for %ld\n",
-         chrono::duration_cast<chrono::nanoseconds>(diff).count(),
+         static_cast<int64_t>(
+             chrono::duration_cast<chrono::nanoseconds>(diff).count()),
          kTimingCycles);
 }
 
diff --git a/aos/logging/interface.cc b/aos/logging/interface.cc
index bcd8470..b72f8e1 100644
--- a/aos/logging/interface.cc
+++ b/aos/logging/interface.cc
@@ -19,7 +19,7 @@
   static const char *const continued = "...\n";
   const size_t size = output_size - strlen(continued);
   const int ret = vsnprintf(output, size, format, ap);
-  typedef ::std::common_type<typeof(ret), typeof(size)>::type RetType;
+  typedef ::std::common_type<int, size_t>::type RetType;
   if (ret < 0) {
     AOS_PLOG(FATAL, "vsnprintf(%p, %zd, %s, args) failed",
          output, size, format);
diff --git a/aos/logging/interface.h b/aos/logging/interface.h
index 50237fc..92f0b10 100644
--- a/aos/logging/interface.h
+++ b/aos/logging/interface.h
@@ -16,19 +16,6 @@
 struct MessageType;
 
 namespace logging {
-namespace internal {
-
-// Defined in queue_logging.cc.
-void DoLogStruct(log_level level, const ::std::string &message, size_t size,
-                 const MessageType *type,
-                 const ::std::function<size_t(char *)> &serialize, int levels);
-
-// Defined in matrix_logging.cc.
-void DoLogMatrix(log_level level, const ::std::string &message,
-                 uint32_t type_id, int rows, int cols, const void *data,
-                 int levels);
-
-}  // namespace internal
 
 // Takes a message and logs it. It will set everything up and then call DoLog
 // for the current LogImplementation.
@@ -75,20 +62,6 @@
     va_end(ap);
   }
 
-  // Logs the contents of an auto-generated structure.
-  // size and type are the result of calling Size() and Type() on the type of
-  // the message.
-  // serialize will call Serialize on the message.
-  virtual void LogStruct(log_level level, const ::std::string &message,
-                         size_t size, const MessageType *type,
-                         const ::std::function<size_t(char *)> &serialize) = 0;
-  // Similiar to LogStruct, except for matrixes.
-  // type_id is the type of the elements of the matrix.
-  // data points to rows*cols*type_id.Size() bytes of data in row-major order.
-  virtual void LogMatrix(log_level level, const ::std::string &message,
-                         uint32_t type_id, int rows, int cols,
-                         const void *data) = 0;
-
  private:
   // These functions call similar methods on the "current" LogImplementation or
   // Die if they can't find one.
@@ -97,14 +70,6 @@
       __attribute__((format(GOOD_PRINTF_FORMAT_TYPE, 2, 0)));
 
   friend void VLog(log_level, const char *, va_list);
-  friend void internal::DoLogStruct(
-      log_level level, const ::std::string &message, size_t size,
-      const MessageType *type, const ::std::function<size_t(char *)> &serialize,
-      int levels);
-  friend void internal::DoLogMatrix(log_level level,
-                                    const ::std::string &message,
-                                    uint32_t type_id, int rows, int cols,
-                                    const void *data, int levels);
 
   LogImplementation *next_;
 };
diff --git a/aos/logging/log_displayer.cc b/aos/logging/log_displayer.cc
index e63bdc3..fe902c0 100644
--- a/aos/logging/log_displayer.cc
+++ b/aos/logging/log_displayer.cc
@@ -13,7 +13,6 @@
 
 #include "aos/configuration.h"
 #include "aos/logging/binary_log_file.h"
-#include "aos/queue_types.h"
 #include "aos/logging/logging.h"
 #include "aos/logging/implementations.h"
 #include "aos/logging/printf_formats.h"
@@ -267,28 +266,6 @@
       return 0;
     }
 
-    if (msg->type == LogFileMessageHeader::MessageType::kStructType) {
-      size_t bytes = msg->message_size;
-      ::aos::MessageType *type = ::aos::MessageType::Deserialize(
-          reinterpret_cast<const char *>(msg + 1), &bytes);
-      if (type == nullptr) {
-        AOS_LOG(INFO, "Trying old version of type decoding.\n");
-        bytes = msg->message_size;
-        type = ::aos::MessageType::Deserialize(
-            reinterpret_cast<const char *>(msg + 1), &bytes, false);
-      }
-
-      if (type == nullptr) {
-        AOS_LOG(WARNING,
-                "Error deserializing MessageType of size %" PRIx32
-                " starting at %zx.\n",
-                msg->message_size, reader.file_offset(msg + 1));
-      } else {
-        ::aos::type_cache::Add(*type);
-      }
-      continue;
-    }
-
     if (source_pid >= 0 && msg->source != source_pid) {
       // Message is from the wrong process.
       continue;
@@ -342,69 +319,10 @@
         fprintf(stdout, AOS_LOGGING_BASE_FORMAT "%.*s", BASE_ARGS,
                 static_cast<int>(msg->message_size), position);
         break;
-      case LogFileMessageHeader::MessageType::kStruct: {
-        uint32_t type_id;
-        memcpy(&type_id, position, sizeof(type_id));
-        position += sizeof(type_id);
-
-        uint32_t string_length;
-        memcpy(&string_length, position, sizeof(string_length));
-        position += sizeof(string_length);
-
-        char buffer[4096];
-        size_t output_length = sizeof(buffer);
-        size_t input_length =
-            msg->message_size -
-            (sizeof(type_id) + sizeof(uint32_t) + string_length);
-        if (!PrintMessage(buffer, &output_length, position + string_length,
-                          &input_length, ::aos::type_cache::Get(type_id))) {
-          AOS_LOG(FATAL,
-                  "printing message (%.*s) of type %s into %zu-byte buffer "
-                  "failed\n",
-                  static_cast<int>(string_length), position,
-                  ::aos::type_cache::Get(type_id).name.c_str(), sizeof(buffer));
-        }
-        if (input_length > 0) {
-          AOS_LOG(WARNING, "%zu extra bytes on message of type %s\n",
-                  input_length, ::aos::type_cache::Get(type_id).name.c_str());
-        }
-        fprintf(stdout, AOS_LOGGING_BASE_FORMAT "%.*s: %.*s\n", BASE_ARGS,
-                static_cast<int>(string_length), position,
-                static_cast<int>(sizeof(buffer) - output_length), buffer);
-      } break;
-      case LogFileMessageHeader::MessageType::kMatrix: {
-        uint32_t type;
-        memcpy(&type, position, sizeof(type));
-        position += sizeof(type);
-
-        uint32_t string_length;
-        memcpy(&string_length, position, sizeof(string_length));
-        position += sizeof(string_length);
-
-        uint16_t rows;
-        memcpy(&rows, position, sizeof(rows));
-        position += sizeof(rows);
-        uint16_t cols;
-        memcpy(&cols, position, sizeof(cols));
-        position += sizeof(cols);
-
-        const size_t matrix_bytes =
-            msg->message_size -
-            (sizeof(type) + sizeof(uint32_t) + sizeof(uint16_t) +
-             sizeof(uint16_t) + string_length);
-        AOS_CHECK_EQ(matrix_bytes,
-                     ::aos::MessageType::Sizeof(type) * rows * cols);
-        char buffer[4096];
-        size_t output_length = sizeof(buffer);
-        if (!::aos::PrintMatrix(buffer, &output_length,
-                                position + string_length, type, rows, cols)) {
-          AOS_LOG(FATAL, "printing %dx%d matrix of type %" PRIu32 " failed\n",
-                  rows, cols, type);
-        }
-        fprintf(stdout, AOS_LOGGING_BASE_FORMAT "%.*s: %.*s\n", BASE_ARGS,
-                static_cast<int>(string_length), position,
-                static_cast<int>(sizeof(buffer) - output_length), buffer);
-      } break;
+      case LogFileMessageHeader::MessageType::kStruct:
+      case LogFileMessageHeader::MessageType::kMatrix:
+        AOS_LOG(FATAL, "Unsupported matrix or struct\n");
+        break;
       case LogFileMessageHeader::MessageType::kStructType:
         AOS_LOG(FATAL, "shouldn't get here\n");
         break;
diff --git a/aos/logging/matrix_logging.cc b/aos/logging/matrix_logging.cc
deleted file mode 100644
index e17c8a6..0000000
--- a/aos/logging/matrix_logging.cc
+++ /dev/null
@@ -1,39 +0,0 @@
-#include "aos/logging/matrix_logging.h"
-
-#include "aos/queue_types.h"
-#include "aos/logging/sizes.h"
-
-namespace aos {
-namespace logging {
-namespace internal {
-
-void DoLogMatrix(log_level level, const ::std::string &message,
-                 uint32_t type_id, int rows, int cols, const void *data,
-                 int levels) {
-  {
-    auto fn = [&](LogImplementation *implementation) {
-      implementation->LogMatrix(level, message, type_id, rows, cols, data);
-    };
-    RunWithCurrentImplementation(levels, ::std::ref(fn));
-  }
-
-  if (level == FATAL) {
-    char serialized[1024];
-    if (static_cast<size_t>(rows * cols * MessageType::Sizeof(type_id)) >
-        sizeof(serialized)) {
-      Die("LOG(FATAL) matrix too big to serialize");
-    }
-    SerializeMatrix(type_id, serialized, data, rows, cols);
-    char printed[LOG_MESSAGE_LEN];
-    size_t printed_bytes = sizeof(printed);
-    if (!PrintMatrix(printed, &printed_bytes, serialized, type_id, rows, cols)) {
-      Die("LOG(FATAL) PrintMatrix call failed");
-    }
-    Die("%.*s: %.*s\n", static_cast<int>(message.size()), message.data(),
-        static_cast<int>(printed_bytes), printed);
-  }
-}
-
-}  // namespace internal
-}  // namespace logging
-}  // namespace aos
diff --git a/aos/logging/matrix_logging.h b/aos/logging/matrix_logging.h
deleted file mode 100644
index ef51d56..0000000
--- a/aos/logging/matrix_logging.h
+++ /dev/null
@@ -1,47 +0,0 @@
-#ifndef AOS_LOGGING_MATRIX_LOGGING_H_
-#define AOS_LOGGING_MATRIX_LOGGING_H_
-
-#include <string>
-#include <functional>
-
-#include "Eigen/Dense"
-
-#include "aos/logging/interface.h"
-#include "aos/die.h"
-#include "aos/queue_primitives.h"
-
-namespace aos {
-namespace logging {
-
-// Logs the contents of a matrix and a constant string.
-// matrix must be an instance of an Eigen matrix (or something similar).
-#define AOS_LOG_MATRIX(level, message, matrix)                      \
-  do {                                                              \
-    static const ::std::string kAosLoggingMessage(                  \
-        LOG_SOURCENAME ": " STRINGIFY(__LINE__) ": " message);      \
-    ::aos::logging::DoLogMatrixTemplated(level, kAosLoggingMessage, \
-                                         (matrix).eval());          \
-    /* so that GCC knows that it won't return */                    \
-    if (level == FATAL) {                                           \
-      ::aos::Die("DoLogStruct(FATAL) fell through!!!!!\n");         \
-    }                                                               \
-  } while (false)
-
-template <class T>
-void DoLogMatrixTemplated(log_level level, const ::std::string &message,
-                          const T &matrix) {
-  if (T::IsRowMajor) {
-    typename T::Scalar data[matrix.rows() * matrix.cols()];
-    ::Eigen::Map<T>(data, matrix.rows(), matrix.cols()) = matrix;
-    internal::DoLogMatrix(level, message, TypeID<typename T::Scalar>::id,
-                          matrix.rows(), matrix.cols(), data, 1);
-  } else {
-    internal::DoLogMatrix(level, message, TypeID<typename T::Scalar>::id,
-                          matrix.rows(), matrix.cols(), matrix.data(), 1);
-  }
-}
-
-}  // namespace logging
-}  // namespace aos
-
-#endif  // AOS_LOGGING_MATRIX_LOGGING_H_
diff --git a/aos/logging/queue_logging.cc b/aos/logging/queue_logging.cc
deleted file mode 100644
index 541ddb1..0000000
--- a/aos/logging/queue_logging.cc
+++ /dev/null
@@ -1,39 +0,0 @@
-#include "aos/logging/queue_logging.h"
-
-#include "aos/logging/interface.h"
-#include "aos/logging/sizes.h"
-#include "aos/queue_types.h"
-
-namespace aos {
-namespace logging {
-namespace internal {
-
-void DoLogStruct(log_level level, const ::std::string &message, size_t size,
-                 const MessageType *type,
-                 const ::std::function<size_t(char *)> &serialize, int levels) {
-  {
-    auto fn = [&](LogImplementation *implementation) {
-      implementation->LogStruct(level, message, size, type, serialize);
-    };
-    RunWithCurrentImplementation(levels, ::std::ref(fn));
-  }
-
-  if (level == FATAL) {
-    char serialized[1024];
-    if (size > sizeof(serialized)) {
-      Die("LOG(FATAL) structure too big to serialize");
-    }
-    size_t used = serialize(serialized);
-    char printed[LOG_MESSAGE_LEN];
-    size_t printed_bytes = sizeof(printed);
-    if (!PrintMessage(printed, &printed_bytes, serialized, &used, *type)) {
-      Die("LOG(FATAL) PrintMessage call failed");
-    }
-    Die("%.*s: %.*s\n", static_cast<int>(message.size()), message.data(),
-        static_cast<int>(printed_bytes), printed);
-  }
-}
-
-}  // namespace internal
-}  // namespace logging
-}  // namespace aos
diff --git a/aos/logging/queue_logging.h b/aos/logging/queue_logging.h
deleted file mode 100644
index fdebcc3..0000000
--- a/aos/logging/queue_logging.h
+++ /dev/null
@@ -1,43 +0,0 @@
-#ifndef AOS_LOGGING_QUEUE_LOGGING_H_
-#define AOS_LOGGING_QUEUE_LOGGING_H_
-
-#include <stdio.h>
-#include <stdlib.h>
-
-#include <functional>
-#include <string>
-
-#include "aos/logging/interface.h"
-#include "aos/die.h"
-
-namespace aos {
-namespace logging {
-
-// Logs the contents of a structure (or Queue message) and a constant string.
-// structure must be an instance of one of the generated queue types.
-#define AOS_LOG_STRUCT(level, message, structure)                   \
-  do {                                                              \
-    static const ::std::string kAosLoggingMessage(                  \
-        LOG_SOURCENAME ": " STRINGIFY(__LINE__) ": " message);      \
-    ::aos::logging::DoLogStructTemplated(level, kAosLoggingMessage, \
-                                         structure);                \
-    /* so that GCC knows that it won't return */                    \
-    if (level == FATAL) {                                           \
-      ::aos::Die("DoLogStruct(FATAL) fell through!!!!!\n");         \
-    }                                                               \
-  } while (false)
-
-template <class T>
-void DoLogStructTemplated(log_level level, const ::std::string &message,
-                          const T &structure) {
-  auto fn = [&structure](char *buffer)
-                -> size_t { return structure.Serialize(buffer); };
-
-  internal::DoLogStruct(level, message, T::Size(), T::GetType(), ::std::ref(fn),
-                        1);
-}
-
-}  // namespace logging
-}  // namespace aos
-
-#endif  // AOS_LOGGING_QUEUE_LOGGING_H_
diff --git a/aos/logging/replay.cc b/aos/logging/replay.cc
deleted file mode 100644
index c58ee8c..0000000
--- a/aos/logging/replay.cc
+++ /dev/null
@@ -1,49 +0,0 @@
-#include "aos/logging/replay.h"
-
-#include <chrono>
-
-namespace aos {
-namespace logging {
-namespace linux_code {
-
-namespace chrono = ::std::chrono;
-
-bool LogReplayer::ProcessMessage() {
-  const LogFileMessageHeader *message = reader_->ReadNextMessage(false);
-  if (message == nullptr) return true;
-  if (message->type != LogFileMessageHeader::MessageType::kStruct) return false;
-
-  const char *position = reinterpret_cast<const char *>(message + 1);
-
-  ::std::string process(position, message->name_size);
-  position += message->name_size;
-
-  uint32_t type_id;
-  memcpy(&type_id, position, sizeof(type_id));
-  position += sizeof(type_id);
-
-  uint32_t message_length;
-  memcpy(&message_length, position, sizeof(message_length));
-  position += sizeof(message_length);
-  ::std::string message_text(position, message_length);
-  position += message_length;
-
-  size_t split_index = message_text.find_first_of(':') + 2;
-  split_index = message_text.find_first_of(':', split_index) + 2;
-  message_text = message_text.substr(split_index);
-
-  auto handler = handlers_.find(Key(process, message_text));
-  if (handler == handlers_.end()) return false;
-
-  handler->second->HandleStruct(
-      monotonic_clock::time_point(chrono::seconds(message->time_sec) +
-                                  chrono::nanoseconds(message->time_nsec)),
-      type_id, position,
-      message->message_size -
-          (sizeof(type_id) + sizeof(message_length) + message_length));
-  return false;
-}
-
-}  // namespace linux_code
-}  // namespace logging
-}  // namespace aos
diff --git a/aos/logging/replay.h b/aos/logging/replay.h
deleted file mode 100644
index 6604591..0000000
--- a/aos/logging/replay.h
+++ /dev/null
@@ -1,171 +0,0 @@
-#ifndef AOS_LOGGING_REPLAY_H_
-#define AOS_LOGGING_REPLAY_H_
-
-#include <unordered_map>
-#include <string>
-#include <functional>
-#include <memory>
-
-#include "aos/events/event-loop.h"
-#include "aos/ipc_lib/queue.h"
-#include "aos/logging/binary_log_file.h"
-#include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
-#include "aos/macros.h"
-#include "aos/queue.h"
-#include "aos/queue_types.h"
-
-namespace aos {
-namespace logging {
-namespace linux_code {
-
-// Manages pulling logged queue messages out of log files.
-//
-// Basic usage:
-//   - Use the Add* methods to register handlers for various message sources.
-//   - Call OpenFile to open a log file.
-//   - Call ProcessMessage repeatedly until it returns true.
-//
-// This code could do something to adapt similar-but-not-identical
-// messages to the current versions, but currently it will LOG(FATAL) if any of
-// the messages don't match up exactly.
-class LogReplayer {
- public:
-  LogReplayer() {}
-
-  // Gets ready to read messages from fd.
-  // Does not take ownership of fd.
-  void OpenFile(int fd) {
-    reader_.reset(new LogFileReader(fd));
-  }
-  // Closes the currently open file.
-  void CloseCurrentFile() { reader_.reset(); }
-  // Returns true if we have a file which is currently open.
-  bool HasCurrentFile() const { return reader_.get() != nullptr; }
-
-  // Processes a single message from the currently open file.
-  // Returns true if there are no more messages in the file.
-  // This will not call any of the handlers if the next message either has no
-  // registered handlers or is not a queue message.
-  bool ProcessMessage();
-
-  // Adds a handler for messages with a certain string from a certain process.
-  // T must be a Message with the same format as the messages generated by
-  // the .q files.
-  // LOG(FATAL)s for duplicate handlers.
-  template <class T>
-  void AddHandler(const ::std::string &process_name,
-                  const ::std::string &log_message,
-                  ::std::function<void(const T &message)> handler) {
-    AOS_CHECK(handlers_
-                  .emplace(::std::piecewise_construct,
-                           ::std::forward_as_tuple(process_name, log_message),
-                           ::std::forward_as_tuple(
-                               ::std::unique_ptr<StructHandlerInterface>(
-                                   new TypedStructHandler<T>(handler))))
-                  .second);
-  }
-
-  // Adds a handler which takes messages and places them directly on a queue.
-  // T must be a Message with the same format as the messages generated by
-  // the .q files.
-  template <class T>
-  void AddDirectQueueSender(const ::std::string &process_name,
-                            const ::std::string &log_message,
-                            const ::std::string &name) {
-    AddHandler(process_name, log_message,
-               ::std::function<void(const T &)>(
-                   QueueDumpStructHandler<T>(name.c_str())));
-  }
-
- private:
-  // A generic handler of struct log messages.
-  class StructHandlerInterface {
-   public:
-    virtual ~StructHandlerInterface() {}
-
-    virtual void HandleStruct(::aos::monotonic_clock::time_point log_time,
-                              uint32_t type_id, const void *data,
-                              size_t data_size) = 0;
-  };
-
-  // Converts struct log messages to a message type and passes it to an
-  // ::std::function.
-  template <class T>
-  class TypedStructHandler : public StructHandlerInterface {
-   public:
-    TypedStructHandler(::std::function<void(const T &message)> handler)
-        : handler_(handler) {}
-
-    void HandleStruct(::aos::monotonic_clock::time_point log_time,
-                      uint32_t type_id, const void *data,
-                      size_t data_size) override {
-      AOS_CHECK_EQ(type_id, T::GetType()->id);
-      T message;
-      AOS_CHECK_EQ(data_size, T::Size());
-      AOS_CHECK_EQ(data_size,
-                   message.Deserialize(static_cast<const char *>(data)));
-      message.sent_time = log_time;
-      handler_(message);
-    }
-
-   private:
-    const ::std::function<void(T message)> handler_;
-  };
-
-  // A callable class which dumps messages straight to a queue.
-  template <class T>
-  class QueueDumpStructHandler {
-   public:
-    QueueDumpStructHandler(const ::std::string &queue_name)
-        : queue_(RawQueue::Fetch(queue_name.c_str(), sizeof(T), T::kHash,
-                                 T::kQueueLength)) {}
-
-    void operator()(const T &message) {
-      AOS_LOG_STRUCT(DEBUG, "re-sending", message);
-      void *raw_message = queue_->GetMessage();
-      AOS_CHECK_NOTNULL(raw_message);
-      memcpy(raw_message, &message, sizeof(message));
-      AOS_CHECK(queue_->WriteMessage(raw_message, RawQueue::kOverride));
-    }
-
-   private:
-    ::aos::RawQueue *const queue_;
-  };
-
-  // A key for specifying log messages to give to a certain handler.
-  struct Key {
-    Key(const ::std::string &process_name, const ::std::string &log_message)
-        : process_name(process_name), log_message(log_message) {}
-
-    ::std::string process_name;
-    ::std::string log_message;
-  };
-
-  struct KeyHash {
-    size_t operator()(const Key &key) const {
-      return string_hash(key.process_name) ^
-             (string_hash(key.log_message) << 1);
-    }
-
-   private:
-    const ::std::hash<::std::string> string_hash = ::std::hash<::std::string>();
-  };
-  struct KeyEqual {
-    bool operator()(const Key &a, const Key &b) const {
-      return a.process_name == b.process_name && a.log_message == b.log_message;
-    }
-  };
-
-  ::std::unordered_map<const Key, ::std::unique_ptr<StructHandlerInterface>,
-                       KeyHash, KeyEqual> handlers_;
-  ::std::unique_ptr<LogFileReader> reader_;
-
-  DISALLOW_COPY_AND_ASSIGN(LogReplayer);
-};
-
-}  // namespace linux_code
-}  // namespace logging
-}  // namespace aos
-
-#endif  // AOS_LOGGING_REPLAY_H_
diff --git a/aos/mutex/BUILD b/aos/mutex/BUILD
index 43c9616..e698f62 100644
--- a/aos/mutex/BUILD
+++ b/aos/mutex/BUILD
@@ -9,10 +9,9 @@
         "mutex.h",
     ],
     deps = [
-        "//aos:die",
-        "//aos/type_traits:type_traits",
-        "//aos/logging",
         "//aos/ipc_lib:aos_sync",
+        "//aos/type_traits",
+        "@com_github_google_glog//:glog",
     ],
 )
 
@@ -22,14 +21,13 @@
         "mutex_test.cc",
     ],
     deps = [
-        "//aos:die",
         ":mutex",
-        "//aos/time:time",
-        "//aos/logging",
-        "//aos/util:death_test_log_implementation",
-        "//aos/util:thread",
         "//aos/testing:googletest",
         "//aos/testing:test_logging",
         "//aos/testing:test_shm",
+        "//aos/time",
+        "//aos/util:death_test_log_implementation",
+        "//aos/util:thread",
+        "@com_github_google_glog//:glog",
     ],
 )
diff --git a/aos/mutex/mutex.cc b/aos/mutex/mutex.cc
index c5570aa..ef4fbbe 100644
--- a/aos/mutex/mutex.cc
+++ b/aos/mutex/mutex.cc
@@ -5,7 +5,7 @@
 #include <string.h>
 
 #include "aos/type_traits/type_traits.h"
-#include "aos/logging/logging.h"
+#include "glog/logging.h"
 
 namespace aos {
 
@@ -19,8 +19,8 @@
   } else if (ret == 1) {
     return true;
   } else {
-    AOS_LOG(FATAL, "mutex_grab(%p(=%" PRIu32 ")) failed with %d\n", &impl_,
-            impl_.futex, ret);
+    LOG(FATAL) << "mutex_grab(" << &impl_ << "(=" << std::hex << impl_.futex
+               << ")) failed with " << ret;
   }
 }
 
@@ -38,8 +38,8 @@
     case 4:
       return State::kLockFailed;
     default:
-      AOS_LOG(FATAL, "mutex_trylock(%p(=%" PRIu32 ")) failed with %d\n", &impl_,
-              impl_.futex, ret);
+      LOG(FATAL) << "mutex_trylock(" << &impl_ << "(=" << std::hex
+                 << impl_.futex << ")) failed with " << ret;
   }
 }
 
diff --git a/aos/mutex/mutex.h b/aos/mutex/mutex.h
index ad678cc..a2af7ae 100644
--- a/aos/mutex/mutex.h
+++ b/aos/mutex/mutex.h
@@ -1,10 +1,10 @@
 #ifndef AOS_MUTEX_H_
 #define AOS_MUTEX_H_
 
+#include "aos/ipc_lib/aos_sync.h"
 #include "aos/macros.h"
 #include "aos/type_traits/type_traits.h"
-#include "aos/die.h"
-#include "aos/ipc_lib/aos_sync.h"
+#include "glog/logging.h"
 
 namespace aos {
 
@@ -73,8 +73,8 @@
  public:
   explicit MutexLocker(Mutex *mutex) : mutex_(mutex) {
     if (__builtin_expect(mutex_->Lock(), false)) {
-      ::aos::Die("previous owner of mutex %p died but it shouldn't be able to",
-                 this);
+      LOG(FATAL) << "previous owner of mutex " << this
+                 << " died but it shouldn't be able to";
     }
   }
   ~MutexLocker() {
@@ -95,13 +95,14 @@
       : mutex_(mutex), owner_died_(mutex_->Lock()) {}
   ~IPCMutexLocker() {
     if (__builtin_expect(!owner_died_checked_, false)) {
-      ::aos::Die("nobody checked if the previous owner of mutex %p died", this);
+      LOG(FATAL) << "nobody checked if the previous owner of mutex " << this
+                 << " died";
     }
     mutex_->Unlock();
   }
 
   // Whether or not the previous owner died. If this is not called at least
-  // once, the destructor will ::aos::Die.
+  // once, the destructor will LOG(FATAL)
   __attribute__((warn_unused_result)) bool owner_died() {
     owner_died_checked_ = true;
     return __builtin_expect(owner_died_, false);
@@ -125,13 +126,14 @@
         owner_died_(locked_ ? mutex_->Lock() : false) {}
   ~IPCRecursiveMutexLocker() {
     if (__builtin_expect(!owner_died_checked_, false)) {
-      ::aos::Die("nobody checked if the previous owner of mutex %p died", this);
+      LOG(FATAL) << "nobody checked if the previous owner of mutex " << this
+                 << " died";
     }
     if (locked_) mutex_->Unlock();
   }
 
   // Whether or not the previous owner died. If this is not called at least
-  // once, the destructor will ::aos::Die.
+  // once, the destructor will LOG(FATAL)
   __attribute__((warn_unused_result)) bool owner_died() {
     owner_died_checked_ = true;
     return __builtin_expect(owner_died_, false);
diff --git a/aos/mutex/mutex_test.cc b/aos/mutex/mutex_test.cc
index 9d371b7..cc659a5 100644
--- a/aos/mutex/mutex_test.cc
+++ b/aos/mutex/mutex_test.cc
@@ -10,13 +10,13 @@
 #include "gtest/gtest.h"
 
 #include "aos/die.h"
-#include "aos/time/time.h"
-#include "aos/util/death_test_log_implementation.h"
-#include "aos/util/thread.h"
 #include "aos/ipc_lib/aos_sync.h"
 #include "aos/ipc_lib/core_lib.h"
 #include "aos/testing/test_logging.h"
 #include "aos/testing/test_shm.h"
+#include "aos/time/time.h"
+#include "aos/util/death_test_log_implementation.h"
+#include "aos/util/thread.h"
 
 namespace aos {
 namespace testing {
diff --git a/aos/queue-tmpl.h b/aos/queue-tmpl.h
deleted file mode 100644
index 2ca79b8..0000000
--- a/aos/queue-tmpl.h
+++ /dev/null
@@ -1,106 +0,0 @@
-namespace aos {
-
-template <class T>
-bool ScopedMessagePtr<T>::Send() {
-  assert(msg_ != NULL);
-  msg_->SetTimeToNow();
-  assert(queue_ != NULL);
-  bool return_value = queue_->WriteMessage(msg_, RawQueue::kOverride);
-  msg_ = NULL;
-  return return_value;
-}
-
-template <class T>
-void ScopedMessagePtr<T>::reset(T *msg) {
-  if (queue_ != NULL && msg_ != NULL) {
-    queue_->FreeMessage(msg_);
-  }
-  msg_ = msg;
-}
-
-template <class T>
-void Queue<T>::Init() {
-  if (queue_ == NULL) {
-    queue_ = RawQueue::Fetch(queue_name_, sizeof(T),
-                             static_cast<int>(T::kHash),
-                             T::kQueueLength);
-    queue_msg_.set_queue(queue_);
-  }
-}
-
-template <class T>
-void Queue<T>::Clear() {
-  if (queue_ != NULL) {
-    queue_msg_.reset();
-    queue_ = NULL;
-    queue_msg_.set_queue(NULL);
-  }
-  index_ = 0;
-}
-
-template <class T>
-bool Queue<T>::FetchNext() {
-  Init();
-  const T *msg = static_cast<const T *>(
-      queue_->ReadMessageIndex(RawQueue::kNonBlock, &index_));
-  // Only update the internal pointer if we got a new message.
-  if (msg != NULL) {
-    queue_msg_.reset(msg);
-  }
-  return msg != NULL;
-}
-
-template <class T>
-void Queue<T>::FetchNextBlocking() {
-  Init();
-  const T *msg = static_cast<const T *>(
-      queue_->ReadMessageIndex(RawQueue::kBlock, &index_));
-  queue_msg_.reset(msg);
-  assert (msg != NULL);
-}
-
-template <class T>
-bool Queue<T>::FetchLatest() {
-  Init();
-  static constexpr Options<RawQueue> kOptions =
-      RawQueue::kFromEnd | RawQueue::kNonBlock;
-  const T *msg =
-      static_cast<const T *>(queue_->ReadMessageIndex(kOptions, &index_));
-  // Only update the internal pointer if we got a new message.
-  if (msg != NULL && msg != queue_msg_.get()) {
-    queue_msg_.reset(msg);
-    return true;
-  }
-  // The message has to get freed if we didn't use it (and RawQueue::FreeMessage
-  // is ok to call on NULL).
-  queue_->FreeMessage(msg);
-  return false;
-}
-
-template <class T>
-void Queue<T>::FetchAnother() {
-  if (!FetchLatest()) FetchNextBlocking();
-}
-
-template <class T>
-ScopedMessagePtr<T> Queue<T>::MakeMessage() {
-  Init();
-  return ScopedMessagePtr<T>(queue_, MakeRawMessage());
-}
-
-template <class T>
-T *Queue<T>::MakeRawMessage() {
-  T *ret = static_cast<T *>(queue_->GetMessage());
-  assert(ret != NULL);
-  ret->Zero();
-  return ret;
-}
-
-template <class T>
-aos::MessageBuilder<T> Queue<T>::MakeWithBuilder() {
-  Init();
-  T *const ret = MakeRawMessage();
-  return aos::MessageBuilder<T>(queue_, ret);
-}
-
-}  // namespace aos
diff --git a/aos/queue.h b/aos/queue.h
deleted file mode 100644
index fb11f4f..0000000
--- a/aos/queue.h
+++ /dev/null
@@ -1,219 +0,0 @@
-#ifndef AOS_QUEUE_H_
-#define AOS_QUEUE_H_
-
-#include <assert.h>
-
-#include "aos/macros.h"
-#include "aos/ipc_lib/queue.h"
-#include "aos/messages/message.h"
-
-namespace aos {
-
-template <class T> class Queue;
-
-// A ScopedMessagePtr<> manages a queue message pointer.
-// It frees it properly when the ScopedMessagePtr<> goes out of scope or gets
-// sent.  By design, there is no way to get the ScopedMessagePtr to release the
-// message pointer to external code.
-template <class T>
-class ScopedMessagePtr {
- public:
-  // Returns a pointer to the message.
-  // This stays valid until Send or the destructor have been called.
-  const T *get() const { return msg_; }
-  T *get() { return msg_; }
-
-  const T &operator*() const {
-    const T *msg = get();
-    assert(msg != NULL);
-    return *msg;
-  }
-
-  T &operator*() {
-    T *msg = get();
-    assert(msg != NULL);
-    return *msg;
-  }
-
-  const T *operator->() const {
-    const T *msg = get();
-    assert(msg != NULL);
-    return msg;
-  }
-
-  T *operator->() {
-    T *msg = get();
-    assert(msg != NULL);
-    return msg;
-  }
-
-  operator bool() {
-    return msg_ != NULL;
-  }
-
-  // Sends the message and removes our reference to it.
-  // If the queue is full, over-ride the oldest message in it with our new
-  // message.
-  // Returns true on success, and false otherwise.
-  // The message will be freed.
-  bool Send();
-
-  // Frees the contained message.
-  ~ScopedMessagePtr() {
-    reset();
-  }
-
-  // Implements a move constructor.  This only takes rvalue references
-  // because we want to allow someone to say
-  // ScopedMessagePtr<X> ptr = queue.MakeMessage();
-  // but we don't want to allow them to then say
-  // ScopedMessagePtr<X> new_ptr = ptr;
-  // And, if they do actually want to move the pointer, then it will correctly
-  // clear out the source so there aren't 2 pointers to the message lying
-  // around.
-  ScopedMessagePtr(ScopedMessagePtr<T> &&ptr)
-      : queue_(ptr.queue_), msg_(ptr.msg_) {
-    ptr.msg_ = NULL;
-  }
-
- private:
-  // Provide access to set_queue and the constructor for init.
-  friend class aos::Queue<typename std::remove_const<T>::type>;
-  // Provide access to the copy constructor for MakeWithBuilder.
-  friend class aos::MessageBuilder<T>;
-
-  // Only Queue should be able to build a message.
-  ScopedMessagePtr(RawQueue *queue, T *msg)
-      : queue_(queue), msg_(msg) {}
-
-  // Sets the pointer to msg, freeing the old value if it was there.
-  // This is private because nobody should be able to get a pointer to a message
-  // that needs to be scoped without using the queue.
-  void reset(T *msg = NULL);
-
-  // Sets the queue that owns this message.
-  void set_queue(RawQueue *queue) { queue_ = queue; }
-
-  // The queue that the message is a part of.
-  RawQueue *queue_;
-  // The message or NULL.
-  T *msg_;
-
-  // Protect evil constructors.
-  DISALLOW_COPY_AND_ASSIGN(ScopedMessagePtr<T>);
-};
-
-// TODO(aschuh): Base class
-// T must be a Message with the same format as the messages generated by
-// the .q files.
-template <class T>
-class Queue {
- public:
-  typedef T Message;
-
-  explicit Queue(const char *queue_name)
-      : queue_name_(queue_name), queue_(NULL), queue_msg_(NULL, NULL) {
-    static_assert(shm_ok<T>::value,
-                  "The provided message type can't be put in shmem.");
-  }
-
-  // Initializes the queue.  This may optionally be called to do any one time
-  // work before sending information, and may be be called multiple times.
-  // Init will be called when a message is sent, but this will cause sending to
-  // take a different amount of time the first cycle.
-  void Init();
-
-  // Removes all internal references to shared memory so shared memory can be
-  // restarted safely.  This should only be used in testing.
-  void Clear();
-
-  // Fetches the next message from the queue.
-  // Returns true if there was a new message available and we successfully
-  // fetched it.
-  bool FetchNext();
-
-  // Fetches the next message from the queue, waiting if necessary until there
-  // is one.
-  void FetchNextBlocking();
-
-  // Fetches the last message from the queue.
-  // Returns true if there was a new message available and we successfully
-  // fetched it.
-  bool FetchLatest();
-
-  // Fetches the latest message from the queue, or blocks if we have already
-  // fetched it until another is avilable.
-  void FetchAnother();
-
-  // Returns the age of the message.
-  const monotonic_clock::duration Age() const {
-    return monotonic_clock::now() - queue_msg_->sent_time;
-  }
-
-  bool IsNewerThan(const monotonic_clock::duration age) const {
-    return get() != nullptr && Age() < age;
-  }
-
-  // Returns a pointer to the current message.
-  // This pointer will be valid until a new message is fetched.
-  const T *get() const { return queue_msg_.get(); }
-
-  // Returns a reference to the message.
-  // The message will be valid until a new message is fetched.
-  const T &operator*() const {
-    const T *msg = get();
-    assert(msg != NULL);
-    return *msg;
-  }
-
-  // Returns a pointer to the current message.
-  // This pointer will be valid until a new message is fetched.
-  const T *operator->() const {
-    const T *msg = get();
-    assert(msg != NULL);
-    return msg;
-  }
-
-  // Returns a scoped_ptr containing a message.
-  // GCC will optimize away the copy constructor, so this is safe.
-  ScopedMessagePtr<T> MakeMessage();
-
-  // Returns a message builder that contains a pre-allocated message.
-  // This message will start out completely zeroed.
-  aos::MessageBuilder<T> MakeWithBuilder();
-
-  const char *name() const { return queue_name_; }
-
- private:
-  const char *queue_name_;
-
-  T *MakeRawMessage();
-
-  // Pointer to the queue that this object fetches from.
-  RawQueue *queue_;
-  int index_ = 0;
-  // Scoped pointer holding the latest message or NULL.
-  ScopedMessagePtr<const T> queue_msg_;
-
-  DISALLOW_COPY_AND_ASSIGN(Queue<T>);
-};
-
-// Base class for all queue groups.
-class QueueGroup {
- public:
-  // Constructs a queue group given its name and a unique hash of the name and
-  // type.
-  QueueGroup(const char *name) : name_(name) {}
-
-  // Returns the name of the queue group.
-  const char *name() const { return name_.c_str(); }
-
- private:
-  std::string name_;
-};
-
-}  // namespace aos
-
-#include "aos/queue-tmpl.h"
-
-#endif  // AOS_QUEUE_H_
diff --git a/aos/queue_test.cc b/aos/queue_test.cc
deleted file mode 100644
index 1c4ebdd..0000000
--- a/aos/queue_test.cc
+++ /dev/null
@@ -1,316 +0,0 @@
-#include <unistd.h>
-
-#include <chrono>
-#include <memory>
-
-#include "gtest/gtest.h"
-
-#include "aos/die.h"
-#include "aos/test_queue.q.h"
-#include "aos/util/thread.h"
-#include "aos/testing/test_shm.h"
-
-namespace aos {
-namespace common {
-namespace testing {
-
-namespace chrono = ::std::chrono;
-
-class QueueTest : public ::testing::Test {
- protected:
-  void SetUp() override {
-    SetDieTestMode(true);
-  }
-
-  ::aos::testing::TestSharedMemory my_shm_;
-  // Create a new instance of the test queue so that it invalidates the queue
-  // that it points to.  Otherwise, we will have a pointer to shared memory that
-  // is no longer valid.
-  ::aos::Queue<TestingMessage> my_test_queue;
-
-  QueueTest() : my_test_queue(".aos.common.testing.test_queue") {}
-};
-
-class MyThread : public util::Thread {
- public:
-  MyThread() : threaded_test_queue(".aos.common.testing.test_queue") {}
-
-  virtual void Run() {
-    threaded_test_queue.FetchNextBlocking();
-    EXPECT_TRUE(threaded_test_queue->test_bool);
-    EXPECT_EQ(0x971, threaded_test_queue->test_int);
-  }
-
-  ::aos::Queue<TestingMessage> threaded_test_queue;
- private:
-  DISALLOW_COPY_AND_ASSIGN(MyThread);
-};
-
-
-// Tests that we can send a message to another thread and it blocking receives
-// it at the correct time.
-TEST_F(QueueTest, FetchBlocking) {
-  MyThread t;
-  t.Start();
-  usleep(50000);
-  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x971).Send();
-  t.Join();
-  EXPECT_LE(t.threaded_test_queue.Age(), chrono::milliseconds(57));
-}
-
-// Tests that we can send a message with the message pointer and get it back.
-TEST_F(QueueTest, SendMessage) {
-  ScopedMessagePtr<TestingMessage> msg = my_test_queue.MakeMessage();
-  msg->test_bool = true;
-  msg->test_int = 0x971;
-  msg.Send();
-
-  ASSERT_TRUE(my_test_queue.FetchLatest());
-  EXPECT_TRUE(my_test_queue->test_bool);
-  EXPECT_EQ(0x971, my_test_queue->test_int);
-}
-
-// Tests that we can send a message with the builder and get it back.
-TEST_F(QueueTest, SendWithBuilder) {
-  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x971).Send();
-
-  ASSERT_TRUE(my_test_queue.FetchLatest());
-  EXPECT_EQ(true, my_test_queue->test_bool);
-  EXPECT_EQ(0x971, my_test_queue->test_int);
-  EXPECT_EQ(true, my_test_queue.IsNewerThan(chrono::milliseconds(10000)));
-}
-
-// Tests that multiple queue instances don't break each other.
-TEST_F(QueueTest, MultipleQueues) {
-  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x971).Send();
-  ASSERT_TRUE(my_test_queue.FetchLatest());
-  EXPECT_TRUE(my_test_queue.get());
-
-  {
-    ::aos::Queue<TestingMessage> my_other_test_queue(
-        ".aos.common.testing.queue_name");
-    my_other_test_queue.MakeMessage();
-    EXPECT_FALSE(my_other_test_queue.FetchLatest());
-    EXPECT_FALSE(my_test_queue.FetchLatest());
-  }
-
-  EXPECT_TRUE(my_test_queue.get());
-}
-
-// Tests that using a queue from multiple threads works correctly.
-TEST_F(QueueTest, MultipleThreads) {
-  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x971).Send();
-  ASSERT_TRUE(my_test_queue.FetchLatest());
-  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x254).Send();
-  EXPECT_EQ(0x971, my_test_queue->test_int);
-
-  ::aos::util::FunctionThread::RunInOtherThread([this]() {
-    ASSERT_TRUE(my_test_queue.FetchLatest());
-    EXPECT_EQ(0x254, my_test_queue->test_int);
-  });
-  EXPECT_EQ(0x254, my_test_queue->test_int);
-}
-
-// Makes sure that MakeWithBuilder zeros the message initially.
-// This might randomly succeed sometimes, but it will fail with asan if it
-// doesn't.
-TEST_F(QueueTest, BuilderZero) {
-  my_test_queue.MakeWithBuilder().Send();
-
-  ASSERT_TRUE(my_test_queue.FetchLatest());
-  EXPECT_FALSE(my_test_queue->test_bool);
-  EXPECT_EQ(0, my_test_queue->test_int);
-}
-
-// Tests that various pointer deref functions at least seem to work.
-TEST_F(QueueTest, PointerDeref) {
-  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x971).Send();
-
-  ASSERT_TRUE(my_test_queue.FetchLatest());
-  const TestingMessage *msg_ptr = my_test_queue.get();
-  ASSERT_NE(static_cast<TestingMessage*>(NULL), msg_ptr);
-  EXPECT_EQ(0x971, msg_ptr->test_int);
-  EXPECT_EQ(msg_ptr, &(*my_test_queue));
-}
-
-// Tests that FetchNext doesn't miss any messages.
-TEST_F(QueueTest, FetchNext) {
-  for (int i = 0; i < 10; ++i) {
-    my_test_queue.MakeWithBuilder().test_bool(true).test_int(i).Send();
-  }
-
-  for (int i = 0; i < 10; ++i) {
-    ASSERT_TRUE(my_test_queue.FetchNext());
-    EXPECT_EQ(i, my_test_queue->test_int);
-  }
-}
-
-// Tests that FetchLatest skips a missing message.
-TEST_F(QueueTest, FetchLatest) {
-  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x254).Send();
-  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x971).Send();
-
-  ASSERT_TRUE(my_test_queue.FetchLatest());
-  EXPECT_EQ(0x971, my_test_queue->test_int);
-}
-
-// Tests that FetchLatest works with multiple readers.
-TEST_F(QueueTest, FetchLatestMultiple) {
-  ::aos::Queue<TestingMessage> my_second_test_queue(
-      ".aos.common.testing.test_queue");
-  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x254).Send();
-  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x971).Send();
-
-  ASSERT_TRUE(my_test_queue.FetchLatest());
-  EXPECT_EQ(0x971, my_test_queue->test_int);
-  ASSERT_TRUE(my_second_test_queue.FetchLatest());
-  ASSERT_TRUE(my_second_test_queue.get() != NULL);
-  EXPECT_EQ(0x971, my_second_test_queue->test_int);
-}
-
-
-// Tests that fetching without a new message returns false.
-TEST_F(QueueTest, FetchLatestWithoutMessage) {
-  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x254).Send();
-  EXPECT_TRUE(my_test_queue.FetchLatest());
-  EXPECT_FALSE(my_test_queue.FetchLatest());
-  EXPECT_FALSE(my_test_queue.FetchLatest());
-  EXPECT_EQ(0x254, my_test_queue->test_int);
-}
-
-// Tests that fetching without a message returns false.
-TEST_F(QueueTest, FetchOnFreshQueue) {
-  EXPECT_FALSE(my_test_queue.FetchLatest());
-  EXPECT_EQ(static_cast<TestingMessage*>(NULL), my_test_queue.get());
-}
-
-// Tests that fetch next without a message returns false.
-TEST_F(QueueTest, FetchNextOnFreshQueue) {
-  EXPECT_FALSE(my_test_queue.FetchNext());
-  EXPECT_EQ(static_cast<TestingMessage*>(NULL), my_test_queue.get());
-}
-
-// Tests that fetch next without a new message returns false.
-TEST_F(QueueTest, FetchNextWithoutMessage) {
-  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x254).Send();
-  EXPECT_TRUE(my_test_queue.FetchNext());
-  EXPECT_FALSE(my_test_queue.FetchNext());
-  EXPECT_NE(static_cast<TestingMessage*>(NULL), my_test_queue.get());
-}
-
-// Tests that age makes some sense.
-TEST_F(QueueTest, Age) {
-  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x971).Send();
-
-  ASSERT_TRUE(my_test_queue.FetchLatest());
-  EXPECT_TRUE(my_test_queue.IsNewerThan(chrono::milliseconds(100)));
-  const auto age = my_test_queue.Age();
-  EXPECT_GE(chrono::nanoseconds(100000000), age);
-}
-
-
-class GroupTest : public ::testing::Test {
- protected:
-  GroupTest()
-      : my_test_queuegroup(".aos.common.testing.test_queuegroup",
-                           ".aos.common.testing.test_queuegroup.first",
-                           ".aos.common.testing.test_queuegroup.second") {}
-
-  // Create a new instance of the test group so that it invalidates the queue
-  // that it points to.  Otherwise, we will have a pointer to shared memory that
-  // is no longer valid.
-  TwoQueues my_test_queuegroup;
-
- private:
-  ::aos::testing::TestSharedMemory my_shm_;
-};
-
-// Tests that name works.
-TEST_F(GroupTest, Name) {
-  EXPECT_EQ(std::string(".aos.common.testing.test_queuegroup"),
-            std::string(my_test_queuegroup.name()));
-}
-
-
-class MessageTest : public ::testing::Test {
- public:
-  TestingMessage msg;
-};
-
-TEST_F(MessageTest, Zeroing) {
-  msg.test_bool = true;
-  msg.test_int = 0x254;
-  msg.SetTimeToNow();
-
-  msg.Zero();
-
-  EXPECT_FALSE(msg.test_bool);
-  EXPECT_EQ(0, msg.test_int);
-  EXPECT_EQ(monotonic_clock::min_time, msg.sent_time);
-}
-
-TEST_F(MessageTest, Size) {
-  EXPECT_EQ(static_cast<size_t>(13), msg.Size());
-}
-
-TEST_F(MessageTest, Serialize) {
-  char serialized_data[msg.Size()];
-  msg.test_bool = true;
-  msg.test_int = 0x254;
-  msg.SetTimeToNow();
-
-  msg.Serialize(serialized_data);
-
-  TestingMessage new_msg;
-  new_msg.Deserialize(serialized_data);
-
-  EXPECT_EQ(msg.test_bool, new_msg.test_bool);
-  EXPECT_EQ(msg.test_int, new_msg.test_int);
-  EXPECT_EQ(msg.sent_time, new_msg.sent_time);
-}
-
-// Tests that Print prints out a message nicely.
-TEST_F(MessageTest, Print) {
-  char printdata[1024];
-  msg.test_bool = true;
-  msg.test_int = 2056;
-  msg.sent_time = monotonic_clock::time_point(chrono::seconds(971) +
-                                              chrono::nanoseconds(254));
-
-  std::string golden("971.000000254s, T, 2056");
-  EXPECT_EQ(golden.size(), msg.Print(printdata, sizeof(printdata)));
-
-  EXPECT_EQ(golden, std::string(printdata));
-}
-
-// Tests that the hash never changes.  If it changes, then someone broke the
-// hash routine or changed the message declaration.  Both changes need to be
-// validated by hand.
-TEST_F(MessageTest, Hash) {
-  EXPECT_EQ(static_cast<uint32_t>(0xc33651ac),
-            static_cast<uint32_t>(TestingMessage::kHash));
-}
-
-TEST_F(MessageTest, SetNow) {
-  msg.SetTimeToNow();
-  EXPECT_LE(msg.sent_time - monotonic_clock::now(), chrono::milliseconds(20));
-}
-
-// Tests that EqualsNoTime works.
-TEST_F(MessageTest, EqualsNoTime) {
-  msg.test_bool = true;
-  msg.test_int = 971;
-  TestingMessage other;
-  other.test_int = 971;
-  EXPECT_FALSE(other.EqualsNoTime(msg));
-  EXPECT_FALSE(msg.EqualsNoTime(other));
-  other.test_bool = true;
-  EXPECT_TRUE(other.EqualsNoTime(msg));
-  EXPECT_TRUE(msg.EqualsNoTime(other));
-  msg.SetTimeToNow();
-  EXPECT_TRUE(msg.EqualsNoTime(other));
-}
-
-}  // namespace testing
-}  // namespace common
-}  // namespace aos
diff --git a/aos/queue_types.cc b/aos/queue_types.cc
deleted file mode 100644
index a48c5a0..0000000
--- a/aos/queue_types.cc
+++ /dev/null
@@ -1,462 +0,0 @@
-#include "aos/queue_types.h"
-
-#include <inttypes.h>
-
-#include <memory>
-#include <unordered_map>
-
-#include "aos/byteorder.h"
-#include "aos/ipc_lib/shared_mem.h"
-#include "aos/logging/logging.h"
-#include "aos/ipc_lib/core_lib.h"
-#include "aos/mutex/mutex.h"
-
-namespace aos {
-
-ssize_t MessageType::Serialize(char *buffer, size_t max_bytes) const {
-  char *const buffer_start = buffer;
-  uint16_t fields_size = 0;
-  for (int i = 0; i < number_fields; ++i) {
-    fields_size += sizeof(fields[i]->type);
-    fields_size += sizeof(fields[i]->length);
-    fields_size += sizeof(uint16_t);
-    fields_size += fields[i]->name.size();
-  }
-  if (max_bytes < sizeof(id) + sizeof(super_size) + sizeof(uint16_t) +
-                      sizeof(number_fields) + name.size() + fields_size) {
-    return -1;
-  }
-
-  uint16_t length;
-
-  to_network(&super_size, buffer);
-  buffer += sizeof(super_size);
-  to_network(&id, buffer);
-  buffer += sizeof(id);
-  length = name.size();
-  to_network(&length, buffer);
-  buffer += sizeof(length);
-  to_network(&number_fields, buffer);
-  buffer += sizeof(number_fields);
-  memcpy(buffer, name.data(), length);
-  buffer += name.size();
-
-  for (int i = 0; i < number_fields; ++i) {
-    to_network(&fields[i]->type, buffer);
-    buffer += sizeof(fields[i]->type);
-    to_network(&fields[i]->length, buffer);
-    buffer += sizeof(fields[i]->length);
-    length = fields[i]->name.size();
-    to_network(&length, buffer);
-    buffer += sizeof(length);
-    memcpy(buffer, fields[i]->name.data(), length);
-    buffer += length;
-  }
-
-  return buffer - buffer_start;
-}
-
-MessageType *MessageType::Deserialize(const char *buffer, size_t *bytes,
-                                      bool deserialize_length) {
-  uint16_t name_length;
-  decltype(MessageType::super_size) super_size;
-  decltype(MessageType::id) id;
-  decltype(MessageType::number_fields) number_fields;
-  if (*bytes < sizeof(super_size) + sizeof(id) + sizeof(name_length) +
-                   sizeof(number_fields)) {
-    return nullptr;
-  }
-  *bytes -= sizeof(super_size) + sizeof(id) + sizeof(name_length) +
-            sizeof(number_fields);
-
-  to_host(buffer, &super_size);
-  buffer += sizeof(super_size);
-  to_host(buffer, &id);
-  buffer += sizeof(id);
-  to_host(buffer, &name_length);
-  buffer += sizeof(name_length);
-  to_host(buffer, &number_fields);
-  buffer += sizeof(number_fields);
-
-  if (*bytes < name_length) {
-    return nullptr;
-  }
-  *bytes -= name_length;
-
-  Field **fields = new Field *[number_fields];
-  ::std::unique_ptr<MessageType> r(
-      new MessageType(super_size, id, ::std::string(buffer, name_length),
-                      number_fields, fields));
-  buffer += name_length;
-
-  for (int i = 0; i < number_fields; ++i) {
-    uint16_t field_name_length;
-    if (*bytes < sizeof(fields[i]->type) + sizeof(field_name_length) +
-                     (deserialize_length ? sizeof(fields[i]->length) : 0)) {
-      return nullptr;
-    }
-    *bytes -= sizeof(fields[i]->type) + sizeof(field_name_length);
-
-    to_host(buffer, &fields[i]->type);
-    buffer += sizeof(fields[i]->type);
-    if (deserialize_length) {
-      to_host(buffer, &fields[i]->length);
-      buffer += sizeof(fields[i]->length);
-      *bytes -= sizeof(fields[i]->length);
-    }
-    to_host(buffer, &field_name_length);
-    buffer += sizeof(field_name_length);
-
-    if (*bytes < field_name_length) {
-      return nullptr;
-    }
-    *bytes -= field_name_length;
-    fields[i]->name = ::std::string(buffer, field_name_length);
-    buffer += field_name_length;
-  }
-
-  return r.release();
-}
-
-bool PrintArray(char *output, size_t *output_bytes, const void *input,
-                size_t *input_bytes, uint32_t type_id, uint32_t length) {
-  if (*output_bytes < 1) return false;
-  *output_bytes -= 1;
-  *(output++) = '[';
-
-  bool first = true;
-  for (uint32_t i = 0; i < length; ++i) {
-    if (first) {
-      first = false;
-    } else {
-      if (*output_bytes < 2) return false;
-      *output_bytes -= 2;
-      *(output++) = ',';
-      *(output++) = ' ';
-    }
-
-    const size_t output_bytes_before = *output_bytes,
-                 input_bytes_before = *input_bytes;
-    if (MessageType::IsPrimitive(type_id)) {
-      if (!PrintField(output, output_bytes, input, input_bytes, type_id)) {
-        return false;
-      }
-    } else {
-      if (!PrintMessage(output, output_bytes, input, input_bytes,
-                        type_cache::Get(type_id))) {
-        return false;
-      }
-      // Ignore the trailing '\0' that the subcall put on.
-      *output_bytes += 1;
-    }
-
-    // Update the input and output pointers.
-    output += output_bytes_before - *output_bytes;
-    input =
-        static_cast<const char *>(input) + input_bytes_before - *input_bytes;
-  }
-  if (*output_bytes < 2) return false;
-  *output_bytes -= 2;
-  *(output++) = ']';
-  *(output++) = '\0';
-  return true;
-}
-
-bool PrintMessage(char *output, size_t *output_bytes, const void *input,
-                  size_t *input_bytes, const MessageType &type) {
-  if (*output_bytes < type.name.size() + 1) return false;
-  *output_bytes -= type.name.size() + 1;
-  memcpy(output, type.name.data(), type.name.size());
-  output += type.name.size();
-  *output = '{';
-  ++output;
-
-  bool first = true;
-  if (type.super_size == 8) {
-    size_t start_input_bytes = *input_bytes;
-
-    // Default value is -633437440.3735158
-    if (*output_bytes < 10) return false;
-    memcpy(output, "sendtime: ", 10);
-    output += 10;
-    *output_bytes -= 10;
-
-    size_t output_bytes_before = *output_bytes;
-    if (!PrintField(output, output_bytes, input, input_bytes, 0x5f372008u)) {
-      return false;
-    }
-    output += output_bytes_before - *output_bytes;
-    input = static_cast<const char *>(input) + type.super_size;
-    first = false;
-    AOS_CHECK(start_input_bytes == (*input_bytes + 8));
-  } else {
-    *input_bytes -= type.super_size;
-    input = static_cast<const char *>(input) + type.super_size;
-  }
-
-  for (int i = 0; i < type.number_fields; ++i) {
-    if (first) {
-      first = false;
-    } else {
-      if (*output_bytes < 2) return false;
-      *output_bytes -= 2;
-      *(output++) = ',';
-      *(output++) = ' ';
-    }
-
-    if (*output_bytes < type.fields[i]->name.size() + 1) return false;
-    *output_bytes -= type.fields[i]->name.size() + 1;
-    memcpy(output, type.fields[i]->name.data(), type.fields[i]->name.size());
-    output += type.fields[i]->name.size();
-    *(output++) = ':';
-
-    const size_t output_bytes_before = *output_bytes,
-                 input_bytes_before = *input_bytes;
-    const uint32_t type_id = type.fields[i]->type;
-    if (type.fields[i]->length > 0) {
-      if (!PrintArray(output, output_bytes, input, input_bytes, type_id,
-                      type.fields[i]->length)) {
-        return false;
-      }
-      // Ignore the trailing '\0' that the subcall put on.
-      *output_bytes += 1;
-    } else if (MessageType::IsPrimitive(type_id)) {
-      if (!PrintField(output, output_bytes, input, input_bytes, type_id)) {
-        return false;
-      }
-    } else {
-      if (!PrintMessage(output, output_bytes, input, input_bytes,
-                        type_cache::Get(type_id))) {
-        return false;
-      }
-      // Ignore the trailing '\0' that the subcall put on.
-      *output_bytes += 1;
-    }
-
-    // Update the input and output pointers.
-    output += output_bytes_before - *output_bytes;
-    input =
-        static_cast<const char *>(input) + input_bytes_before - *input_bytes;
-  }
-  if (*output_bytes < 2) return false;
-  *output_bytes -= 2;
-  *(output++) = '}';
-  *(output++) = '\0';
-  return true;
-}
-
-bool PrintMatrix(char *output, size_t *output_bytes, const void *input,
-                 uint32_t type_id, int rows, int cols) {
-  AOS_CHECK(MessageType::IsPrimitive(type_id));
-  const size_t element_size = MessageType::Sizeof(type_id);
-
-  if (*output_bytes < 1) return false;
-  *output_bytes -= 1;
-  *(output++) = '[';
-
-  bool first_row = true;
-  for (int row = 0; row < rows; ++row) {
-    if (first_row) {
-      first_row = false;
-    } else {
-      if (*output_bytes < 2) return false;
-      *output_bytes -= 2;
-      *(output++) = ',';
-      *(output++) = ' ';
-    }
-
-    if (*output_bytes < 1) return false;
-    *output_bytes -= 1;
-    *(output++) = '[';
-
-    bool first_col = true;
-    for (int col = 0; col < cols; ++col) {
-      if (first_col) {
-        first_col = false;
-      } else {
-        if (*output_bytes < 2) return false;
-        *output_bytes -= 2;
-        *(output++) = ',';
-        *(output++) = ' ';
-      }
-
-      const size_t output_bytes_before = *output_bytes;
-      size_t input_bytes = element_size;
-      if (!PrintField(output, output_bytes,
-                      static_cast<const char *>(input) +
-                          (row + col * rows) * element_size,
-                      &input_bytes, type_id)) {
-        return false;
-      }
-      AOS_CHECK_EQ(0u, input_bytes);
-      // Update the output pointer.
-      output += output_bytes_before - *output_bytes;
-    }
-
-    if (*output_bytes < 1) return false;
-    *output_bytes -= 1;
-    *(output++) = ']';
-  }
-  if (*output_bytes < 2) return false;
-  *output_bytes -= 2;
-  *(output++) = ']';
-  *(output++) = '\0';
-  return true;
-}
-
-void SerializeMatrix(int type_id, void *output_void, const void *input_void,
-                     int rows, int cols) {
-  char *const output = static_cast<char *>(output_void);
-  const char *const input = static_cast<const char *>(input_void);
-
-  AOS_CHECK(MessageType::IsPrimitive(type_id));
-  const size_t element_size = MessageType::Sizeof(type_id);
-
-  for (int i = 0; i < rows * cols; ++i) {
-    switch(element_size) {
-      case 1:
-        to_network<1>(&input[i * element_size], &output[i * element_size]);
-        break;
-      case 2:
-        to_network<2>(&input[i * element_size], &output[i * element_size]);
-        break;
-      case 4:
-        to_network<4>(&input[i * element_size], &output[i * element_size]);
-        break;
-      case 8:
-        to_network<8>(&input[i * element_size], &output[i * element_size]);
-        break;
-      default:
-        AOS_LOG(FATAL, "illegal primitive type size %zu\n", element_size);
-    }
-  }
-}
-
-namespace type_cache {
-namespace {
-
-struct CacheEntry {
-  const MessageType &type;
-  bool in_shm;
-
-  CacheEntry(const MessageType &type, bool in_shm)
-      : type(type), in_shm(in_shm) {}
-};
-
-struct ShmType {
-  uint32_t id;
-  volatile ShmType *next;
-
-  size_t serialized_size;
-  char serialized[];
-};
-
-::std::unordered_map<uint32_t, CacheEntry> cache;
-::aos::Mutex cache_lock;
-
-}  // namespace
-
-void Add(const MessageType &type) {
-  ::aos::MutexLocker locker(&cache_lock);
-  if (cache.count(type.id) == 0) {
-    cache.emplace(::std::piecewise_construct, ::std::forward_as_tuple(type.id),
-                  ::std::forward_as_tuple(type, false));
-  }
-}
-
-const MessageType &Get(uint32_t type_id) {
-  ::aos::MutexLocker locker(&cache_lock);
-
-  {
-    const auto cached = cache.find(type_id);
-    if (cached != cache.end()) {
-      return cached->second.type;
-    }
-  }
-
-  if (aos_core_is_init()) {
-    // No need to lock because the only thing that happens is somebody adds on
-    // to the end, and they shouldn't be adding the one we're looking for.
-    const volatile ShmType *c = static_cast<volatile ShmType *>(
-        global_core->mem_struct->queue_types.pointer);
-    while (c != nullptr) {
-      if (c->id == type_id) {
-        size_t bytes = c->serialized_size;
-        MessageType *type = MessageType::Deserialize(
-            const_cast<const char *>(c->serialized), &bytes);
-        cache.emplace(::std::piecewise_construct,
-                      ::std::forward_as_tuple(type_id),
-                      ::std::forward_as_tuple(*type, true));
-        return *type;
-      }
-      c = c->next;
-    }
-  } else {
-    AOS_LOG(INFO, "FYI: no shm. going to LOG(FATAL) now\n");
-  }
-
-  AOS_LOG(FATAL, "MessageType for id 0x%" PRIx32 " not found\n", type_id);
-}
-
-void AddShm(uint32_t type_id) {
-  if (!aos_core_is_init()) {
-    AOS_LOG(FATAL, "can't AddShm(%" PRIu32 ") without shm!\n", type_id);
-  }
-
-  const MessageType::Field **fields;
-  int number_fields;
-  {
-    ::aos::MutexLocker locker(&cache_lock);
-    CacheEntry &cached = cache.at(type_id);
-    if (cached.in_shm) return;
-
-    fields = cached.type.fields;
-    number_fields = cached.type.number_fields;
-
-    if (mutex_lock(&global_core->mem_struct->queue_types.lock) != 0) {
-      AOS_LOG(FATAL, "locking queue_types lock failed\n");
-    }
-    volatile ShmType *current = static_cast<volatile ShmType *>(
-        global_core->mem_struct->queue_types.pointer);
-    if (current != nullptr) {
-      while (true) {
-        if (current->id == type_id) {
-          cached.in_shm = true;
-          mutex_unlock(&global_core->mem_struct->queue_types.lock);
-          return;
-        }
-        if (current->next == nullptr) break;
-        current = current->next;
-      }
-    }
-    char buffer[1024];
-    ssize_t size = cached.type.Serialize(buffer, sizeof(buffer));
-    if (size == -1) {
-      AOS_LOG(FATAL, "type %s is too big to fit into %zd bytes\n",
-              cached.type.name.c_str(), sizeof(buffer));
-    }
-
-    volatile ShmType *shm =
-        static_cast<volatile ShmType *>(shm_malloc(sizeof(ShmType) + size));
-    shm->id = type_id;
-    shm->next = nullptr;
-    shm->serialized_size = size;
-    memcpy(const_cast<char *>(shm->serialized), buffer, size);
-
-    if (current == NULL) {
-      global_core->mem_struct->queue_types.pointer = const_cast<ShmType *>(shm);
-    } else {
-      current->next = shm;
-    }
-    mutex_unlock(&global_core->mem_struct->queue_types.lock);
-  }
-
-  for (int i = 0; i < number_fields; ++i) {
-    if (!MessageType::IsPrimitive(fields[i]->type)) {
-      AddShm(fields[i]->type);
-    }
-  }
-}
-
-}  // namespace type_cache
-}  // namespace aos
diff --git a/aos/queue_types.h b/aos/queue_types.h
deleted file mode 100644
index bff06bb..0000000
--- a/aos/queue_types.h
+++ /dev/null
@@ -1,148 +0,0 @@
-#ifndef AOS_QUEUE_TYPES_H_
-#define AOS_QUEUE_TYPES_H_
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <string.h>
-
-#include <initializer_list>
-#include <string>
-
-#include "aos/macros.h"
-#include "aos/byteorder.h"
-
-namespace aos {
-
-// The type IDs this uses are 2 parts: a 16 bit size and a 16 bit hash. Sizes
-// for primitive types are stored with 8192 (0x2000) added.
-//
-// Serializing/deserializing includes all of the fields too.
-struct MessageType {
-  struct Field {
-    // The type ID for the type of this field.
-    uint32_t type;
-    // The length of the array if it is one or 0.
-    uint32_t length;
-    ::std::string name;
-  };
-
-  // Takes ownership of all the Field pointers in fields_initializer.
-  MessageType(size_t super_size, uint32_t id, const ::std::string &name,
-              ::std::initializer_list<const Field *> fields_initializer)
-      : super_size(super_size), id(id), name(name) {
-    number_fields = fields_initializer.size();
-    fields = new const Field *[number_fields];
-    int i = 0;
-    for (const Field *c : fields_initializer) {
-      fields[i++] = c;
-    }
-  }
-
-  ~MessageType() {
-    for (int i = 0; i < number_fields; ++i) {
-      delete fields[i];
-    }
-    delete[] fields;
-  }
-
-  // Returns -1 if max_bytes is too small.
-  ssize_t Serialize(char *buffer, size_t max_bytes) const;
-  // bytes should start out as the number of bytes available in buffer and gets
-  // reduced by the number actually read before returning.
-  // deserialize_length is whether to look for a length field in the serialized
-  // data.
-  // Returns a new instance allocated with new or nullptr for error.
-  static MessageType *Deserialize(const char *buffer, size_t *bytes,
-                                  bool deserialize_length = true);
-
-  static bool IsPrimitive(uint32_t type_id) {
-    return (type_id & 0x2000) != 0;
-  }
-
-  static unsigned int Sizeof(uint32_t type_id) {
-    if (IsPrimitive(type_id)) {
-      return (type_id & 0xFFFF) - 0x2000;
-    } else {
-      return type_id & 0xFFFF;
-    }
-  }
-
-  // How many (serialized) bytes the superclass takes up.
-  uint16_t super_size;
-  // The type ID for this.
-  uint32_t id;
-  ::std::string name;
-
-  uint16_t number_fields;
-  const Field **fields;
-
- private:
-  // Internal constructor for Deserialize to use.
-  MessageType(uint16_t super_size, uint32_t id, ::std::string &&name,
-              uint16_t number_fields, Field **fields)
-      : super_size(super_size),
-        id(id),
-        name(name),
-        number_fields(number_fields),
-        fields(const_cast<const Field **>(fields)) {
-    for (int i = 0; i < number_fields; ++i) {
-      fields[i] = new Field();
-    }
-  }
-
-  DISALLOW_COPY_AND_ASSIGN(MessageType);
-};
-
-// The arguments are the same for both of these.
-//
-// output is where to write the text representation ('\0'-terminated
-// human-readable string).
-// output_bytes should point to the number of bytes available to write in
-// output. It will be reduced by the number of bytes that were actually written.
-// input is where to read the data in from (in network byte order, aka from
-// Serialize).
-// input_bytes should point to the number of bytes available to read from input.
-// It will be reduced by the number of bytes that were actually read.
-// type is which type to print.
-// Returns true for success and false for not.
-//
-// Prints the value from 1 primitive message field into output.
-// The implementation of this is generated by the ruby code.
-// Does not include a trailing '\0' in what it subtracts from *output_bytes.
-bool PrintField(char *output, size_t *output_bytes, const void *input,
-                size_t *input_bytes, uint32_t type)
-    __attribute__((warn_unused_result));
-// Prints a whole message into output.
-// This calls itself recursively and PrintField to print out the whole thing.
-bool PrintMessage(char *output, size_t *output_bytes, const void *input,
-                  size_t *input_bytes, const MessageType &type)
-    __attribute__((warn_unused_result));
-// Calls PrintField to print out a matrix of values.
-bool PrintMatrix(char *output, size_t *output_bytes, const void *input,
-                 uint32_t type, int rows, int cols);
-
-// "Serializes" a matrix (basically just converts to network byte order). The
-// result can be passed to PrintMatrix.
-void SerializeMatrix(int type_id, void *output_void, const void *input_void,
-                     int rows, int cols);
-
-// Implements a cache of types which generally works per-process but can (when
-// instructed) put a type in shared memory which other processes will
-// automatically be able to retrieve.
-// All of these functions are thread-safe.
-namespace type_cache {
-
-// Makes sure a type is in the type cache. This will store a reference to type.
-// The types of any non-primitive fields of type must already be added.
-void Add(const MessageType &type);
-// Retrieves a type from the type cache or shm. LOG(FATAL)s if it can't find it.
-const MessageType &Get(uint32_t type_id);
-// Makes sure a type is in the list in shm. Add must have already been called
-// for type.
-// Also adds the types of any non-primitive fields of type.
-void AddShm(uint32_t type_id);
-
-}  // namespace type_cache
-}  // namespace aos
-
-#endif  // AOS_QUEUE_TYPES_H_
diff --git a/aos/queue_types_test.cc b/aos/queue_types_test.cc
deleted file mode 100644
index 6503f02..0000000
--- a/aos/queue_types_test.cc
+++ /dev/null
@@ -1,274 +0,0 @@
-#include "aos/queue_types.h"
-
-#include <memory>
-#include <limits>
-#include <string>
-
-#include "gtest/gtest.h"
-
-#include "aos/test_queue.q.h"
-#include "aos/byteorder.h"
-#include "aos/queue_primitives.h"
-#include "aos/logging/logging.h"
-#include "aos/testing/test_logging.h"
-
-using ::aos::common::testing::Structure;
-using ::aos::common::testing::MessageWithStructure;
-using ::aos::common::testing::OtherTestingMessage;
-using ::aos::common::testing::MessageWithArrays;
-
-namespace aos {
-namespace testing {
-
-typedef MessageType::Field Field;
-
-static const MessageType kTestType1(5, 0x1234, "TestType1",
-                                    {new Field{0, 0, "field1"},
-                                     new Field{0, 0, "field2"},
-                                     new Field{0, 0, "field3"}});
-
-class QueueTypesTest : public ::testing::Test {
- public:
-  QueueTypesTest() {
-    ::aos::testing::EnableTestLogging();
-  }
-
-  ::testing::AssertionResult Equal(const MessageType &l, const MessageType &r) {
-    using ::testing::AssertionFailure;
-    if (l.id != r.id) {
-      return AssertionFailure() << "id " << l.id << " != " << r.id;
-    }
-    if (l.name != r.name) {
-      return AssertionFailure() << "name '" << l.name << "' != '" << r.name
-                                << "'";
-    }
-    if (l.number_fields != r.number_fields) {
-      return AssertionFailure() << "number_fields " << l.number_fields
-                                << " != " << r.number_fields;
-    }
-    for (int i = 0; i < l.number_fields; ++i) {
-      SCOPED_TRACE("field " + ::std::to_string(i));
-      if (l.fields[i]->type != r.fields[i]->type) {
-        return AssertionFailure() << "type " << l.fields[i]->type
-                                  << " != " << r.fields[i]->type;
-      }
-      if (l.fields[i]->name != r.fields[i]->name) {
-        return AssertionFailure() << "name '" << l.fields[i]->name << "' != '"
-                                  << r.fields[i]->name << "'";
-      }
-    }
-    return ::testing::AssertionSuccess();
-  }
-};
-
-TEST_F(QueueTypesTest, Serialization) {
-  char buffer[512];
-  ssize_t size;
-  size_t out_size;
-  ::std::unique_ptr<MessageType> deserialized;
-
-  size = kTestType1.Serialize(buffer, sizeof(buffer));
-  ASSERT_GT(size, 1);
-  ASSERT_LE(static_cast<size_t>(size), sizeof(buffer));
-
-  out_size = size;
-  deserialized.reset(MessageType::Deserialize(buffer, &out_size));
-  EXPECT_EQ(0u, out_size);
-  EXPECT_TRUE(Equal(kTestType1, *deserialized));
-
-  out_size = size - 1;
-  deserialized.reset(MessageType::Deserialize(buffer, &out_size));
-  EXPECT_EQ(nullptr, deserialized.get());
-
-  out_size = size + 1;
-  ASSERT_LE(out_size, sizeof(buffer));
-  deserialized.reset(MessageType::Deserialize(buffer, &out_size));
-  EXPECT_EQ(1u, out_size);
-  EXPECT_TRUE(Equal(kTestType1, *deserialized));
-}
-
-class PrintMessageTest : public ::testing::Test {
- public:
-  char input[512], output[512];
-  size_t input_bytes, output_bytes;
-};
-
-class PrintFieldTest : public PrintMessageTest {
- public:
-  template <typename T>
-  void TestInteger(T value, ::std::string result) {
-    input_bytes = sizeof(value);
-    to_network(&value, input);
-    output_bytes = sizeof(output);
-    ASSERT_TRUE(
-        PrintField(output, &output_bytes, input, &input_bytes, TypeID<T>::id));
-    EXPECT_EQ(0u, input_bytes);
-    EXPECT_EQ(sizeof(output) - result.size(), output_bytes);
-    EXPECT_EQ(result, ::std::string(output, sizeof(output) - output_bytes));
-  }
-
-  template <typename T>
-  void TestAllIntegers(T multiple) {
-    for (T i = ::std::numeric_limits<T>::min();
-         i < ::std::numeric_limits<T>::max() - multiple; i += multiple) {
-      TestInteger<T>(i, ::std::to_string(i));
-    }
-  }
-};
-
-TEST_F(PrintFieldTest, Basic) {
-  TestInteger<uint16_t>(971, "971");
-  TestInteger<uint8_t>(8, "8");
-  TestInteger<uint8_t>(254, "254");
-  TestInteger<uint8_t>(0, "0");
-  TestInteger<int8_t>(254, "-2");
-  TestInteger<int8_t>(67, "67");
-  TestInteger<int8_t>(0, "0");
-
-  input_bytes = 1;
-  input[0] = 1;
-  output_bytes = sizeof(output);
-  ASSERT_TRUE(PrintField(output, &output_bytes, input, &input_bytes,
-                         queue_primitive_types::bool_p));
-  EXPECT_EQ(0u, input_bytes);
-  EXPECT_EQ(sizeof(output) - 1, output_bytes);
-  EXPECT_EQ(::std::string("T"),
-            ::std::string(output, sizeof(output) - output_bytes));
-
-  input_bytes = 1;
-  input[0] = 0;
-  output_bytes = sizeof(output);
-  ASSERT_TRUE(PrintField(output, &output_bytes, input, &input_bytes,
-                         queue_primitive_types::bool_p));
-  EXPECT_EQ(0u, input_bytes);
-  EXPECT_EQ(sizeof(output) - 1, output_bytes);
-  EXPECT_EQ(::std::string("f"),
-            ::std::string(output, sizeof(output) - output_bytes));
-}
-
-// Runs through lots of integers and makes sure PrintField gives the same result
-// as ::std::to_string.
-TEST_F(PrintFieldTest, Integers) {
-  TestAllIntegers<uint8_t>(1);
-  TestAllIntegers<int8_t>(1);
-  TestAllIntegers<uint16_t>(1);
-  TestAllIntegers<int16_t>(3);
-  TestAllIntegers<uint32_t>(43129);
-  TestAllIntegers<int32_t>(654321);
-  TestAllIntegers<uint64_t>(123456789101112);
-  TestAllIntegers<int64_t>(91011121249856532);
-}
-
-// Tests PrintField with trailing input bytes and only 1 extra output byte.
-TEST_F(PrintFieldTest, OtherSizes) {
-  static const float kData = 16.78;
-  static const ::std::string kString("16.780001");
-  static const size_t kExtraInputBytes = 4;
-  input_bytes = sizeof(kData) + kExtraInputBytes;
-  to_network(&kData, input);
-  output_bytes = kString.size() + 1;
-  ASSERT_LE(output_bytes, sizeof(output));
-  ASSERT_TRUE(PrintField(output, &output_bytes, input, &input_bytes,
-                         Structure::GetType()->fields[2]->type));
-  EXPECT_EQ(kExtraInputBytes, input_bytes);
-  EXPECT_EQ(1u, output_bytes);
-  EXPECT_EQ(kString, ::std::string(output));
-}
-
-TEST_F(PrintFieldTest, InputTooSmall) {
-  static const float kData = 0;
-  input_bytes = sizeof(kData) - 1;
-  output_bytes = sizeof(output);
-  EXPECT_FALSE(PrintField(output, &output_bytes, input, &input_bytes,
-                          Structure::GetType()->fields[2]->type));
-}
-
-TEST_F(PrintFieldTest, OutputTooSmall) {
-  static const uint16_t kData = 12345;
-  input_bytes = sizeof(input);
-  to_network(&kData, input);
-  output_bytes = 4;
-  EXPECT_FALSE(PrintField(output, &output_bytes, input, &input_bytes,
-                          Structure::GetType()->fields[1]->type));
-}
-
-static const OtherTestingMessage kTestMessage1(true, 8971, 3.2);
-static const ::std::string kTestMessage1String =
-    ".aos.common.testing.OtherTestingMessage{sendtime: -633437440.3735158s, test_bool:T, test_int:8971"
-    ", test_double:3.200000}";
-static const Structure kTestStructure1(false, 973, 8.56);
-static const ::std::string kTestStructure1String =
-    ".aos.common.testing.Structure{struct_bool:f, struct_int:973, "
-    "struct_float:8.560000}";
-static const ::aos::common::testing::Structure kStructureValue(true, 973, 3.14);
-static const MessageWithArrays kTestMessageWithArrays({{971, 254, 1678}},
-                                                      {{kStructureValue,
-                                                        kStructureValue}});
-static const ::std::string kTestMessageWithArraysString =
-    ".aos.common.testing.MessageWithArrays{sendtime: -633437440.3735158s, test_int:[971, 254, 1678], "
-    "test_struct:[.aos.common.testing.Structure{struct_bool:T, struct_int:973, "
-    "struct_float:3.140000}, .aos.common.testing.Structure{struct_bool:T, "
-    "struct_int:973, struct_float:3.140000}]}";
-
-TEST_F(PrintMessageTest, Basic) {
-  ASSERT_GE(sizeof(input), kTestMessage1.Size());
-  input_bytes = kTestMessage1.Serialize(input);
-  output_bytes = sizeof(output);
-  ASSERT_TRUE(PrintMessage(output, &output_bytes, input, &input_bytes,
-                           *kTestMessage1.GetType()));
-  EXPECT_EQ(kTestMessage1String, ::std::string(output));
-  EXPECT_EQ(kTestMessage1String.size() + 1, sizeof(output) - output_bytes);
-}
-
-TEST_F(PrintMessageTest, OutputTooSmall) {
-  ASSERT_GE(sizeof(input), kTestMessage1.Size());
-  input_bytes = kTestMessage1.Serialize(input);
-  output_bytes = kTestMessage1String.size();
-  EXPECT_FALSE(PrintMessage(output, &output_bytes, input, &input_bytes,
-                           *kTestMessage1.GetType()));
-}
-
-TEST_F(PrintMessageTest, InputTooSmall) {
-  input_bytes = kTestMessage1.Size() - 1;
-  output_bytes = sizeof(output);
-  EXPECT_FALSE(PrintMessage(output, &output_bytes, input, &input_bytes,
-                           *kTestMessage1.GetType()));
-}
-
-TEST_F(PrintMessageTest, Structure) {
-  ASSERT_GE(sizeof(input), kTestStructure1.Size());
-  input_bytes = kTestStructure1.Serialize(input);
-  output_bytes = sizeof(output);
-  ASSERT_TRUE(PrintMessage(output, &output_bytes, input, &input_bytes,
-                           *kTestStructure1.GetType()));
-  EXPECT_EQ(kTestStructure1String, ::std::string(output));
-  EXPECT_EQ(kTestStructure1String.size() + 1, sizeof(output) - output_bytes);
-}
-
-TEST_F(PrintMessageTest, Matrix) {
-  static const uint16_t kTestMatrix[] = {971, 254, 1768, 8971, 9971, 973};
-  uint16_t test_matrix[sizeof(kTestMatrix) / sizeof(kTestMatrix[0])];
-  SerializeMatrix(queue_primitive_types::uint16_t_p, test_matrix, kTestMatrix,
-                  3, 2);
-  static const ::std::string kOutput =
-      "[[971, 8971], [254, 9971], [1768, 973]]";
-  output_bytes = sizeof(output);
-  ASSERT_TRUE(PrintMatrix(output, &output_bytes, test_matrix,
-                          queue_primitive_types::uint16_t_p, 3, 2));
-  EXPECT_EQ(kOutput, ::std::string(output));
-  EXPECT_EQ(kOutput.size() + 1, sizeof(output) - output_bytes);
-}
-
-TEST_F(PrintMessageTest, Array) {
-  ASSERT_GE(sizeof(input), kTestMessageWithArrays.Size());
-  input_bytes = kTestMessageWithArrays.Serialize(input);
-  output_bytes = sizeof(output);
-  ASSERT_TRUE(PrintMessage(output, &output_bytes, input, &input_bytes,
-                           *kTestMessageWithArrays.GetType()));
-  EXPECT_EQ(kTestMessageWithArraysString, ::std::string(output));
-  EXPECT_EQ(kTestMessageWithArraysString.size() + 1,
-            sizeof(output) - output_bytes);
-}
-
-}  // namespace testing
-}  // namespace aos
diff --git a/aos/realtime.cc b/aos/realtime.cc
new file mode 100644
index 0000000..6a80550
--- /dev/null
+++ b/aos/realtime.cc
@@ -0,0 +1,127 @@
+#include "aos/realtime.h"
+
+#include <stdio.h>
+#include <string.h>
+#include <sys/mman.h>
+#include <errno.h>
+#include <sched.h>
+#include <sys/resource.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <sys/prctl.h>
+#include <malloc.h>
+
+#include "glog/logging.h"
+
+namespace FLAG__namespace_do_not_use_directly_use_DECLARE_double_instead {
+extern double FLAGS_tcmalloc_release_rate __attribute__((weak));
+}
+using FLAG__namespace_do_not_use_directly_use_DECLARE_double_instead::
+    FLAGS_tcmalloc_release_rate;
+
+namespace aos {
+namespace logging {
+namespace internal {
+
+// Implemented in aos/logging/context.cc.
+void ReloadThreadName() __attribute__((weak));
+
+}  // namespace internal
+}  // namespace logging
+
+namespace {
+
+void SetSoftRLimit(int resource, rlim64_t soft, bool set_for_root) {
+  bool am_root = getuid() == 0;
+  if (set_for_root || !am_root) {
+    struct rlimit64 rlim;
+    PCHECK(getrlimit64(resource, &rlim) == 0)
+        << ": " << program_invocation_short_name << "-init: getrlimit64("
+        << resource << ") failed";
+
+    rlim.rlim_cur = soft;
+    rlim.rlim_max = ::std::max(rlim.rlim_max, soft);
+
+    PCHECK(setrlimit64(resource, &rlim) == 0)
+        << ": " << program_invocation_short_name << "-init: setrlimit64("
+        << resource << ", {cur=" << (uintmax_t)rlim.rlim_cur
+        << ",max=" << (uintmax_t)rlim.rlim_max << "}) failed";
+  }
+}
+
+}  // namespace
+
+void LockAllMemory() {
+  // Allow locking as much as we want into RAM.
+  SetSoftRLimit(RLIMIT_MEMLOCK, RLIM_INFINITY, false);
+
+  WriteCoreDumps();
+  PCHECK(mlockall(MCL_CURRENT | MCL_FUTURE) == 0)
+      << ": " << program_invocation_short_name << "-init: mlockall failed";
+
+  // Don't give freed memory back to the OS.
+  CHECK_EQ(1, mallopt(M_TRIM_THRESHOLD, -1));
+  // Don't use mmap for large malloc chunks.
+  CHECK_EQ(1, mallopt(M_MMAP_MAX, 0));
+
+  if (&FLAGS_tcmalloc_release_rate) {
+    // Tell tcmalloc not to return memory.
+    FLAGS_tcmalloc_release_rate = 0.0;
+  }
+
+  // Forces the memory pages for all the stack space that we're ever going to
+  // use to be loaded into memory (so it can be locked there).
+  uint8_t data[4096 * 8];
+  // Not 0 because linux might optimize that to a 0-filled page.
+  memset(data, 1, sizeof(data));
+
+  static const size_t kHeapPreallocSize = 512 * 1024;
+  char *const heap_data = static_cast<char *>(malloc(kHeapPreallocSize));
+  memset(heap_data, 1, kHeapPreallocSize);
+  free(heap_data);
+}
+
+void InitRT() {
+  LockAllMemory();
+
+  // Only let rt processes run for 3 seconds straight.
+  SetSoftRLimit(RLIMIT_RTTIME, 3000000, true);
+
+  // Allow rt processes up to priority 40.
+  SetSoftRLimit(RLIMIT_RTPRIO, 40, false);
+}
+
+void UnsetCurrentThreadRealtimePriority() {
+  struct sched_param param;
+  param.sched_priority = 0;
+  PCHECK(sched_setscheduler(0, SCHED_OTHER, &param) == 0)
+      << ": sched_setscheduler(0, SCHED_OTHER, 0) failed";
+}
+
+void SetCurrentThreadName(const ::std::string &name) {
+  CHECK_LE(name.size(), 16u) << ": thread name '" << name << "' too long";
+  VLOG(1) << "This thread is changing to '" << name << "'";
+  PCHECK(prctl(PR_SET_NAME, name.c_str()) == 0);
+  if (&logging::internal::ReloadThreadName != nullptr) {
+    logging::internal::ReloadThreadName();
+  }
+}
+
+void SetCurrentThreadRealtimePriority(int priority) {
+  // Make sure we will only be allowed to run for 3 seconds straight.
+  SetSoftRLimit(RLIMIT_RTTIME, 3000000, true);
+
+  struct sched_param param;
+  param.sched_priority = priority;
+  PCHECK(sched_setscheduler(0, SCHED_FIFO, &param) == 0)
+      << ": sched_setscheduler(0, SCHED_FIFO, " << priority << ") failed";
+}
+
+void WriteCoreDumps() {
+  // Do create core files of unlimited size.
+  SetSoftRLimit(RLIMIT_CORE, RLIM_INFINITY, true);
+}
+
+}  // namespace aos
diff --git a/aos/realtime.h b/aos/realtime.h
new file mode 100644
index 0000000..a6b4223
--- /dev/null
+++ b/aos/realtime.h
@@ -0,0 +1,33 @@
+#ifndef AOS_REALTIME_H_
+#define AOS_REALTIME_H_
+
+#include <string>
+
+namespace aos {
+
+// Locks everything into memory and sets the limits.  This plus InitNRT are
+// everything you need to do before SetCurrentThreadRealtimePriority will make
+// your thread RT.  Called as part of ShmEventLoop::Run()
+void InitRT();
+
+// Sets the current thread back down to non-realtime priority.
+void UnsetCurrentThreadRealtimePriority();
+
+// Sets the name of the current thread.
+// This will displayed by `top -H`, dump_rtprio, and show up in logs.
+// name can have a maximum of 16 characters.
+void SetCurrentThreadName(const ::std::string &name);
+
+// Sets the current thread's realtime priority.
+void SetCurrentThreadRealtimePriority(int priority);
+
+// Sets up this process to write core dump files.
+// This is called by Init*, but it's here for other files that want this
+// behavior without calling Init*.
+void WriteCoreDumps();
+
+void LockAllMemory();
+
+}  // namespace aos
+
+#endif  // AOS_REALTIME_H_
diff --git a/aos/robot_state/BUILD b/aos/robot_state/BUILD
index e392c56..5a9c255 100644
--- a/aos/robot_state/BUILD
+++ b/aos/robot_state/BUILD
@@ -1,10 +1,26 @@
-package(default_visibility = ['//visibility:public'])
+package(default_visibility = ["//visibility:public"])
 
-load('//aos/build:queues.bzl', 'queue_library')
+load("//aos:config.bzl", "aos_config")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 
-queue_library(
-  name = 'robot_state',
-  srcs = [
-    'robot_state.q',
-  ],
+flatbuffer_cc_library(
+    name = "robot_state_fbs",
+    srcs = ["robot_state.fbs"],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "joystick_state_fbs",
+    srcs = ["joystick_state.fbs"],
+    gen_reflections = 1,
+)
+
+aos_config(
+    name = "config",
+    src = "robot_state_config.json",
+    flatbuffers = [
+        "//aos/robot_state:joystick_state_fbs",
+        "//aos/robot_state:robot_state_fbs",
+    ],
+    visibility = ["//visibility:public"],
 )
diff --git a/aos/robot_state/joystick_state.fbs b/aos/robot_state/joystick_state.fbs
new file mode 100644
index 0000000..f21b211
--- /dev/null
+++ b/aos/robot_state/joystick_state.fbs
@@ -0,0 +1,41 @@
+namespace aos;
+
+table Joystick {
+  // A bitmask of the butotn state.
+  buttons:ushort;
+
+  // The 6 joystick axes.
+  // TODO: Should have size of 6
+  axis:[double];
+
+  // The POV axis.
+  pov:int;
+}
+
+// This message is checked by all control loops to make sure that the
+// joystick code hasn't died.  It is published on "/aos"
+table JoystickState {
+  //TODO: should have fixed size.
+  joysticks:[Joystick];
+
+  test_mode:bool;
+  fms_attached:bool;
+  enabled:bool;
+  autonomous:bool;
+  team_id:ushort;
+
+  // 2018 scale and switch positions.
+  // TODO(austin): Push these out to a new message?
+  switch_left:bool;
+  scale_left:bool;
+
+  // If this is true, then this message isn't actually from the control
+  // system and so should not be trusted as evidence that the button inputs
+  // etc are actually real and should be acted on.
+  // However, most things should ignore this so that sending fake messages is
+  // useful for testing. The only difference in behavior should be motors not
+  // actually turning on.
+  fake:bool;
+}
+
+root_type JoystickState;
diff --git a/aos/robot_state/robot_state.fbs b/aos/robot_state/robot_state.fbs
new file mode 100644
index 0000000..437cfd7
--- /dev/null
+++ b/aos/robot_state/robot_state.fbs
@@ -0,0 +1,35 @@
+namespace aos;
+
+// This message is sent out on this queue when sensors are read. It contains
+// global robot state and information about whether the process reading sensors
+// has been restarted, along with all counters etc it keeps track of.  It is
+// published on "/aos"
+table RobotState {
+  // The PID of the process reading sensors.
+  // This is here so control loops can tell when it changes.
+  reader_pid:int;
+
+  // True when outputs are enabled.
+  // Motor controllers keep going for a bit after this goes to false.
+  outputs_enabled:bool;
+  // Indicates whether something is browned out (I think motor controller
+  // outputs). IMPORTANT: This is NOT !outputs_enabled. outputs_enabled goes to
+  // false for other reasons too (disabled, e-stopped, maybe more).
+  browned_out:bool;
+
+  // Whether the two sensor rails are currently working.
+  is_3v3_active:bool;
+  is_5v_active:bool;
+  // The current voltages measured on the two sensor rails.
+  voltage_3v3:double;
+  voltage_5v:double;
+
+  // The input voltage to the roboRIO.
+  voltage_roborio_in:double;
+
+  // From the DriverStation object, aka what FMS sees and what shows up on the
+  // actual driver's station.
+  voltage_battery:double;
+}
+
+root_type RobotState;
diff --git a/aos/robot_state/robot_state.q b/aos/robot_state/robot_state.q
deleted file mode 100644
index e482c5d..0000000
--- a/aos/robot_state/robot_state.q
+++ /dev/null
@@ -1,70 +0,0 @@
-package aos;
-
-struct Joystick {
-  // A bitmask of the button state.
-  uint16_t buttons;
-
-  // The 6 joystick axes.
-  double[6] axis;
-
-  // The POV axis.
-  int32_t pov;
-};
-
-// This message is checked by all control loops to make sure that the
-// joystick code hasn't died.  It is published on ".aos.joystick_state"
-message JoystickState {
-  Joystick[6] joysticks;
-
-  bool test_mode;
-  bool fms_attached;
-  bool enabled;
-  bool autonomous;
-  uint16_t team_id;
-
-  // 2018 scale and switch positions.
-  // TODO(austin): Push these out to a new message?
-  bool switch_left;
-  bool scale_left;
-
-  // If this is true, then this message isn't actually from the control
-  // system and so should not be trusted as evidence that the button inputs
-  // etc are actually real and should be acted on.
-  // However, most things should ignore this so that sending fake messages is
-  // useful for testing. The only difference in behavior should be motors not
-  // actually turning on.
-  bool fake;
-};
-
-// This message is sent out on this queue when sensors are read. It contains
-// global robot state and information about whether the process reading sensors
-// has been restarted, along with all counters etc it keeps track of.  It is
-// published on ".aos.robot_state"
-message RobotState {
-  // The PID of the process reading sensors.
-  // This is here so control loops can tell when it changes.
-  int32_t reader_pid;
-
-  // True when outputs are enabled.
-  // Motor controllers keep going for a bit after this goes to false.
-  bool outputs_enabled;
-  // Indicates whether something is browned out (I think motor controller
-  // outputs). IMPORTANT: This is NOT !outputs_enabled. outputs_enabled goes to
-  // false for other reasons too (disabled, e-stopped, maybe more).
-  bool browned_out;
-
-  // Whether the two sensor rails are currently working.
-  bool is_3v3_active;
-  bool is_5v_active;
-  // The current voltages measured on the two sensor rails.
-  double voltage_3v3;
-  double voltage_5v;
-
-  // The input voltage to the roboRIO.
-  double voltage_roborio_in;
-
-  // From the DriverStation object, aka what FMS sees and what shows up on the
-  // actual driver's station.
-  double voltage_battery;
-};
-
diff --git a/aos/robot_state/robot_state_config.json b/aos/robot_state/robot_state_config.json
new file mode 100644
index 0000000..0b2a5cc
--- /dev/null
+++ b/aos/robot_state/robot_state_config.json
@@ -0,0 +1,15 @@
+{
+  "channels":
+  [
+    {
+      "name": "/aos",
+      "type": "aos.JoystickState",
+      "frequency": 75
+    },
+    {
+      "name": "/aos",
+      "type": "aos.RobotState",
+      "frequency": 200
+    }
+  ]
+}
diff --git a/aos/scoped/BUILD b/aos/scoped/BUILD
index f5b3832..1ec0f1b 100644
--- a/aos/scoped/BUILD
+++ b/aos/scoped/BUILD
@@ -9,6 +9,7 @@
         "scoped_fd.h",
     ],
     deps = [
-        "//aos/logging",
+        "//aos:macros",
+        "@com_github_google_glog//:glog",
     ],
 )
diff --git a/aos/scoped/scoped_fd.cc b/aos/scoped/scoped_fd.cc
index 74f8882..846736d 100644
--- a/aos/scoped/scoped_fd.cc
+++ b/aos/scoped/scoped_fd.cc
@@ -1,13 +1,13 @@
 #include "aos/scoped/scoped_fd.h"
 
-#include "aos/logging/logging.h"
+#include "glog/logging.h"
 
 namespace aos {
 
 void ScopedFD::Close() {
   if (fd_ != -1) {
     if (close(fd_) == -1) {
-      AOS_PLOG(WARNING, "close(%d) failed", fd_);
+      PLOG(WARNING) << "close(" << fd_ << ") failed";
     }
   }
 }
diff --git a/aos/test_queue.q b/aos/test_queue.q
deleted file mode 100644
index 827b607..0000000
--- a/aos/test_queue.q
+++ /dev/null
@@ -1,38 +0,0 @@
-package aos.common.testing;
-
-struct Structure {
-  bool struct_bool;
-  uint16_t struct_int;
-  float struct_float;
-};
-
-message MessageWithStructure {
-  bool other_member;
-  Structure struct1;
-  Structure struct2;
-};
-
-message TestingMessage {
-  bool test_bool;
-  int32_t test_int;
-};
-
-message OtherTestingMessage {
-  bool test_bool;
-  int32_t test_int;
-  double test_double;
-};
-
-message MessageWithArrays {
-  uint16_t[3] test_int;
-  Structure[2] test_struct;
-};
-
-queue TestingMessage test_queue;
-
-queue_group TwoQueues {
-  queue TestingMessage first;
-  queue OtherTestingMessage second;
-};
-
-queue_group TwoQueues test_queuegroup;
diff --git a/aos/testdata/backwards.json b/aos/testdata/backwards.json
new file mode 100644
index 0000000..192005e
--- /dev/null
+++ b/aos/testdata/backwards.json
@@ -0,0 +1,13 @@
+{
+  "channels": [
+    {
+      "name": ".aos.robot_state",
+      "type": "aos.RobotState",
+      "max_size": 5
+    },
+    {
+      "name": ".aos.joystick_state",
+      "type": "aos.JoystickState"
+    }
+  ]
+}
diff --git a/aos/testing/BUILD b/aos/testing/BUILD
index 0c214ed..99a3569 100644
--- a/aos/testing/BUILD
+++ b/aos/testing/BUILD
@@ -6,9 +6,9 @@
     ],
     visibility = ["//visibility:public"],
     deps = [
-        "//third_party/googletest:gtest",
         "@com_github_gflags_gflags//:gflags",
         "@com_github_google_glog//:glog",
+        "@com_google_googletest//:gtest",
     ],
 )
 
@@ -53,7 +53,7 @@
     ],
     visibility = ["//visibility:public"],
     deps = [
-        "//aos/logging",
+        "@com_github_google_glog//:glog",
     ],
 )
 
@@ -69,7 +69,7 @@
     visibility = ["//visibility:public"],
     deps = [
         ":test_logging",
-        "//aos:queues",
+        "//aos/ipc_lib:queue",
         "//aos/ipc_lib:shared_mem",
         "//aos/logging",
     ],
diff --git a/aos/testing/gtest_main.cc b/aos/testing/gtest_main.cc
index c8c5062..52159c3 100644
--- a/aos/testing/gtest_main.cc
+++ b/aos/testing/gtest_main.cc
@@ -25,6 +25,7 @@
   FLAGS_logtostderr = true;
   google::InitGoogleLogging(argv[0]);
   ::gflags::ParseCommandLineFlags(&argc, &argv, false);
+  google::InstallFailureSignalHandler();
 
   if (FLAGS_print_logs) {
     if (::aos::testing::ForcePrintLogsDuringTests) {
diff --git a/aos/testing/prevent_exit.cc b/aos/testing/prevent_exit.cc
index ed6644b..8624c93 100644
--- a/aos/testing/prevent_exit.cc
+++ b/aos/testing/prevent_exit.cc
@@ -3,7 +3,7 @@
 #include <stdlib.h>
 #include <unistd.h>
 
-#include "aos/logging/logging.h"
+#include "glog/logging.h"
 
 namespace aos {
 namespace testing {
@@ -16,7 +16,7 @@
 }  // namespace
 
 void PreventExit() {
-  AOS_CHECK_EQ(atexit(TerminateExitHandler), 0);
+  CHECK_EQ(atexit(TerminateExitHandler), 0);
 }
 
 }  // namespace testing
diff --git a/aos/testing/test_shm.cc b/aos/testing/test_shm.cc
index e9a637a..b1c3848 100644
--- a/aos/testing/test_shm.cc
+++ b/aos/testing/test_shm.cc
@@ -2,7 +2,7 @@
 
 #include <sys/mman.h>
 
-#include "aos/queue.h"
+#include "aos/ipc_lib/queue.h"
 #include "aos/logging/logging.h"
 #include "aos/testing/test_logging.h"
 
diff --git a/aos/time/BUILD b/aos/time/BUILD
index e08ef7b..619642e 100644
--- a/aos/time/BUILD
+++ b/aos/time/BUILD
@@ -11,7 +11,6 @@
     visibility = ["//visibility:public"],
     deps = [
         "//aos:macros",
-        "//aos/ipc_lib:shared_mem",
         "//aos/mutex",
         "//aos/type_traits",
         "@com_github_google_glog//:glog",
diff --git a/aos/time/time.cc b/aos/time/time.cc
index 9736009..6c2d254 100644
--- a/aos/time/time.cc
+++ b/aos/time/time.cc
@@ -8,10 +8,6 @@
 
 #ifdef __linux__
 
-// We only use global_core from here, which is weak, so we don't really have a
-// dependency on it.
-#include "aos/ipc_lib/shared_mem.h"
-
 #include "aos/mutex/mutex.h"
 #include "glog/logging.h"
 
@@ -103,15 +99,6 @@
   SetMockTime(monotonic_clock::now() + amount);
 }
 
-void OffsetToNow(monotonic_clock::time_point now) {
-  CHECK_NOTNULL(&global_core);
-  CHECK_NOTNULL(global_core);
-  CHECK_NOTNULL(global_core->mem_struct);
-  const auto offset = now - monotonic_clock::now();
-  global_core->mem_struct->time_offset =
-      chrono::duration_cast<chrono::nanoseconds>(offset).count();
-}
-
 #endif  // __linux__
 
 struct timespec to_timespec(
@@ -150,14 +137,8 @@
       << ": clock_gettime(" << static_cast<uintmax_t>(CLOCK_MONOTONIC) << ", "
       << &current_time << ") failed";
 
-  const chrono::nanoseconds offset =
-      (&global_core == nullptr || global_core == nullptr ||
-       global_core->mem_struct == nullptr)
-          ? chrono::nanoseconds(0)
-          : chrono::nanoseconds(global_core->mem_struct->time_offset);
-
   return time_point(::std::chrono::seconds(current_time.tv_sec) +
-                    ::std::chrono::nanoseconds(current_time.tv_nsec)) + offset;
+                    ::std::chrono::nanoseconds(current_time.tv_nsec));
 
 #else  // __linux__
 
diff --git a/aos/time/time.h b/aos/time/time.h
index 469534f..881f0f1 100644
--- a/aos/time/time.h
+++ b/aos/time/time.h
@@ -82,14 +82,6 @@
 // Disables mocking time.
 void DisableMockTime();
 
-// Sets the global offset for all times so monotonic_clock::now() will return
-// now.
-// There is no synchronization here, so this is only safe when only a single
-// task is running.
-// This is only allowed when the shared memory core infrastructure has been
-// initialized in this process.
-void OffsetToNow(const monotonic_clock::time_point now);
-
 // Construct a time representing the period of hertz.
 constexpr ::std::chrono::nanoseconds FromRate(int hertz) {
   return ::std::chrono::duration_cast<::std::chrono::nanoseconds>(
diff --git a/aos/type_traits/type_traits.h b/aos/type_traits/type_traits.h
index 437cb3e..45268d5 100644
--- a/aos/type_traits/type_traits.h
+++ b/aos/type_traits/type_traits.h
@@ -12,8 +12,10 @@
 // 4.6 seems like a reasonable place to switch.
 #if ((__GNUC__ < 4) || (__GNUC__ == 4 && __GNUC_MINOR__ < 6)) && !defined(__clang__)
     ::std::has_trivial_assign<Tp>::value> {};
-#else
+#elif (__clang_major__ < 5)
     ::std::has_trivial_copy_assign<Tp>::value> {};
+#else
+    ::std::is_trivially_copy_assignable<Tp>::value> {};
 #endif
 
 }  // namespace
@@ -31,10 +33,15 @@
 struct shm_ok : public std::integral_constant<
                     bool,
 #if ((__GNUC__ < 5))
-                    (::std::has_trivial_copy_constructor<Tp>::value &&
+#if (__clang_major__ > 5)
+                    (::std::is_trivially_copy_constructible<Tp>::value &&
                      ::aos::has_trivial_copy_assign<Tp>::value)
 #else
-                    (::std::is_trivially_copyable<Tp>::value)
+                    (::std::has_trivial_copy_constructor<Tp>::value &&
+                     ::aos::has_trivial_copy_assign<Tp>::value)
+#endif
+#else
+                    (::std::is_trivially_copy_constructible<Tp>::value)
 #endif
                     > {
 };
diff --git a/aos/util/BUILD b/aos/util/BUILD
index f18fd82..4d7a3d1 100644
--- a/aos/util/BUILD
+++ b/aos/util/BUILD
@@ -65,7 +65,7 @@
     name = "math",
     hdrs = ["math.h"],
     deps = [
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -111,7 +111,6 @@
         "phased_loop.h",
     ],
     deps = [
-        "//aos/logging",
         "//aos/time",
         "@com_github_google_glog//:glog",
     ],
@@ -156,7 +155,7 @@
     ],
     deps = [
         "//aos:macros",
-        "//aos/logging",
+        "@com_github_google_glog//:glog",
     ],
 )
 
@@ -174,7 +173,7 @@
     deps = [
         "//aos/logging",
         "//aos/time",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -296,8 +295,8 @@
         "file.h",
     ],
     deps = [
-        "//aos/logging",
         "//aos/scoped:scoped_fd",
+        "@com_github_google_glog//:glog",
         "@com_google_absl//absl/strings",
     ],
 )
@@ -311,7 +310,6 @@
     deps = [
         ":file",
         "//aos/testing:googletest",
-        "//aos/testing:test_logging",
     ],
 )
 
diff --git a/aos/util/file.cc b/aos/util/file.cc
index 5418aab..f78239a 100644
--- a/aos/util/file.cc
+++ b/aos/util/file.cc
@@ -4,8 +4,8 @@
 #include <unistd.h>
 
 #include "absl/strings/string_view.h"
-#include "aos/logging/logging.h"
 #include "aos/scoped/scoped_fd.h"
+#include "glog/logging.h"
 
 namespace aos {
 namespace util {
@@ -13,17 +13,12 @@
 ::std::string ReadFileToStringOrDie(const absl::string_view filename) {
   ::std::string r;
   ScopedFD fd(open(::std::string(filename).c_str(), O_RDONLY));
-  if (fd.get() == -1) {
-    AOS_PLOG(FATAL, "opening %*s", static_cast<int>(filename.size()),
-             filename.data());
-  }
+  PCHECK(fd.get() != -1) << ": opening " << filename;
   while (true) {
     char buffer[1024];
     const ssize_t result = read(fd.get(), buffer, sizeof(buffer));
-    if (result < 0) {
-      AOS_PLOG(FATAL, "reading from %*s", static_cast<int>(filename.size()),
-               filename.data());
-    } else if (result == 0) {
+    PCHECK(result >= 0) << ": reading from " << filename;
+    if (result == 0) {
       break;
     }
     r.append(buffer, result);
@@ -31,5 +26,24 @@
   return r;
 }
 
+void WriteStringToFileOrDie(const absl::string_view filename,
+                            const absl::string_view contents) {
+  ::std::string r;
+  ScopedFD fd(open(::std::string(filename).c_str(),
+                   O_CREAT | O_WRONLY | O_TRUNC, S_IRWXU));
+  PCHECK(fd.get() != -1) << ": opening " << filename;
+  size_t size_written = 0;
+  while (size_written != contents.size()) {
+    const ssize_t result = write(fd.get(), contents.data() + size_written,
+                                 contents.size() - size_written);
+    PCHECK(result >= 0) << ": reading from " << filename;
+    if (result == 0) {
+      break;
+    }
+
+    size_written += result;
+  }
+}
+
 }  // namespace util
 }  // namespace aos
diff --git a/aos/util/file.h b/aos/util/file.h
index 385aba7..5d354a7 100644
--- a/aos/util/file.h
+++ b/aos/util/file.h
@@ -12,6 +12,10 @@
 // encountered.
 ::std::string ReadFileToStringOrDie(const absl::string_view filename);
 
+// Creates filename if it doesn't exist and sets the contents to contents.
+void WriteStringToFileOrDie(const absl::string_view filename,
+                            const absl::string_view contents);
+
 }  // namespace util
 }  // namespace aos
 
diff --git a/aos/util/file_test.cc b/aos/util/file_test.cc
index f904259..fa259e8 100644
--- a/aos/util/file_test.cc
+++ b/aos/util/file_test.cc
@@ -6,21 +6,12 @@
 
 #include "gtest/gtest.h"
 
-#include "aos/testing/test_logging.h"
-
 namespace aos {
 namespace util {
 namespace testing {
 
-class FileTest : public ::testing::Test {
- protected:
-  FileTest() {
-    ::aos::testing::EnableTestLogging();
-  }
-};
-
 // Basic test of reading a normal file.
-TEST_F(FileTest, ReadNormalFile) {
+TEST(FileTest, ReadNormalFile) {
   const ::std::string tmpdir(getenv("TEST_TMPDIR"));
   const ::std::string test_file = tmpdir + "/test_file";
   ASSERT_EQ(0, system(("echo contents > " + test_file).c_str()));
@@ -28,7 +19,7 @@
 }
 
 // Tests reading a file with 0 size, among other weird things.
-TEST_F(FileTest, ReadSpecialFile) {
+TEST(FileTest, ReadSpecialFile) {
   const ::std::string stat = ReadFileToStringOrDie("/proc/self/stat");
   EXPECT_EQ('\n', stat[stat.size() - 1]);
   const ::std::string my_pid = ::std::to_string(getpid());
diff --git a/aos/util/phased_loop_test.cc b/aos/util/phased_loop_test.cc
index 0a0d5db..4a80522 100644
--- a/aos/util/phased_loop_test.cc
+++ b/aos/util/phased_loop_test.cc
@@ -10,11 +10,7 @@
 
 using ::std::chrono::milliseconds;
 
-class PhasedLoopTest : public ::testing::Test {
- protected:
-  PhasedLoopTest() { ::aos::testing::EnableTestLogging(); }
-};
-
+typedef ::testing::Test PhasedLoopTest;
 typedef PhasedLoopTest PhasedLoopDeathTest;
 
 monotonic_clock::time_point InMs(int ms) {
diff --git a/aos/util/thread.cc b/aos/util/thread.cc
index ae18fe9..bb5999f 100644
--- a/aos/util/thread.cc
+++ b/aos/util/thread.cc
@@ -3,7 +3,7 @@
 #include <pthread.h>
 #include <signal.h>
 
-#include "aos/logging/logging.h"
+#include "glog/logging.h"
 
 namespace aos {
 namespace util {
@@ -11,24 +11,24 @@
 Thread::Thread() : started_(false), joined_(false), should_terminate_(false) {}
 
 Thread::~Thread() {
-  AOS_CHECK(!(started_ && !joined_));
+  CHECK(!(started_ && !joined_));
 }
 
 void Thread::Start() {
-  AOS_CHECK(!started_);
+  CHECK(!started_);
   started_ = true;
-  AOS_CHECK(pthread_create(&thread_, NULL, &Thread::StaticRun, this) == 0);
+  CHECK(pthread_create(&thread_, NULL, &Thread::StaticRun, this) == 0);
 }
 
 void Thread::Join() {
-  AOS_CHECK(!joined_ && started_);
+  CHECK(!joined_ && started_);
   joined_ = true;
   should_terminate_.store(true);
-  AOS_CHECK(pthread_join(thread_, NULL) == 0);
+  CHECK(pthread_join(thread_, NULL) == 0);
 }
 
 bool Thread::TryJoin() {
-  AOS_CHECK(!joined_ && started_);
+  CHECK(!joined_ && started_);
 #ifdef AOS_SANITIZER_thread
   // ThreadSanitizer misses the tryjoin and then complains about leaking the
   // thread. Instead, we'll just check if the thread is still around and then
@@ -39,7 +39,8 @@
   if (kill_ret == 0) return false;
   // If it died, we'll get ESRCH. Otherwise, something went wrong.
   if (kill_ret != ESRCH) {
-    AOS_PELOG(FATAL, kill_ret, "pthread_kill(thread_, 0) failed");
+    errno = kill_ret;
+    PLOG(FATAL) << "pthread_kill(thread_, 0) failed";
   }
   Join();
   return true;
@@ -51,20 +52,22 @@
   } else if (ret == EBUSY) {
     return false;
   } else {
-    AOS_PELOG(FATAL, ret, "pthread_tryjoin_np(thread_, nullptr) failed");
+    errno = ret;
+    PLOG(FATAL) << "pthread_tryjoin_np(thread_, nullptr) failed";
+    return false;
   }
 #endif
 }
 
 void Thread::RequestStop() {
-  AOS_CHECK(!joined_ && started_);
+  CHECK(!joined_ && started_);
   should_terminate_.store(true);
 }
 
 void Thread::WaitUntilDone() {
-  AOS_CHECK(!joined_ && started_);
+  CHECK(!joined_ && started_);
   joined_ = true;
-  AOS_CHECK(pthread_join(thread_, NULL) == 0);
+  CHECK(pthread_join(thread_, NULL) == 0);
 }
 
 void *Thread::StaticRun(void *self) {
diff --git a/aos/util/thread.h b/aos/util/thread.h
index 5992810..337ea48 100644
--- a/aos/util/thread.h
+++ b/aos/util/thread.h
@@ -13,7 +13,7 @@
 
 // A nice wrapper around a pthreads thread.
 //
-// TODO(aschuh): Test this.
+// TODO(aschuh): replace this with std::thread
 class Thread {
  public:
   Thread();
diff --git a/aos/vision/blob/BUILD b/aos/vision/blob/BUILD
index 7d5f930..e025ed3 100644
--- a/aos/vision/blob/BUILD
+++ b/aos/vision/blob/BUILD
@@ -11,7 +11,7 @@
         "//aos/vision/image:image_types",
         "//aos/vision/math:segment",
         "//aos/vision/math:vector",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -72,7 +72,7 @@
         ":contour",
         ":disjoint_set",
         ":range_image",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -90,7 +90,7 @@
         ":range_image",
         "//aos/vision/debug:overlay",
         "//aos/vision/math:segment",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -102,7 +102,7 @@
         ":range_image",
         "//aos/vision/debug:overlay",
         "//aos/vision/math:segment",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
diff --git a/aos/vision/blob/threshold.h b/aos/vision/blob/threshold.h
index 8251b3a..f126b14 100644
--- a/aos/vision/blob/threshold.h
+++ b/aos/vision/blob/threshold.h
@@ -1,6 +1,7 @@
 #ifndef AOS_VISION_BLOB_THRESHOLD_H_
 #define AOS_VISION_BLOB_THRESHOLD_H_
 
+#include <array>
 #include <condition_variable>
 #include <mutex>
 #include <thread>
diff --git a/aos/vision/blob/threshold_test.cc b/aos/vision/blob/threshold_test.cc
index 108da35..3bbef1d 100644
--- a/aos/vision/blob/threshold_test.cc
+++ b/aos/vision/blob/threshold_test.cc
@@ -49,84 +49,84 @@
   std::vector<char> image;
   image.resize(8 * 8 * 2);
   //  --+-----
-  image[0 * 2 + 0 * 16] = 0;
-  image[1 * 2 + 0 * 16] = 0;
-  image[2 * 2 + 0 * 16] = 128;
-  image[3 * 2 + 0 * 16] = 127;
-  image[4 * 2 + 0 * 16] = 0;
-  image[5 * 2 + 0 * 16] = 0;
-  image[6 * 2 + 0 * 16] = 0;
-  image[7 * 2 + 0 * 16] = 0;
+  image[0 * 2 + 0 * 16] = static_cast<char>(0);
+  image[1 * 2 + 0 * 16] = static_cast<char>(0);
+  image[2 * 2 + 0 * 16] = static_cast<char>(128);
+  image[3 * 2 + 0 * 16] = static_cast<char>(127);
+  image[4 * 2 + 0 * 16] = static_cast<char>(0);
+  image[5 * 2 + 0 * 16] = static_cast<char>(0);
+  image[6 * 2 + 0 * 16] = static_cast<char>(0);
+  image[7 * 2 + 0 * 16] = static_cast<char>(0);
   expected_ranges.push_back({{{2, 3}}});
   //  +------+
-  image[0 * 2 + 1 * 16] = 128;
-  image[1 * 2 + 1 * 16] = 0;
-  image[2 * 2 + 1 * 16] = 0;
-  image[3 * 2 + 1 * 16] = 10;
-  image[4 * 2 + 1 * 16] = 30;
-  image[5 * 2 + 1 * 16] = 50;
-  image[6 * 2 + 1 * 16] = 70;
-  image[7 * 2 + 1 * 16] = 255;
+  image[0 * 2 + 1 * 16] = static_cast<char>(128);
+  image[1 * 2 + 1 * 16] = static_cast<char>(0);
+  image[2 * 2 + 1 * 16] = static_cast<char>(0);
+  image[3 * 2 + 1 * 16] = static_cast<char>(10);
+  image[4 * 2 + 1 * 16] = static_cast<char>(30);
+  image[5 * 2 + 1 * 16] = static_cast<char>(50);
+  image[6 * 2 + 1 * 16] = static_cast<char>(70);
+  image[7 * 2 + 1 * 16] = static_cast<char>(255);
   expected_ranges.push_back({{{0, 1}, {7, 8}}});
   //  -++++++-
-  image[0 * 2 + 2 * 16] = 73;
-  image[1 * 2 + 2 * 16] = 246;
-  image[2 * 2 + 2 * 16] = 247;
-  image[3 * 2 + 2 * 16] = 248;
-  image[4 * 2 + 2 * 16] = 249;
-  image[5 * 2 + 2 * 16] = 250;
-  image[6 * 2 + 2 * 16] = 250;
-  image[7 * 2 + 2 * 16] = 45;
+  image[0 * 2 + 2 * 16] = static_cast<char>(73);
+  image[1 * 2 + 2 * 16] = static_cast<char>(246);
+  image[2 * 2 + 2 * 16] = static_cast<char>(247);
+  image[3 * 2 + 2 * 16] = static_cast<char>(248);
+  image[4 * 2 + 2 * 16] = static_cast<char>(249);
+  image[5 * 2 + 2 * 16] = static_cast<char>(250);
+  image[6 * 2 + 2 * 16] = static_cast<char>(250);
+  image[7 * 2 + 2 * 16] = static_cast<char>(45);
   expected_ranges.push_back({{{1, 7}}});
   //  +++-++++
-  image[0 * 2 + 3 * 16] = 128;
-  image[1 * 2 + 3 * 16] = 134;
-  image[2 * 2 + 3 * 16] = 250;
-  image[3 * 2 + 3 * 16] = 0;
-  image[4 * 2 + 3 * 16] = 230;
-  image[5 * 2 + 3 * 16] = 230;
-  image[6 * 2 + 3 * 16] = 230;
-  image[7 * 2 + 3 * 16] = 210;
+  image[0 * 2 + 3 * 16] = static_cast<char>(128);
+  image[1 * 2 + 3 * 16] = static_cast<char>(134);
+  image[2 * 2 + 3 * 16] = static_cast<char>(250);
+  image[3 * 2 + 3 * 16] = static_cast<char>(0);
+  image[4 * 2 + 3 * 16] = static_cast<char>(230);
+  image[5 * 2 + 3 * 16] = static_cast<char>(230);
+  image[6 * 2 + 3 * 16] = static_cast<char>(230);
+  image[7 * 2 + 3 * 16] = static_cast<char>(210);
   expected_ranges.push_back({{{0, 3}, {4, 8}}});
   //  --------
-  image[0 * 2 + 4 * 16] = 7;
-  image[1 * 2 + 4 * 16] = 120;
-  image[2 * 2 + 4 * 16] = 127;
-  image[3 * 2 + 4 * 16] = 0;
-  image[4 * 2 + 4 * 16] = 50;
-  image[5 * 2 + 4 * 16] = 80;
-  image[6 * 2 + 4 * 16] = 110;
-  image[7 * 2 + 4 * 16] = 25;
+  image[0 * 2 + 4 * 16] = static_cast<char>(7);
+  image[1 * 2 + 4 * 16] = static_cast<char>(120);
+  image[2 * 2 + 4 * 16] = static_cast<char>(127);
+  image[3 * 2 + 4 * 16] = static_cast<char>(0);
+  image[4 * 2 + 4 * 16] = static_cast<char>(50);
+  image[5 * 2 + 4 * 16] = static_cast<char>(80);
+  image[6 * 2 + 4 * 16] = static_cast<char>(110);
+  image[7 * 2 + 4 * 16] = static_cast<char>(25);
   expected_ranges.push_back({{}});
   //  ++++-+++
-  image[0 * 2 + 5 * 16] = 140;
-  image[1 * 2 + 5 * 16] = 140;
-  image[2 * 2 + 5 * 16] = 140;
-  image[3 * 2 + 5 * 16] = 140;
-  image[4 * 2 + 5 * 16] = 0;
-  image[5 * 2 + 5 * 16] = 140;
-  image[6 * 2 + 5 * 16] = 140;
-  image[7 * 2 + 5 * 16] = 140;
+  image[0 * 2 + 5 * 16] = static_cast<char>(140);
+  image[1 * 2 + 5 * 16] = static_cast<char>(140);
+  image[2 * 2 + 5 * 16] = static_cast<char>(140);
+  image[3 * 2 + 5 * 16] = static_cast<char>(140);
+  image[4 * 2 + 5 * 16] = static_cast<char>(0);
+  image[5 * 2 + 5 * 16] = static_cast<char>(140);
+  image[6 * 2 + 5 * 16] = static_cast<char>(140);
+  image[7 * 2 + 5 * 16] = static_cast<char>(140);
   expected_ranges.push_back({{{0, 4}, {5, 8}}});
   //  ++++++++
-  image[0 * 2 + 6 * 16] = 128;
-  image[1 * 2 + 6 * 16] = 128;
-  image[2 * 2 + 6 * 16] = 128;
-  image[3 * 2 + 6 * 16] = 128;
-  image[4 * 2 + 6 * 16] = 128;
-  image[5 * 2 + 6 * 16] = 128;
-  image[6 * 2 + 6 * 16] = 128;
-  image[7 * 2 + 6 * 16] = 128;
+  image[0 * 2 + 6 * 16] = static_cast<char>(128);
+  image[1 * 2 + 6 * 16] = static_cast<char>(128);
+  image[2 * 2 + 6 * 16] = static_cast<char>(128);
+  image[3 * 2 + 6 * 16] = static_cast<char>(128);
+  image[4 * 2 + 6 * 16] = static_cast<char>(128);
+  image[5 * 2 + 6 * 16] = static_cast<char>(128);
+  image[6 * 2 + 6 * 16] = static_cast<char>(128);
+  image[7 * 2 + 6 * 16] = static_cast<char>(128);
   expected_ranges.push_back({{{0, 8}}});
   //  +-+-+--+
-  image[0 * 2 + 7 * 16] = 200;
-  image[1 * 2 + 7 * 16] = 0;
-  image[2 * 2 + 7 * 16] = 200;
-  image[3 * 2 + 7 * 16] = 0;
-  image[4 * 2 + 7 * 16] = 200;
-  image[5 * 2 + 7 * 16] = 0;
-  image[6 * 2 + 7 * 16] = 0;
-  image[7 * 2 + 7 * 16] = 200;
+  image[0 * 2 + 7 * 16] = static_cast<char>(200);
+  image[1 * 2 + 7 * 16] = static_cast<char>(0);
+  image[2 * 2 + 7 * 16] = static_cast<char>(200);
+  image[3 * 2 + 7 * 16] = static_cast<char>(0);
+  image[4 * 2 + 7 * 16] = static_cast<char>(200);
+  image[5 * 2 + 7 * 16] = static_cast<char>(0);
+  image[6 * 2 + 7 * 16] = static_cast<char>(0);
+  image[7 * 2 + 7 * 16] = static_cast<char>(200);
   expected_ranges.push_back({{{0, 1}, {2, 3}, {4, 5}, {7, 8}}});
   const RangeImage expected_result(0, std::move(expected_ranges));
 
diff --git a/aos/vision/events/BUILD b/aos/vision/events/BUILD
index b887872..a991968 100644
--- a/aos/vision/events/BUILD
+++ b/aos/vision/events/BUILD
@@ -52,6 +52,7 @@
     deps = [
         "//aos:macros",
         "//aos/scoped:scoped_fd",
+        "@com_github_google_glog//:glog",
     ],
 )
 
diff --git a/aos/vision/events/udp.cc b/aos/vision/events/udp.cc
index 8734443..7ac72e8 100644
--- a/aos/vision/events/udp.cc
+++ b/aos/vision/events/udp.cc
@@ -2,23 +2,23 @@
 
 #include <string.h>
 
-#include "aos/logging/logging.h"
+#include "glog/logging.h"
 
 namespace aos {
 namespace events {
 
 TXUdpSocket::TXUdpSocket(const std::string &ip_addr, int port)
-    : fd_(AOS_PCHECK(socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP))) {
+    : fd_(socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) {
+  PCHECK(fd_.get() != -1);
   sockaddr_in destination_in;
   memset(&destination_in, 0, sizeof(destination_in));
   destination_in.sin_family = AF_INET;
   destination_in.sin_port = htons(port);
-  if (inet_aton(ip_addr.c_str(), &destination_in.sin_addr) == 0) {
-    AOS_LOG(FATAL, "invalid IP address %s\n", ip_addr.c_str());
-  }
+  CHECK(inet_aton(ip_addr.c_str(), &destination_in.sin_addr) != 0)
+      << ": invalid IP address " << ip_addr;
 
-  AOS_PCHECK(connect(fd_.get(), reinterpret_cast<sockaddr *>(&destination_in),
-                     sizeof(destination_in)));
+  PCHECK(connect(fd_.get(), reinterpret_cast<sockaddr *>(&destination_in),
+                 sizeof(destination_in)) == 0);
 }
 
 int TXUdpSocket::Send(const char *data, int size) {
@@ -27,7 +27,8 @@
 }
 
 int RXUdpSocket::SocketBindListenOnPort(int port) {
-  int fd = AOS_PCHECK(socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP));
+  int fd;
+  PCHECK((fd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) != -1);
   sockaddr_in bind_address;
   memset(&bind_address, 0, sizeof(bind_address));
 
@@ -35,15 +36,17 @@
   bind_address.sin_port = htons(port);
   bind_address.sin_addr.s_addr = htonl(INADDR_ANY);
 
-  AOS_PCHECK(bind(fd, reinterpret_cast<sockaddr *>(&bind_address),
-                  sizeof(bind_address)));
+  PCHECK(bind(fd, reinterpret_cast<sockaddr *>(&bind_address),
+              sizeof(bind_address)) == 0);
   return fd;
 }
 
 RXUdpSocket::RXUdpSocket(int port) : fd_(SocketBindListenOnPort(port)) {}
 
 int RXUdpSocket::Recv(void *data, int size) {
-  return AOS_PCHECK(recv(fd_.get(), static_cast<char *>(data), size, 0));
+  int result;
+  PCHECK((result = recv(fd_.get(), static_cast<char *>(data), size, 0)) != -1);
+  return result;
 }
 
 }  // namespace events
diff --git a/aos/vision/image/BUILD b/aos/vision/image/BUILD
index 21dbbb8..9b6d30a 100644
--- a/aos/vision/image/BUILD
+++ b/aos/vision/image/BUILD
@@ -5,6 +5,9 @@
 cc_library(
     name = "image_types",
     hdrs = ["image_types.h"],
+    deps = [
+        "@com_google_absl//absl/strings",
+    ],
 )
 
 cc_proto_library(
diff --git a/aos/vision/image/image_dataset.cc b/aos/vision/image/image_dataset.cc
index d4dde95..33bf0e4 100644
--- a/aos/vision/image/image_dataset.cc
+++ b/aos/vision/image/image_dataset.cc
@@ -37,10 +37,10 @@
   res.reserve(pos.size() + 1);
   i = 0;
   for (auto p : pos) {
-    res.emplace_back(inp.substr(i, p - i).to_string());
+    res.emplace_back(std::string(inp.substr(i, p - i)));
     i = p + 1;
   }
-  res.emplace_back(inp.substr(i).to_string());
+  res.emplace_back(std::string(inp.substr(i)));
   return res;
 }
 }  // namespace
diff --git a/aos/vision/image/image_types.h b/aos/vision/image/image_types.h
index a620d8a..aff7056 100644
--- a/aos/vision/image/image_types.h
+++ b/aos/vision/image/image_types.h
@@ -6,7 +6,7 @@
 #include <memory>
 #include <sstream>
 
-#include <experimental/string_view>
+#include "absl/strings/string_view.h"
 
 namespace aos {
 namespace vision {
@@ -20,7 +20,7 @@
 };
 
 // This will go into c++17. No sense writing my own version.
-using DataRef = std::experimental::string_view;
+using DataRef = absl::string_view;
 
 // Represents the dimensions of an image.
 struct ImageFormat {
diff --git a/aos/vision/math/BUILD b/aos/vision/math/BUILD
index 0fbdf7a..2c71e8f 100644
--- a/aos/vision/math/BUILD
+++ b/aos/vision/math/BUILD
@@ -12,8 +12,7 @@
         "vector.h",
     ],
     deps = [
-        "//third_party/eigen",
-        "@com_google_ceres_solver//:ceres",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
diff --git a/build_tests/BUILD b/build_tests/BUILD
index bf6e9ee..9dd539a 100644
--- a/build_tests/BUILD
+++ b/build_tests/BUILD
@@ -1,5 +1,3 @@
-load("//tools/build_rules:ruby.bzl", "ruby_binary")
-load("//aos/build:queues.bzl", "queue_library")
 load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
 load("//tools/cpp/emscripten:defs.bzl", "emcc_binary")
 
@@ -38,46 +36,6 @@
     ],
 )
 
-ruby_binary(
-    name = "ruby_binary",
-    srcs = [
-        "ruby.rb",
-        "ruby_to_require.rb",
-    ],
-    data = [
-        "ruby_to_require.rb",
-    ],
-)
-
-sh_test(
-    name = "ruby_build_test",
-    size = "small",
-    srcs = [
-        "ruby_check.sh",
-    ],
-    data = [
-        ":ruby_binary",
-    ],
-)
-
-queue_library(
-    name = "queue_library",
-    srcs = [
-        "queue.q",
-    ],
-)
-
-cc_test(
-    name = "queue_build_test",
-    size = "small",
-    srcs = [
-        "queue.cc",
-    ],
-    deps = [
-        ":queue_library",
-    ],
-)
-
 cc_binary(
     name = "tcmalloc_build_test_binary",
     srcs = [
diff --git a/build_tests/queue.cc b/build_tests/queue.cc
deleted file mode 100644
index 7f67f6a..0000000
--- a/build_tests/queue.cc
+++ /dev/null
@@ -1,12 +0,0 @@
-#include <stdio.h>
-
-#include "build_tests/queue.q.h"
-
-int main() {
-  ::build_tests::TestMessage s;
-  s.field = 971;
-  char buffer[1024];
-  s.Print(buffer, sizeof(buffer));
-  buffer[sizeof(buffer) - 1] = '\0';
-  printf("s = {%s}\n", buffer);
-}
diff --git a/build_tests/queue.q b/build_tests/queue.q
deleted file mode 100644
index 9a32a7c..0000000
--- a/build_tests/queue.q
+++ /dev/null
@@ -1,5 +0,0 @@
-package build_tests;
-
-message TestMessage {
-  int32_t field;
-};
diff --git a/build_tests/ruby.rb b/build_tests/ruby.rb
deleted file mode 100644
index 12af7fe..0000000
--- a/build_tests/ruby.rb
+++ /dev/null
@@ -1,18 +0,0 @@
-# ruby_check.sh runs this and verifies the output matches.
-# The first argument is the absolute path to the runfiles directory to use for
-# testing require with an absolute path.
-
-$loaded = false
-raise unless require_relative 'ruby_to_require.rb'
-raise unless $loaded
-
-# We already loaded this above, so it won't happen again.
-raise if require 'build_tests/ruby_to_require'
-
-$loaded = false
-raise unless require ARGV[0] + '/build_tests/ruby_to_require'
-raise unless $loaded
-
-raise unless ''.encoding == Encoding::UTF_8
-
-puts 'Hi from ruby'
diff --git a/build_tests/ruby_check.sh b/build_tests/ruby_check.sh
deleted file mode 100755
index 70d3149..0000000
--- a/build_tests/ruby_check.sh
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/bin/bash
-
-# Checks the output from ruby.rb.
-
-set -e
-set -u
-
-OUTPUT="$("./build_tests/ruby_binary" "${PWD}")"
-
-if [[ "${OUTPUT}" != "Hi from ruby" ]]; then
-  echo "Output is actually:" >&2
-  echo "${OUTPUT}" >&2
-  exit 1
-fi
diff --git a/build_tests/ruby_to_require.rb b/build_tests/ruby_to_require.rb
deleted file mode 100644
index b63cda2..0000000
--- a/build_tests/ruby_to_require.rb
+++ /dev/null
@@ -1,4 +0,0 @@
-# This file is loaded by ruby.rb through several mechanisms to make sure they
-# all work.
-
-$loaded = true
diff --git a/debian/BUILD b/debian/BUILD
index f7d3113..503274c 100644
--- a/debian/BUILD
+++ b/debian/BUILD
@@ -48,10 +48,6 @@
     ":python_gtk.bzl",
     python_gtk_debs = "files",
 )
-load(
-    ":ruby.bzl",
-    ruby_debs = "files",
-)
 load("//debian:packages.bzl", "download_packages", "generate_deb_tarball")
 
 filegroup(
@@ -130,16 +126,6 @@
 )
 
 download_packages(
-    name = "download_ruby_deps",
-    excludes = [
-        "ca-certificates",
-    ],
-    packages = [
-        "ruby",
-    ],
-)
-
-download_packages(
     name = "download_patch_deps",
     packages = [
         "patch",
@@ -293,8 +279,3 @@
     name = "python_gtk",
     files = python_gtk_debs,
 )
-
-generate_deb_tarball(
-    name = "ruby",
-    files = ruby_debs,
-)
diff --git a/debian/ruby.BUILD b/debian/ruby.BUILD
deleted file mode 100644
index 73f9e4a..0000000
--- a/debian/ruby.BUILD
+++ /dev/null
@@ -1,9 +0,0 @@
-filegroup(
-    name = "ruby",
-    srcs = glob(
-        [
-            "usr/**",
-        ],
-    ),
-    visibility = ["//visibility:public"],
-)
diff --git a/debian/ruby.bzl b/debian/ruby.bzl
deleted file mode 100644
index e839fac..0000000
--- a/debian/ruby.bzl
+++ /dev/null
@@ -1,16 +0,0 @@
-files = {
-  "libffi6_3.1-2+deb8u1_amd64.deb": "100343fca79ff265abc62467c7085fca68b8764e8c2551302ab741c771e7f0aa",
-  "libgdbm3_1.8.3-13.1_amd64.deb": "5d5566359c3a5dc86e2f386b9d9d84c94f580b2e5f2553097cf3e10bd3090de0",
-  "libgmp10_6.0.0+dfsg-6_amd64.deb": "155a31b0f716aa3dcd7ee68e9bd57e0b76a6b31f4e41fb2d953e986315437082",
-  "libncurses5_5.9+20140913-1+deb8u3_amd64.deb": "529417741277e91ed343e1e01aa68a0e4bca33b1fee5bdfb19093634b21ed0c5",
-  "libreadline6_6.3-8+b3_amd64.deb": "647948737fcfea4749368aa233b2d8b89032546ba4db2f0338239e9a7f4bda3e",
-  "libruby2.1_2.1.5-2+deb8u5_amd64.deb": "5cbe0b9d52ec9e8f0ecc1f361763f1188d721362bae4b63a34e30c3bfcbe2473",
-  "libssl1.0.0_1.0.1t-1+deb8u9_amd64.deb": "4edf4d85387f2bd57c8eb372e81373562d57c2f952b6956f8378a0cacf199ba5",
-  "libtinfo5_5.9+20140913-1+deb8u3_amd64.deb": "36a0f120da15f82c0c729535ac48d95e126c5d7fc2c4aceb94bf27ced5a4cecc",
-  "libyaml-0-2_0.1.6-3_amd64.deb": "5885db15ac425eb7231c436903525b78381e034bcc53928a97997a745295d222",
-  "openssl_1.0.1t-1+deb8u9_amd64.deb": "4725726faeba1f58d64dbb56230eb81607bc926d7a6dc8367e82717bf8cfa527",
-  "readline-common_6.3-8_all.deb": "8b91bce988c38798e565820919a600f1a58ca483d8406860cc37e847a55a6bfd",
-  "ruby2.1_2.1.5-2+deb8u5_amd64.deb": "254c0e1506b12b2c4872839a42fe73cec08b2053d268a6603650190d406865ac",
-  "ruby_2.1.5+deb8u2_all.deb": "aced2bae409b1aa503363a98b6dc7eb799f59f3a7ee48ac357f458643aa729fb",
-  "rubygems-integration_1.8_all.deb": "944202a99a704fd708d03a768981cf63406fb41f6a311464993f39a11a215bc1",
-}
diff --git a/frc971/autonomous/BUILD b/frc971/autonomous/BUILD
index 2d74bf2..2eb4be0 100644
--- a/frc971/autonomous/BUILD
+++ b/frc971/autonomous/BUILD
@@ -1,15 +1,11 @@
 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 = "auto_queue",
-    srcs = [
-        "auto.q",
-    ],
-    deps = [
-        "//aos/actions:action_queue",
-    ],
+flatbuffer_cc_library(
+    name = "auto_fbs",
+    srcs = ["auto.fbs"],
+    visibility = ["//visibility:public"],
 )
 
 cc_library(
@@ -21,13 +17,15 @@
         "base_autonomous_actor.h",
     ],
     deps = [
-        ":auto_queue",
+        ":auto_fbs",
         "//aos/actions:action_lib",
         "//aos/logging",
         "//aos/util:phased_loop",
+        "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops/drivetrain:drivetrain_config",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
-        "//frc971/control_loops/drivetrain:localizer_queue",
-        "//y2019/control_loops/drivetrain:target_selector_queue",
+        "//frc971/control_loops/drivetrain:drivetrain_goal_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+        "//frc971/control_loops/drivetrain:localizer_fbs",
+        "//y2019/control_loops/drivetrain:target_selector_fbs",
     ],
 )
diff --git a/frc971/autonomous/auto.fbs b/frc971/autonomous/auto.fbs
new file mode 100644
index 0000000..92ca532
--- /dev/null
+++ b/frc971/autonomous/auto.fbs
@@ -0,0 +1,17 @@
+namespace frc971.autonomous;
+
+// Published on ".frc971.autonomous.auto_mode"
+table AutonomousMode {
+  // Mode read from the mode setting sensors.
+  mode:int;
+}
+
+table AutonomousActionParams {
+  // The mode from the sensors when auto starts.
+  mode:int;
+}
+
+table Goal {
+  run:uint;
+  params:AutonomousActionParams;
+}
diff --git a/frc971/autonomous/auto.q b/frc971/autonomous/auto.q
deleted file mode 100644
index f107c90..0000000
--- a/frc971/autonomous/auto.q
+++ /dev/null
@@ -1,26 +0,0 @@
-package frc971.autonomous;
-
-import "aos/actions/actions.q";
-
-// Published on ".frc971.autonomous.auto_mode"
-message AutonomousMode {
-  // Mode read from the mode setting sensors.
-  int32_t mode;
-};
-
-struct AutonomousActionParams {
-  // The mode from the sensors when auto starts.
-  int32_t mode;
-};
-
-queue_group AutonomousActionQueueGroup {
-  implements aos.common.actions.ActionQueueGroup;
-
-  message Goal {
-    uint32_t run;
-    AutonomousActionParams params;
-  };
-
-  queue Goal goal;
-  queue aos.common.actions.Status status;
-};
diff --git a/frc971/autonomous/base_autonomous_actor.cc b/frc971/autonomous/base_autonomous_actor.cc
index 367e849..dee2931 100644
--- a/frc971/autonomous/base_autonomous_actor.cc
+++ b/frc971/autonomous/base_autonomous_actor.cc
@@ -8,13 +8,15 @@
 #include "aos/util/phased_loop.h"
 #include "aos/logging/logging.h"
 
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/control_loops/drivetrain/localizer.q.h"
-#include "y2019/control_loops/drivetrain/target_selector.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "y2019/control_loops/drivetrain/target_selector_generated.h"
 
 using ::aos::monotonic_clock;
 namespace chrono = ::std::chrono;
 namespace this_thread = ::std::this_thread;
+namespace drivetrain = frc971::control_loops::drivetrain;
 
 namespace frc971 {
 namespace autonomous {
@@ -22,41 +24,37 @@
 BaseAutonomousActor::BaseAutonomousActor(
     ::aos::EventLoop *event_loop,
     const control_loops::drivetrain::DrivetrainConfig<double> &dt_config)
-    : aos::common::actions::ActorBase<AutonomousActionQueueGroup>(
-          event_loop, ".frc971.autonomous.autonomous_action"),
+    : aos::common::actions::ActorBase<Goal>(event_loop, "/autonomous"),
       dt_config_(dt_config),
       initial_drivetrain_({0.0, 0.0}),
       target_selector_hint_sender_(
           event_loop->MakeSender<
               ::y2019::control_loops::drivetrain::TargetSelectorHint>(
-              ".y2019.control_loops.drivetrain.target_selector_hint")),
+              "/drivetrain")),
       drivetrain_goal_sender_(
-          event_loop
-              ->MakeSender<::frc971::control_loops::DrivetrainQueue::Goal>(
-                  ".frc971.control_loops.drivetrain_queue.goal")),
+          event_loop->MakeSender<drivetrain::Goal>("/drivetrain")),
       drivetrain_status_fetcher_(
-          event_loop
-              ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Status>(
-                  ".frc971.control_loops.drivetrain_queue.status")),
+          event_loop->MakeFetcher<drivetrain::Status>("/drivetrain")),
       drivetrain_goal_fetcher_(
-          event_loop
-              ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Goal>(
-                  ".frc971.control_loops.drivetrain_queue.goal")) {}
+          event_loop->MakeFetcher<drivetrain::Goal>("/drivetrain")) {}
 
 void BaseAutonomousActor::ResetDrivetrain() {
   AOS_LOG(INFO, "resetting the drivetrain\n");
   max_drivetrain_voltage_ = 12.0;
   goal_spline_handle_ = 0;
 
-  auto drivetrain_goal_message = drivetrain_goal_sender_.MakeMessage();
-  drivetrain_goal_message->controller_type = 0;
-  drivetrain_goal_message->highgear = true;
-  drivetrain_goal_message->wheel = 0.0;
-  drivetrain_goal_message->throttle = 0.0;
-  drivetrain_goal_message->left_goal = initial_drivetrain_.left;
-  drivetrain_goal_message->right_goal = initial_drivetrain_.right;
-  drivetrain_goal_message->max_ss_voltage = max_drivetrain_voltage_;
-  drivetrain_goal_message.Send();
+  auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+  drivetrain::Goal::Builder goal_builder =
+      builder.MakeBuilder<drivetrain::Goal>();
+  goal_builder.add_controller_type(drivetrain::ControllerType_POLYDRIVE);
+  goal_builder.add_highgear(true);
+  goal_builder.add_wheel(0.0);
+  goal_builder.add_throttle(0.0);
+  goal_builder.add_left_goal(initial_drivetrain_.left);
+  goal_builder.add_right_goal(initial_drivetrain_.right);
+  goal_builder.add_max_ss_voltage(max_drivetrain_voltage_);
+  builder.Send(goal_builder.Finish());
 }
 
 void BaseAutonomousActor::InitializeEncoders() {
@@ -64,14 +62,14 @@
   WaitUntil([this]() { return drivetrain_status_fetcher_.Fetch(); });
 
   initial_drivetrain_.left =
-      drivetrain_status_fetcher_->estimated_left_position;
+      drivetrain_status_fetcher_->estimated_left_position();
   initial_drivetrain_.right =
-      drivetrain_status_fetcher_->estimated_right_position;
+      drivetrain_status_fetcher_->estimated_right_position();
 }
 
 void BaseAutonomousActor::StartDrive(double distance, double angle,
-                                     ProfileParameters linear,
-                                     ProfileParameters angular) {
+                                     ProfileParametersT linear,
+                                     ProfileParametersT angular) {
   AOS_LOG(INFO, "Driving distance %f, angle %f\n", distance, angle);
   {
     const double dangle = angle * dt_config_.robot_radius;
@@ -79,20 +77,25 @@
     initial_drivetrain_.right += distance + dangle;
   }
 
-  auto drivetrain_message = drivetrain_goal_sender_.MakeMessage();
-  drivetrain_message->controller_type = 1;
-  drivetrain_message->highgear = true;
-  drivetrain_message->wheel = 0.0;
-  drivetrain_message->throttle = 0.0;
-  drivetrain_message->left_goal = initial_drivetrain_.left;
-  drivetrain_message->right_goal = initial_drivetrain_.right;
-  drivetrain_message->max_ss_voltage = max_drivetrain_voltage_;
-  drivetrain_message->linear = linear;
-  drivetrain_message->angular = angular;
+  auto builder = drivetrain_goal_sender_.MakeBuilder();
 
-  AOS_LOG_STRUCT(DEBUG, "dtg", *drivetrain_message);
+  auto linear_offset = ProfileParameters::Pack(*builder.fbb(), &linear);
+  auto angular_offset = ProfileParameters::Pack(*builder.fbb(), &angular);
 
-  drivetrain_message.Send();
+  drivetrain::Goal::Builder goal_builder =
+      builder.MakeBuilder<drivetrain::Goal>();
+
+  goal_builder.add_controller_type(drivetrain::ControllerType_MOTION_PROFILE);
+  goal_builder.add_highgear(true);
+  goal_builder.add_wheel(0.0);
+  goal_builder.add_throttle(0.0);
+  goal_builder.add_left_goal(initial_drivetrain_.left);
+  goal_builder.add_right_goal(initial_drivetrain_.right);
+  goal_builder.add_max_ss_voltage(max_drivetrain_voltage_);
+  goal_builder.add_linear(linear_offset);
+  goal_builder.add_angular(angular_offset);
+
+  builder.Send(goal_builder.Finish());
 }
 
 void BaseAutonomousActor::WaitUntilDoneOrCanceled(
@@ -137,17 +140,17 @@
   static constexpr double kProfileTolerance = 0.001;
 
   if (drivetrain_status_fetcher_.get()) {
-    if (::std::abs(drivetrain_status_fetcher_->profiled_left_position_goal -
+    if (::std::abs(drivetrain_status_fetcher_->profiled_left_position_goal() -
                    initial_drivetrain_.left) < kProfileTolerance &&
-        ::std::abs(drivetrain_status_fetcher_->profiled_right_position_goal -
+        ::std::abs(drivetrain_status_fetcher_->profiled_right_position_goal() -
                    initial_drivetrain_.right) < kProfileTolerance &&
-        ::std::abs(drivetrain_status_fetcher_->estimated_left_position -
+        ::std::abs(drivetrain_status_fetcher_->estimated_left_position() -
                    initial_drivetrain_.left) < kPositionTolerance &&
-        ::std::abs(drivetrain_status_fetcher_->estimated_right_position -
+        ::std::abs(drivetrain_status_fetcher_->estimated_right_position() -
                    initial_drivetrain_.right) < kPositionTolerance &&
-        ::std::abs(drivetrain_status_fetcher_->estimated_left_velocity) <
+        ::std::abs(drivetrain_status_fetcher_->estimated_left_velocity()) <
             kVelocityTolerance &&
-        ::std::abs(drivetrain_status_fetcher_->estimated_right_velocity) <
+        ::std::abs(drivetrain_status_fetcher_->estimated_right_velocity()) <
             kVelocityTolerance) {
       AOS_LOG(INFO, "Finished drive\n");
       return true;
@@ -170,7 +173,7 @@
       return true;
     }
     if (drivetrain_status_fetcher_.get()) {
-      if (drivetrain_status_fetcher_->ground_angle > angle) {
+      if (drivetrain_status_fetcher_->ground_angle() > angle) {
         return true;
       }
     }
@@ -191,7 +194,7 @@
       return true;
     }
     if (drivetrain_status_fetcher_.get()) {
-      if (drivetrain_status_fetcher_->ground_angle < angle) {
+      if (drivetrain_status_fetcher_->ground_angle() < angle) {
         return true;
       }
     }
@@ -213,10 +216,10 @@
       return true;
     }
     if (drivetrain_status_fetcher_.get()) {
-      if (drivetrain_status_fetcher_->ground_angle > max_angle) {
-        max_angle = drivetrain_status_fetcher_->ground_angle;
+      if (drivetrain_status_fetcher_->ground_angle() > max_angle) {
+        max_angle = drivetrain_status_fetcher_->ground_angle();
       }
-      if (drivetrain_status_fetcher_->ground_angle < max_angle - angle) {
+      if (drivetrain_status_fetcher_->ground_angle() < max_angle - angle) {
         return true;
       }
     }
@@ -243,17 +246,17 @@
     if (drivetrain_status_fetcher_.get()) {
       const double left_profile_error =
           (initial_drivetrain_.left -
-           drivetrain_status_fetcher_->profiled_left_position_goal);
+           drivetrain_status_fetcher_->profiled_left_position_goal());
       const double right_profile_error =
           (initial_drivetrain_.right -
-           drivetrain_status_fetcher_->profiled_right_position_goal);
+           drivetrain_status_fetcher_->profiled_right_position_goal());
 
       const double left_error =
           (initial_drivetrain_.left -
-           drivetrain_status_fetcher_->estimated_left_position);
+           drivetrain_status_fetcher_->estimated_left_position());
       const double right_error =
           (initial_drivetrain_.right -
-           drivetrain_status_fetcher_->estimated_right_position);
+           drivetrain_status_fetcher_->estimated_right_position());
 
       const double profile_distance_to_go =
           (left_profile_error + right_profile_error) / 2.0;
@@ -306,9 +309,9 @@
     const Eigen::Matrix<double, 7, 1> current_error =
         (Eigen::Matrix<double, 7, 1>()
              << initial_drivetrain_.left -
-                    drivetrain_status_fetcher_->profiled_left_position_goal,
+                    drivetrain_status_fetcher_->profiled_left_position_goal(),
          0.0, initial_drivetrain_.right -
-                  drivetrain_status_fetcher_->profiled_right_position_goal,
+                  drivetrain_status_fetcher_->profiled_right_position_goal(),
          0.0, 0.0, 0.0, 0.0)
             .finished();
     const Eigen::Matrix<double, 2, 1> linear_error =
@@ -342,9 +345,9 @@
     const Eigen::Matrix<double, 7, 1> current_error =
         (Eigen::Matrix<double, 7, 1>()
              << initial_drivetrain_.left -
-                    drivetrain_status_fetcher_->profiled_left_position_goal,
+                    drivetrain_status_fetcher_->profiled_left_position_goal(),
          0.0, initial_drivetrain_.right -
-                  drivetrain_status_fetcher_->profiled_right_position_goal,
+                  drivetrain_status_fetcher_->profiled_right_position_goal(),
          0.0, 0.0, 0.0, 0.0)
             .finished();
     const Eigen::Matrix<double, 2, 1> angular_error =
@@ -369,10 +372,10 @@
   if (drivetrain_status_fetcher_.get()) {
     const double left_error =
         (initial_drivetrain_.left -
-         drivetrain_status_fetcher_->estimated_left_position);
+         drivetrain_status_fetcher_->estimated_left_position());
     const double right_error =
         (initial_drivetrain_.right -
-         drivetrain_status_fetcher_->estimated_right_position);
+         drivetrain_status_fetcher_->estimated_right_position());
 
     return (left_error + right_error) / 2.0;
   } else {
@@ -385,9 +388,11 @@
   base_autonomous_actor_->drivetrain_status_fetcher_.Fetch();
   if (base_autonomous_actor_->drivetrain_status_fetcher_.get()) {
     return base_autonomous_actor_->drivetrain_status_fetcher_
-               ->trajectory_logging.is_executing &&
+               ->trajectory_logging()
+               ->is_executing() &&
            base_autonomous_actor_->drivetrain_status_fetcher_
-                   ->trajectory_logging.distance_remaining < distance;
+                   ->trajectory_logging()
+                   ->distance_remaining() < distance;
   }
   return false;
 }
@@ -408,61 +413,89 @@
   }
 }
 
-void BaseAutonomousActor::LineFollowAtVelocity(double velocity, int hint) {
-  auto drivetrain_message = drivetrain_goal_sender_.MakeMessage();
-  drivetrain_message->controller_type = 3;
-  // TODO(james): Currently the 4.0 is copied from the
-  // line_follow_drivetrain.cc, but it is somewhat year-specific, so we should
-  // factor it out in some way.
-  drivetrain_message->throttle = velocity / 4.0;
-  drivetrain_message.Send();
-  auto target_hint = target_selector_hint_sender_.MakeMessage();
-  target_hint->suggested_target = hint;
-  target_hint.Send();
+void BaseAutonomousActor::LineFollowAtVelocity(
+    double velocity, y2019::control_loops::drivetrain::SelectionHint hint) {
+  {
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    drivetrain::Goal::Builder goal_builder =
+        builder.MakeBuilder<drivetrain::Goal>();
+    goal_builder.add_controller_type(
+        drivetrain::ControllerType_SPLINE_FOLLOWER);
+    // TODO(james): Currently the 4.0 is copied from the
+    // line_follow_drivetrain.cc, but it is somewhat year-specific, so we should
+    // factor it out in some way.
+    goal_builder.add_throttle(velocity / 4.0);
+    builder.Send(goal_builder.Finish());
+  }
+
+  {
+    auto builder = target_selector_hint_sender_.MakeBuilder();
+    ::y2019::control_loops::drivetrain::TargetSelectorHint::Builder
+        target_hint_builder = builder.MakeBuilder<
+            ::y2019::control_loops::drivetrain::TargetSelectorHint>();
+
+    target_hint_builder.add_suggested_target(hint);
+    builder.Send(target_hint_builder.Finish());
+  }
 }
 
 BaseAutonomousActor::SplineHandle BaseAutonomousActor::PlanSpline(
-    const ::frc971::MultiSpline &spline, SplineDirection direction) {
+    std::function<flatbuffers::Offset<frc971::MultiSpline>(
+        aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder)>
+        &&multispline_builder,
+    SplineDirection direction) {
   AOS_LOG(INFO, "Planning spline\n");
 
   int32_t spline_handle = (++spline_handle_) | ((getpid() & 0xFFFF) << 15);
 
   drivetrain_goal_fetcher_.Fetch();
 
-  auto drivetrain_message =
-      drivetrain_goal_sender_.MakeMessage();
+  auto builder = drivetrain_goal_sender_.MakeBuilder();
 
-  int controller_type = 2;
+  flatbuffers::Offset<frc971::MultiSpline> multispline_offset =
+      multispline_builder(&builder);
+
+  drivetrain::SplineGoal::Builder spline_builder =
+      builder.MakeBuilder<drivetrain::SplineGoal>();
+  spline_builder.add_spline_idx(spline_handle);
+  spline_builder.add_drive_spline_backwards(direction ==
+                                            SplineDirection::kBackward);
+  spline_builder.add_spline(multispline_offset);
+
+  flatbuffers::Offset<drivetrain::SplineGoal> spline_offset =
+      spline_builder.Finish();
+
+  drivetrain::Goal::Builder goal_builder =
+      builder.MakeBuilder<drivetrain::Goal>();
+
+  drivetrain::ControllerType controller_type =
+      drivetrain::ControllerType_SPLINE_FOLLOWER;
   if (drivetrain_goal_fetcher_.get()) {
-    controller_type = drivetrain_goal_fetcher_->controller_type;
-    drivetrain_message->throttle = drivetrain_goal_fetcher_->throttle;
+    controller_type = drivetrain_goal_fetcher_->controller_type();
+    goal_builder.add_throttle(drivetrain_goal_fetcher_->throttle());
   }
-  drivetrain_message->controller_type = controller_type;
+  goal_builder.add_controller_type(controller_type);
+  goal_builder.add_spline_handle(goal_spline_handle_);
 
-  drivetrain_message->spline = spline;
-  drivetrain_message->spline.spline_idx = spline_handle;
-  drivetrain_message->spline_handle = goal_spline_handle_;
-  drivetrain_message->spline.drive_spline_backwards =
-      direction == SplineDirection::kBackward;
+  goal_builder.add_spline(spline_offset);
 
-  AOS_LOG_STRUCT(DEBUG, "dtg", *drivetrain_message);
-
-  drivetrain_message.Send();
+  builder.Send(goal_builder.Finish());
 
   return BaseAutonomousActor::SplineHandle(spline_handle, this);
 }
 
 bool BaseAutonomousActor::SplineHandle::IsPlanned() {
   base_autonomous_actor_->drivetrain_status_fetcher_.Fetch();
-  AOS_LOG_STRUCT(DEBUG, "dts",
-                 *(base_autonomous_actor_->drivetrain_status_fetcher_.get()));
+  VLOG(1) << aos::FlatbufferToJson(
+      base_autonomous_actor_->drivetrain_status_fetcher_.get());
+
   if (base_autonomous_actor_->drivetrain_status_fetcher_.get() &&
-      ((base_autonomous_actor_->drivetrain_status_fetcher_->trajectory_logging
-                .planning_spline_idx == spline_handle_ &&
-        base_autonomous_actor_->drivetrain_status_fetcher_->trajectory_logging
-                .planning_state == 3) ||
-       base_autonomous_actor_->drivetrain_status_fetcher_->trajectory_logging
-               .current_spline_idx == spline_handle_)) {
+      ((base_autonomous_actor_->drivetrain_status_fetcher_->trajectory_logging()
+                ->planning_spline_idx() == spline_handle_ &&
+        base_autonomous_actor_->drivetrain_status_fetcher_->trajectory_logging()
+                ->planning_state() == 3) ||
+       base_autonomous_actor_->drivetrain_status_fetcher_->trajectory_logging()
+               ->current_spline_idx() == spline_handle_)) {
     return true;
   }
   return false;
@@ -485,24 +518,21 @@
 }
 
 void BaseAutonomousActor::SplineHandle::Start() {
-  auto drivetrain_message =
-      base_autonomous_actor_->drivetrain_goal_sender_.MakeMessage();
-  drivetrain_message->controller_type = 2;
+  auto builder = base_autonomous_actor_->drivetrain_goal_sender_.MakeBuilder();
+  drivetrain::Goal::Builder goal_builder =
+      builder.MakeBuilder<drivetrain::Goal>();
+  goal_builder.add_controller_type(drivetrain::ControllerType_SPLINE_FOLLOWER);
 
   AOS_LOG(INFO, "Starting spline\n");
 
-  drivetrain_message->spline_handle = spline_handle_;
+  goal_builder.add_spline_handle(spline_handle_);
   base_autonomous_actor_->goal_spline_handle_ = spline_handle_;
 
-  AOS_LOG_STRUCT(DEBUG, "dtg", *drivetrain_message);
-
-  drivetrain_message.Send();
+  builder.Send(goal_builder.Finish());
 }
 
 bool BaseAutonomousActor::SplineHandle::IsDone() {
   base_autonomous_actor_->drivetrain_status_fetcher_.Fetch();
-  AOS_LOG_STRUCT(INFO, "dts",
-                 *(base_autonomous_actor_->drivetrain_status_fetcher_.get()));
 
   // We check that the spline we are waiting on is neither currently planning
   // nor executing (we check is_executed because it is possible to receive
@@ -510,12 +540,13 @@
   // We check for planning so that the user can go straight from starting the
   // planner to executing without a WaitForPlan in between.
   if (base_autonomous_actor_->drivetrain_status_fetcher_.get() &&
-      ((!base_autonomous_actor_->drivetrain_status_fetcher_->trajectory_logging
-             .is_executed &&
-        base_autonomous_actor_->drivetrain_status_fetcher_->trajectory_logging
-                .current_spline_idx == spline_handle_) ||
-       base_autonomous_actor_->drivetrain_status_fetcher_->trajectory_logging
-               .planning_spline_idx == spline_handle_)) {
+      ((!base_autonomous_actor_->drivetrain_status_fetcher_
+             ->trajectory_logging()
+             ->is_executed() &&
+        base_autonomous_actor_->drivetrain_status_fetcher_->trajectory_logging()
+                ->current_spline_idx() == spline_handle_) ||
+       base_autonomous_actor_->drivetrain_status_fetcher_->trajectory_logging()
+               ->planning_spline_idx() == spline_handle_)) {
     return false;
   }
   return true;
diff --git a/frc971/autonomous/base_autonomous_actor.h b/frc971/autonomous/base_autonomous_actor.h
index 5a5bcea..6035551 100644
--- a/frc971/autonomous/base_autonomous_actor.h
+++ b/frc971/autonomous/base_autonomous_actor.h
@@ -5,20 +5,20 @@
 
 #include "aos/actions/actions.h"
 #include "aos/actions/actor.h"
-#include "aos/events/shm-event-loop.h"
-#include "frc971/autonomous/auto.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "aos/events/shm_event_loop.h"
+#include "frc971/autonomous/auto_generated.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
-#include "y2019/control_loops/drivetrain/target_selector.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "y2019/control_loops/drivetrain/target_selector_generated.h"
 
 namespace frc971 {
 namespace autonomous {
 
-class BaseAutonomousActor
-    : public ::aos::common::actions::ActorBase<AutonomousActionQueueGroup> {
+class BaseAutonomousActor : public ::aos::common::actions::ActorBase<Goal> {
  public:
-  typedef ::aos::common::actions::TypedActionFactory<AutonomousActionQueueGroup>
-      Factory;
+  typedef ::aos::common::actions::TypedActionFactory<Goal> Factory;
 
   explicit BaseAutonomousActor(
       ::aos::EventLoop *event_loop,
@@ -62,13 +62,16 @@
 
   // Starts planning the spline, and returns a handle to be used to manipulate
   // it.
-  SplineHandle PlanSpline(const ::frc971::MultiSpline &spline,
-                          SplineDirection direction);
+  SplineHandle PlanSpline(
+      std::function<flatbuffers::Offset<frc971::MultiSpline>(
+          aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder
+              *builder)> &&multispline_builder,
+      SplineDirection direction);
 
   void ResetDrivetrain();
   void InitializeEncoders();
-  void StartDrive(double distance, double angle, ProfileParameters linear,
-                  ProfileParameters angular);
+  void StartDrive(double distance, double angle, ProfileParametersT linear,
+                  ProfileParametersT angular);
 
   void WaitUntilDoneOrCanceled(
       ::std::unique_ptr<aos::common::actions::Action> action);
@@ -79,7 +82,10 @@
   // Returns true if the drive has finished.
   bool IsDriveDone();
 
-  void LineFollowAtVelocity(double velocity, int hint = 0);
+  void LineFollowAtVelocity(
+      double velocity,
+      y2019::control_loops::drivetrain::SelectionHint hint =
+          y2019::control_loops::drivetrain::SelectionHint_NONE);
 
   // Waits until the robot is pitched up above the specified angle, or the move
   // finishes.  Returns true on success, and false if it cancels.
@@ -115,11 +121,11 @@
 
   ::aos::Sender<::y2019::control_loops::drivetrain::TargetSelectorHint>
       target_selector_hint_sender_;
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Goal>
+  ::aos::Sender<::frc971::control_loops::drivetrain::Goal>
       drivetrain_goal_sender_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Status>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Status>
       drivetrain_status_fetcher_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Goal>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Goal>
       drivetrain_goal_fetcher_;
 
  private:
diff --git a/frc971/codelab/BUILD b/frc971/codelab/BUILD
index 0fe9205..6302443 100644
--- a/frc971/codelab/BUILD
+++ b/frc971/codelab/BUILD
@@ -1,6 +1,6 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 
 cc_binary(
     name = "basic_test",
@@ -8,10 +8,9 @@
     srcs = ["basic_test.cc"],
     deps = [
         ":basic",
-        ":basic_queue",
-        "//aos:queues",
+        ":basic_fbs",
         "//aos/controls:control_loop_test",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//aos/testing:googletest",
         "//frc971/control_loops:state_feedback_loop",
         "//frc971/control_loops:team_number_test_environment",
@@ -23,18 +22,14 @@
     srcs = ["basic.cc"],
     hdrs = ["basic.h"],
     deps = [
-        ":basic_queue",
+        ":basic_fbs",
         "//aos/controls:control_loop",
     ],
 )
 
-queue_library(
-    name = "basic_queue",
+flatbuffer_cc_library(
+    name = "basic_fbs",
     srcs = [
-        "basic.q",
-    ],
-    deps = [
-        "//aos/controls:control_loop_queues",
-        "//frc971/control_loops:queues",
+        "basic.fbs",
     ],
 )
diff --git a/frc971/codelab/basic.cc b/frc971/codelab/basic.cc
index d06e285..29ffcf5 100644
--- a/frc971/codelab/basic.cc
+++ b/frc971/codelab/basic.cc
@@ -4,12 +4,12 @@
 namespace codelab {
 
 Basic::Basic(::aos::EventLoop *event_loop, const ::std::string &name)
-    : aos::controls::ControlLoop<BasicQueue>(event_loop, name) {}
+    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                 name) {}
 
-void Basic::RunIteration(const BasicQueue::Goal *goal,
-                         const BasicQueue::Position *position,
-                         BasicQueue::Output *output,
-                         BasicQueue::Status *status) {
+void Basic::RunIteration(const Goal *goal, const Position *position,
+                         aos::Sender<Output>::Builder *output,
+                         aos::Sender<Status>::Builder *status) {
   // TODO(you): Set the intake_voltage to 12 Volts when
   // intake is requested (via intake in goal). Make sure not to set
   // the motor to anything but 0 V when the limit_sensor is pressed.
diff --git a/frc971/codelab/basic.fbs b/frc971/codelab/basic.fbs
new file mode 100644
index 0000000..82c9607
--- /dev/null
+++ b/frc971/codelab/basic.fbs
@@ -0,0 +1,35 @@
+namespace frc971.codelab;
+
+// The theme of this basic test is a simple intake system.
+//
+// The system will have a motor driven by the voltage returned
+// by output, and then eventually this motor, when run enough,
+// will trigger the limit_sensor. The hypothetical motor should shut
+// off in that hypothetical situation to avoid hypothetical burnout.
+table Goal {
+  // The control loop needs to intake now.
+  intake:bool;
+}
+
+table Position {
+  // This is a potential incoming sensor value letting us know
+  // if we need to be intaking.
+  limit_sensor:bool;
+}
+
+table Status {
+  // Lets consumers of basic_queue.status know if
+  // the requested intake is finished.
+  intake_complete:bool;
+}
+
+table Output {
+  // This would be set up to drive a hypothetical motor that would
+  // hope to intake something.
+  intake_voltage:double;
+}
+
+root_type Goal;
+root_type Position;
+root_type Status;
+root_type Output;
diff --git a/frc971/codelab/basic.h b/frc971/codelab/basic.h
index 6f33718..acaec0c 100644
--- a/frc971/codelab/basic.h
+++ b/frc971/codelab/basic.h
@@ -4,7 +4,7 @@
 #include "aos/controls/control_loop.h"
 #include "aos/time/time.h"
 
-#include "frc971/codelab/basic.q.h"
+#include "frc971/codelab/basic_generated.h"
 
 namespace frc971 {
 namespace codelab {
@@ -41,16 +41,16 @@
 // Order of approaching this should be:
 // - Read the BUILD file and learn about what code is being generated.
 // - Read basic.q, and familiarize yourself on the inputs and types involved.
-class Basic : public ::aos::controls::ControlLoop<BasicQueue> {
+class Basic
+    : public ::aos::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
   explicit Basic(::aos::EventLoop *event_loop,
-                 const ::std::string &name = ".frc971.codelab.basic_queue");
+                 const ::std::string &name = "/codelab");
 
  protected:
-  void RunIteration(const BasicQueue::Goal *goal,
-                    const BasicQueue::Position *position,
-                    BasicQueue::Output *output,
-                    BasicQueue::Status *status) override;
+  void RunIteration(const Goal *goal, const Position *position,
+                    aos::Sender<Output>::Builder *output,
+                    aos::Sender<Status>::Builder *status) override;
 };
 
 }  // namespace codelab
diff --git a/frc971/codelab/basic.q b/frc971/codelab/basic.q
deleted file mode 100644
index 58fd69e..0000000
--- a/frc971/codelab/basic.q
+++ /dev/null
@@ -1,44 +0,0 @@
-package frc971.codelab;
-
-import "aos/controls/control_loops.q";
-import "frc971/control_loops/control_loops.q";
-
-// The theme of this basic test is a simple intake system.
-//
-// The system will have a motor driven by the voltage returned
-// by output, and then eventually this motor, when run enough,
-// will trigger the limit_sensor. The hypothetical motor should shut
-// off in that hypothetical situation to avoid hypothetical burnout.
-queue_group BasicQueue {
-  implements aos.control_loops.ControlLoop;
-
-  message Goal {
-    // The control loop needs to intake now.
-    bool intake;
-  };
-
-  message Position {
-    // This is a potential incoming sensor value letting us know
-    // if we need to be intaking.
-    bool limit_sensor;
-  };
-
-  message Status {
-    // Lets consumers of basic_queue.status know if
-    // the requested intake is finished.
-    bool intake_complete;
-  };
-
-  message Output {
-    // This would be set up to drive a hypothetical motor that would
-    // hope to intake something.
-    double intake_voltage;
-  };
-
-  queue Goal goal;
-  queue Position position;
-  queue Output output;
-  queue Status status;
-};
-
-queue_group BasicQueue basic_queue;
diff --git a/frc971/codelab/basic_test.cc b/frc971/codelab/basic_test.cc
index 91059f6..487a09b 100644
--- a/frc971/codelab/basic_test.cc
+++ b/frc971/codelab/basic_test.cc
@@ -6,9 +6,8 @@
 #include <memory>
 
 #include "aos/controls/control_loop_test.h"
-#include "aos/events/shm-event-loop.h"
-#include "aos/queue.h"
-#include "frc971/codelab/basic.q.h"
+#include "aos/events/shm_event_loop.h"
+#include "frc971/codelab/basic_generated.h"
 #include "frc971/control_loops/team_number_test_environment.h"
 #include "gtest/gtest.h"
 
@@ -25,12 +24,9 @@
  public:
   BasicSimulation(::aos::EventLoop *event_loop, chrono::nanoseconds dt)
       : event_loop_(event_loop),
-        position_sender_(event_loop_->MakeSender<BasicQueue::Position>(
-            ".frc971.codelab.basic_queue.position")),
-        status_fetcher_(event_loop_->MakeFetcher<BasicQueue::Status>(
-            ".frc971.codelab.basic_queue.status")),
-        output_fetcher_(event_loop_->MakeFetcher<BasicQueue::Output>(
-            ".frc971.codelab.basic_queue.output")) {
+        position_sender_(event_loop_->MakeSender<Position>("/codelab")),
+        status_fetcher_(event_loop_->MakeFetcher<Status>("/codelab")),
+        output_fetcher_(event_loop_->MakeFetcher<Output>("/codelab")) {
     event_loop_->AddPhasedLoop(
         [this](int) {
           // Skip this the first time.
@@ -45,11 +41,13 @@
 
   // Sends a queue message with the position data.
   void SendPositionMessage() {
-    auto position = position_sender_.MakeMessage();
+    auto builder = position_sender_.MakeBuilder();
 
-    position->limit_sensor = limit_sensor_;
+    Position::Builder position_builder = builder.MakeBuilder<Position>();
 
-    position.Send();
+    position_builder.add_limit_sensor(limit_sensor_);
+
+    builder.Send(position_builder.Finish());
   }
 
   void VerifyResults(double voltage, bool status) {
@@ -59,8 +57,8 @@
     ASSERT_TRUE(output_fetcher_.get() != nullptr);
     ASSERT_TRUE(status_fetcher_.get() != nullptr);
 
-    EXPECT_EQ(output_fetcher_->intake_voltage, voltage);
-    EXPECT_EQ(status_fetcher_->intake_complete, status);
+    EXPECT_EQ(output_fetcher_->intake_voltage(), voltage);
+    EXPECT_EQ(status_fetcher_->intake_complete(), status);
   }
 
   void set_limit_sensor(bool value) { limit_sensor_ = value; }
@@ -71,9 +69,9 @@
  private:
   ::aos::EventLoop *event_loop_;
 
-  ::aos::Sender<BasicQueue::Position> position_sender_;
-  ::aos::Fetcher<BasicQueue::Status> status_fetcher_;
-  ::aos::Fetcher<BasicQueue::Output> output_fetcher_;
+  ::aos::Sender<Position> position_sender_;
+  ::aos::Fetcher<Status> status_fetcher_;
+  ::aos::Fetcher<Output> output_fetcher_;
 
   bool limit_sensor_ = false;
 
@@ -83,13 +81,41 @@
 class BasicControlLoopTest : public ::aos::testing::ControlLoopTest {
  public:
   BasicControlLoopTest()
-      : ::aos::testing::ControlLoopTest(chrono::microseconds(5050)),
+      : ::aos::testing::ControlLoopTest(
+            "{\n"
+            "  \"channels\": [ \n"
+            "    {\n"
+            "      \"name\": \"/aos\",\n"
+            "      \"type\": \"aos.JoystickState\"\n"
+            "    },\n"
+            "    {\n"
+            "      \"name\": \"/aos\",\n"
+            "      \"type\": \"aos.RobotState\"\n"
+            "    },\n"
+            "    {\n"
+            "      \"name\": \"/codelab\",\n"
+            "      \"type\": \"frc971.codelab.Goal\"\n"
+            "    },\n"
+            "    {\n"
+            "      \"name\": \"/codelab\",\n"
+            "      \"type\": \"frc971.codelab.Output\"\n"
+            "    },\n"
+            "    {\n"
+            "      \"name\": \"/codelab\",\n"
+            "      \"type\": \"frc971.codelab.Status\"\n"
+            "    },\n"
+            "    {\n"
+            "      \"name\": \"/codelab\",\n"
+            "      \"type\": \"frc971.codelab.Position\"\n"
+            "    }\n"
+            "  ]\n"
+            "}\n",
+            chrono::microseconds(5050)),
         test_event_loop_(MakeEventLoop()),
-        goal_sender_(test_event_loop_->MakeSender<BasicQueue::Goal>(
-            ".frc971.codelab.basic_queue.goal")),
+        goal_sender_(test_event_loop_->MakeSender<Goal>("/codelab")),
 
         basic_event_loop_(MakeEventLoop()),
-        basic_(basic_event_loop_.get(), ".frc971.codelab.basic_queue"),
+        basic_(basic_event_loop_.get(), "/codelab"),
 
         basic_simulation_event_loop_(MakeEventLoop()),
         basic_simulation_(basic_simulation_event_loop_.get(), dt()) {
@@ -97,7 +123,7 @@
   }
 
   ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
-  ::aos::Sender<BasicQueue::Goal> goal_sender_;
+  ::aos::Sender<Goal> goal_sender_;
 
   ::std::unique_ptr<::aos::EventLoop> basic_event_loop_;
   Basic basic_;
@@ -109,9 +135,10 @@
 // Tests that when the motor has finished intaking it stops.
 TEST_F(BasicControlLoopTest, IntakeLimitTransitionsToTrue) {
   {
-    auto message = goal_sender_.MakeMessage();
-    message->intake = true;
-    ASSERT_TRUE(message.Send());
+    auto builder = goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(true);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   basic_simulation_.set_limit_sensor(false);
@@ -121,9 +148,10 @@
   basic_simulation_.VerifyResults(12.0, false);
 
   {
-    auto message = goal_sender_.MakeMessage();
-    message->intake = true;
-    ASSERT_TRUE(message.Send());
+    auto builder = goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(true);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   basic_simulation_.set_limit_sensor(true);
 
@@ -136,9 +164,10 @@
 // and intake is requested.
 TEST_F(BasicControlLoopTest, IntakeLimitNotSet) {
   {
-    auto message = goal_sender_.MakeMessage();
-    message->intake = true;
-    ASSERT_TRUE(message.Send());
+    auto builder = goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(true);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   basic_simulation_.set_limit_sensor(false);
 
@@ -151,9 +180,10 @@
 // even if the limit sensor is off.
 TEST_F(BasicControlLoopTest, NoIntakeLimitNotSet) {
   {
-    auto message = goal_sender_.MakeMessage();
-    message->intake = false;
-    ASSERT_TRUE(message.Send());
+    auto builder = goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(false);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   basic_simulation_.set_limit_sensor(false);
 
@@ -166,9 +196,10 @@
 // is pressed and intake is requested.
 TEST_F(BasicControlLoopTest, IntakeLimitSet) {
   {
-    auto message = goal_sender_.MakeMessage();
-    message->intake = true;
-    ASSERT_TRUE(message.Send());
+    auto builder = goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(true);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   basic_simulation_.set_limit_sensor(true);
 
@@ -180,9 +211,10 @@
 // Tests that the intake is off if no intake is requested,
 TEST_F(BasicControlLoopTest, NoIntakeLimitSet) {
   {
-    auto message = goal_sender_.MakeMessage();
-    message->intake = false;
-    ASSERT_TRUE(message.Send());
+    auto builder = goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(false);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   basic_simulation_.set_limit_sensor(true);
 
@@ -205,9 +237,10 @@
   basic_simulation_.set_limit_sensor(true);
 
   {
-    auto message = goal_sender_.MakeMessage();
-    message->intake = true;
-    ASSERT_TRUE(message.Send());
+    auto builder = goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(true);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   SetEnabled(false);
diff --git a/aos/config/10-net-eth0.rules b/frc971/config/10-net-eth0.rules
similarity index 100%
rename from aos/config/10-net-eth0.rules
rename to frc971/config/10-net-eth0.rules
diff --git a/aos/config/BUILD b/frc971/config/BUILD
similarity index 100%
rename from aos/config/BUILD
rename to frc971/config/BUILD
diff --git a/aos/config/aos.conf b/frc971/config/aos.conf
similarity index 100%
rename from aos/config/aos.conf
rename to frc971/config/aos.conf
diff --git a/aos/config/robotCommand b/frc971/config/robotCommand
similarity index 100%
rename from aos/config/robotCommand
rename to frc971/config/robotCommand
diff --git a/aos/config/setup_roborio.sh b/frc971/config/setup_roborio.sh
similarity index 100%
rename from aos/config/setup_roborio.sh
rename to frc971/config/setup_roborio.sh
diff --git a/aos/config/setup_rt_caps.sh b/frc971/config/setup_rt_caps.sh
similarity index 100%
rename from aos/config/setup_rt_caps.sh
rename to frc971/config/setup_rt_caps.sh
diff --git a/frc971/control_loops/BUILD b/frc971/control_loops/BUILD
index 3d6c930..17613ab 100644
--- a/frc971/control_loops/BUILD
+++ b/frc971/control_loops/BUILD
@@ -1,6 +1,6 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 load("//tools:environments.bzl", "mcu_cpus")
 
 cc_library(
@@ -34,7 +34,7 @@
     hdrs = ["pose.h"],
     deps = [
         "//aos/util:math",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -53,15 +53,16 @@
         "hall_effect_tracker.h",
     ],
     deps = [
-        ":queues",
+        ":control_loops_fbs",
     ],
 )
 
-queue_library(
-    name = "queues",
+flatbuffer_cc_library(
+    name = "control_loops_fbs",
     srcs = [
-        "control_loops.q",
+        "control_loops.fbs",
     ],
+    compatible_with = mcu_cpus,
 )
 
 cc_test(
@@ -70,8 +71,8 @@
         "position_sensor_sim_test.cc",
     ],
     deps = [
+        ":control_loops_fbs",
         ":position_sensor_sim",
-        ":queues",
         "//aos/logging",
         "//aos/testing:googletest",
     ],
@@ -90,8 +91,8 @@
         "-lm",
     ],
     deps = [
+        ":control_loops_fbs",
         ":gaussian_noise",
-        ":queues",
         "//aos/testing:random_seed",
     ],
 )
@@ -120,7 +121,7 @@
     restricted_to = mcu_cpus,
     deps = [
         "//aos/controls:polytope_uc",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -137,7 +138,7 @@
     ],
     deps = [
         "//aos/controls:polytope",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -151,7 +152,7 @@
     restricted_to = mcu_cpus,
     deps = [
         "//aos:macros",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -163,7 +164,7 @@
     deps = [
         "//aos:macros",
         "//aos/logging",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -178,7 +179,7 @@
         "//aos:macros",
         "//aos/controls:control_loop",
         "//aos/logging",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -189,7 +190,7 @@
     ],
     deps = [
         ":state_feedback_loop",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -199,7 +200,7 @@
         "runge_kutta.h",
     ],
     deps = [
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -211,7 +212,7 @@
     deps = [
         ":runge_kutta",
         "//aos/testing:googletest",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -233,24 +234,13 @@
     ],
 )
 
-queue_library(
-    name = "profiled_subsystem_queue",
+flatbuffer_cc_library(
+    name = "profiled_subsystem_fbs",
     srcs = [
-        "profiled_subsystem.q",
+        "profiled_subsystem.fbs",
     ],
-    deps = [
-        ":queues",
-    ],
-)
-
-queue_library(
-    name = "static_zeroing_single_dof_profiled_subsystem_test_queue",
-    srcs = [
-        "static_zeroing_single_dof_profiled_subsystem_test.q",
-    ],
-    deps = [
-        ":profiled_subsystem_queue",
-        ":queues",
+    includes = [
+        ":control_loops_fbs_includes",
     ],
 )
 
@@ -263,7 +253,8 @@
         "profiled_subsystem.h",
     ],
     deps = [
-        ":profiled_subsystem_queue",
+        ":control_loops_fbs",
+        ":profiled_subsystem_fbs",
         ":simple_capped_state_feedback_loop",
         ":state_feedback_loop",
         "//aos/controls:control_loop",
@@ -278,7 +269,7 @@
         "jacobian.h",
     ],
     deps = [
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -290,7 +281,7 @@
     deps = [
         ":jacobian",
         "//aos/testing:googletest",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -315,7 +306,7 @@
     visibility = ["//visibility:public"],
     deps = [
         "//aos/time",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -326,7 +317,7 @@
     ],
     visibility = ["//visibility:public"],
     deps = [
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
         "@slycot_repo//:slicot",
     ],
 )
@@ -408,6 +399,17 @@
     ],
 )
 
+flatbuffer_cc_library(
+    name = "static_zeroing_single_dof_profiled_subsystem_test_fbs",
+    srcs = [
+        "static_zeroing_single_dof_profiled_subsystem_test.fbs",
+    ],
+    includes = [
+        ":control_loops_fbs_includes",
+        ":profiled_subsystem_fbs_includes",
+    ],
+)
+
 cc_test(
     name = "static_zeroing_single_dof_profiled_subsystem_test",
     srcs = [
@@ -417,8 +419,8 @@
         ":capped_test_plant",
         ":position_sensor_sim",
         ":static_zeroing_single_dof_profiled_subsystem",
+        ":static_zeroing_single_dof_profiled_subsystem_test_fbs",
         ":static_zeroing_single_dof_profiled_subsystem_test_plants",
-        ":static_zeroing_single_dof_profiled_subsystem_test_queue",
         "//aos/controls:control_loop_test",
         "//aos/testing:googletest",
     ],
diff --git a/frc971/control_loops/coerce_goal.h b/frc971/control_loops/coerce_goal.h
index 6c1f504..6e927b0 100644
--- a/frc971/control_loops/coerce_goal.h
+++ b/frc971/control_loops/coerce_goal.h
@@ -76,7 +76,7 @@
   } else {
     Eigen::Matrix<Scalar, 2, 4> region_vertices = region.StaticVertices();
 #ifdef __linux__
-    AOS_CHECK_GT(region_vertices.outerSize(), 0);
+    CHECK_GT(reinterpret_cast<ssize_t>(region_vertices.outerSize()), 0);
 #else
     assert(region_vertices.outerSize() > 0);
 #endif
diff --git a/frc971/control_loops/control_loops.q b/frc971/control_loops/control_loops.fbs
similarity index 65%
rename from frc971/control_loops/control_loops.q
rename to frc971/control_loops/control_loops.fbs
index 2359bcd..4f1e888 100644
--- a/frc971/control_loops/control_loops.q
+++ b/frc971/control_loops/control_loops.fbs
@@ -1,4 +1,4 @@
-package frc971;
+namespace frc971;
 
 // Represents all of the data for a single indexed encoder. In other words,
 // just a relative encoder with an index pulse.
@@ -6,14 +6,14 @@
 // All encoder values are relative to where the encoder was at some arbitrary
 // point in time. All potentiometer values are relative to some arbitrary 0
 // position which varies with each robot.
-struct IndexPosition {
+table IndexPosition {
   // Current position read from the encoder.
-  double encoder;
+  encoder:double;
   // Position from the encoder latched at the last index pulse.
-  double latched_encoder;
+  latched_encoder:double;
   // How many index pulses we've seen since startup. Starts at 0.
-  uint32_t index_pulses;
-};
+  index_pulses:uint;
+}
 
 // Represents all of the data for a single potentiometer and indexed encoder
 // pair.
@@ -21,20 +21,20 @@
 // All encoder values are relative to where the encoder was at some arbitrary
 // point in time. All potentiometer values are relative to some arbitrary 0
 // position which varies with each robot.
-struct PotAndIndexPosition {
+table PotAndIndexPosition {
   // Current position read from the encoder.
-  double encoder;
+  encoder:double;
   // Current position read from the potentiometer.
-  double pot;
+  pot:double;
 
   // Position from the encoder latched at the last index pulse.
-  double latched_encoder;
+  latched_encoder:double;
   // Position from the potentiometer latched at the last index pulse.
-  double latched_pot;
+  latched_pot:double;
 
   // How many index pulses we've seen since startup. Starts at 0.
-  uint32_t index_pulses;
-};
+  index_pulses:uint;
+}
 
 // Represents all of the data for a single potentiometer with an absolute and
 // relative encoder pair.
@@ -42,182 +42,183 @@
 // The relative encoder values are relative to where the encoder was at some
 // arbitrary point in time. All potentiometer values are relative to some
 // arbitrary 0 position which varies with each robot.
-struct PotAndAbsolutePosition {
+table PotAndAbsolutePosition {
   // Current position read from each encoder.
-  double encoder;
-  double absolute_encoder;
+  encoder:double;
+  absolute_encoder:double;
 
   // Current position read from the potentiometer.
-  double pot;
-};
+  pot:double;
+}
 
 // Represents all of the data for an absolute and relative encoder pair.
 // The units on all of the positions are the same.
 // The relative encoder values are relative to where the encoder was at some
 // arbitrary point in time.
-struct AbsolutePosition {
+table AbsolutePosition {
   // Current position read from each encoder.
-  double encoder;
-  double absolute_encoder;
-};
+  encoder:double;
+  absolute_encoder:double;
+}
 
 // The internal state of a zeroing estimator.
-struct EstimatorState {
+table EstimatorState {
   // If true, there has been a fatal error for the estimator.
-  bool error;
+  error:bool;
   // If the joint has seen an index pulse and is zeroed.
-  bool zeroed;
+  zeroed:bool;
   // The estimated position of the joint.
-  double position;
+  position:double;
 
   // The estimated position not using the index pulse.
-  double pot_position;
-};
+  pot_position:double;
+}
 
 // The internal state of a zeroing estimator.
-struct PotAndAbsoluteEncoderEstimatorState {
+table PotAndAbsoluteEncoderEstimatorState {
   // If true, there has been a fatal error for the estimator.
-  bool error;
+  error:bool;
   // If the joint has seen an index pulse and is zeroed.
-  bool zeroed;
+  zeroed:bool;
   // The estimated position of the joint.
-  double position;
+  position:double;
 
   // The estimated position not using the index pulse.
-  double pot_position;
+  pot_position:double;
 
   // The estimated absolute position of the encoder.  This is filtered, so it
   // can be easily used when zeroing.
-  double absolute_position;
-};
+  absolute_position:double;
+}
 
 // The internal state of a zeroing estimator.
-struct AbsoluteEncoderEstimatorState {
+table AbsoluteEncoderEstimatorState {
   // If true, there has been a fatal error for the estimator.
-  bool error;
+  error:bool;
   // If the joint has seen an index pulse and is zeroed.
-  bool zeroed;
+  zeroed:bool;
   // The estimated position of the joint.
-  double position;
+  position:double;
 
   // The estimated absolute position of the encoder.  This is filtered, so it
   // can be easily used when zeroing.
-  double absolute_position;
-};
+  absolute_position:double;
+}
 
 // The internal state of a zeroing estimator.
-struct IndexEstimatorState {
+table IndexEstimatorState {
   // If true, there has been a fatal error for the estimator.
-  bool error;
+  error:bool;
   // If the joint has seen an index pulse and is zeroed.
-  bool zeroed;
+  zeroed:bool;
   // The estimated position of the joint. This is just the position relative to
   // where we started if we're not zeroed yet.
-  double position;
+  position:double;
 
   // The positions of the extreme index pulses we've seen.
-  double min_index_position;
-  double max_index_position;
+  min_index_position:double;
+  max_index_position:double;
   // The number of index pulses we've seen.
-  int32_t index_pulses_seen;
-};
+  index_pulses_seen:int;
+}
 
-struct HallEffectAndPositionEstimatorState {
+table HallEffectAndPositionEstimatorState {
   // If error.
-  bool error;
+  error:bool;
   // If we've found a positive edge while moving backwards and is zeroed.
-  bool zeroed;
+  zeroed:bool;
   // Encoder angle relative to where we started.
-  double encoder;
+  encoder:double;
   // The positions of the extreme posedges we've seen.
   // If we've gotten enough samples where the hall effect is high before can be
   // certain it is not a false positive.
-  bool high_long_enough;
-  double offset;
-};
+  high_long_enough:bool;
+  offset:double;
+}
 
 // A left/right pair of PotAndIndexPositions.
-struct PotAndIndexPair {
-  PotAndIndexPosition left;
-  PotAndIndexPosition right;
-};
+table PotAndIndexPair {
+  left:PotAndIndexPosition;
+  right:PotAndIndexPosition;
+}
 
 // Records edges captured on a single hall effect sensor.
-struct HallEffectStruct {
-  bool current;
-  int32_t posedge_count;
-  int32_t negedge_count;
-  double posedge_value;
-  double negedge_value;
-};
+table HallEffectStruct {
+  current:bool;
+  posedge_count:int;
+  negedge_count:int;
+  posedge_value:double;
+  negedge_value:double;
+}
 
 // Records the hall effect sensor and encoder values.
-struct HallEffectAndPosition {
+table HallEffectAndPosition {
   // The current hall effect state.
-  bool current;
+  current:bool;
   // The current encoder position.
-  double encoder;
+  encoder:double;
   // The number of positive and negative edges we've seen on the hall effect
   // sensor.
-  int32_t posedge_count;
-  int32_t negedge_count;
+  posedge_count:int;
+  negedge_count:int;
   // The values corresponding to the last hall effect sensor reading.
-  double posedge_value;
-  double negedge_value;
-};
+  posedge_value:double;
+  negedge_value:double;
+}
 
 // Records the positions for a mechanism with edge-capturing sensors on it.
-struct HallEffectPositions {
-  double current;
-  double posedge;
-  double negedge;
-};
+table HallEventPositions {
+  current:double;
+  posedge:double;
+  negedge:double;
+}
 
 // Records edges captured on a single hall effect sensor.
-struct PosedgeOnlyCountedHallEffectStruct {
-  bool current;
-  int32_t posedge_count;
-  int32_t negedge_count;
-  double posedge_value;
-};
+table PosedgeOnlyCountedHallEffectStruct {
+  current:bool;
+  posedge_count:int;
+  negedge_count:int;
+  posedge_value:double;
+}
 
 // Parameters for the motion profiles.
-struct ProfileParameters {
+table ProfileParameters {
   // Maximum velocity for the profile.
-  float max_velocity;
+  max_velocity:float;
   // Maximum acceleration for the profile.
-  float max_acceleration;
-};
+  max_acceleration:float;
+}
+
+enum ConstraintType : byte {
+  CONSTRAINT_TYPE_UNDEFINED,
+  LONGITUDINAL_ACCELERATION,
+  LATERAL_ACCELERATION,
+  VOLTAGE,
+  VELOCITY,
+}
 
 // Definition of a constraint on a trajectory
-struct Constraint {
-  // Type of constraint
-  //  0: Null constraint. Ignore and all following
-  //  1: longitual acceleration
-  //  2: lateral acceleration
-  //  3: voltage
-  //  4: velocity
-  uint8_t constraint_type;
-  float value;
+table Constraint {
+  constraint_type:ConstraintType;
+
+  value:float;
+
   // start and end distance are only checked for velocity limits.
-  float start_distance;
-  float end_distance;
-};
+  start_distance:float;
+  end_distance:float;
+}
 
 // Parameters for computing a trajectory using a chain of splines and
 // constraints.
-struct MultiSpline {
-  // index of the spline. Zero indicates the spline should not be computed.
-  int32_t spline_idx;
+table MultiSpline {
   // Number of splines. The spline point arrays will be expected to have
   // 6 + 5 * (n - 1) points in them. The endpoints are shared between
   // neighboring splines.
-  uint8_t spline_count;
-  float[36] spline_x;
-  float[36] spline_y;
+  spline_count:byte;
+  // Maximum of 36 spline points (7 splines).
+  spline_x:[float];
+  spline_y:[float];
 
-  // Whether to follow the spline driving forwards or backwards.
-  bool drive_spline_backwards;
-
-  Constraint[6] constraints;
-};
+  // Maximum of 6 constraints;
+  constraints:[Constraint];
+}
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 5f89be1..71c7278 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -1,30 +1,117 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("//aos:config.bzl", "aos_config")
 load("//tools:environments.bzl", "mcu_cpus")
-load("//tools/build_rules:select.bzl", "cpu_select", "compiler_select")
+load("//tools/build_rules:select.bzl", "compiler_select", "cpu_select")
 
-cc_binary(
-    name = "replay_drivetrain",
-    srcs = [
-        "replay_drivetrain.cc",
-    ],
-    deps = [
-        ":drivetrain_queue",
-        "//aos:init",
-        "//aos/controls:replay_control_loop",
-        "//frc971/queues:gyro",
-    ],
+flatbuffer_cc_library(
+    name = "drivetrain_goal_fbs",
+    srcs = ["drivetrain_goal.fbs"],
+    compatible_with = mcu_cpus,
+    gen_reflections = 1,
+    includes = ["//frc971/control_loops:control_loops_fbs_includes"],
 )
 
-queue_library(
-    name = "drivetrain_queue",
-    srcs = [
-        "drivetrain.q",
+flatbuffer_cc_library(
+    name = "drivetrain_output_fbs",
+    srcs = ["drivetrain_output.fbs"],
+    compatible_with = mcu_cpus,
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "drivetrain_position_fbs",
+    srcs = ["drivetrain_position.fbs"],
+    compatible_with = mcu_cpus,
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "drivetrain_status_fbs",
+    srcs = ["drivetrain_status.fbs"],
+    compatible_with = mcu_cpus,
+    gen_reflections = 1,
+    includes = ["//frc971/control_loops:control_loops_fbs_includes"],
+)
+
+genrule(
+    name = "drivetrain_goal_float_fbs_generated",
+    srcs = ["drivetrain_goal.fbs"],
+    outs = ["drivetrain_goal_float.fbs"],
+    cmd = "cat $(SRCS) | sed 's/double/float/g' > $(OUTS)",
+    compatible_with = mcu_cpus,
+)
+
+genrule(
+    name = "drivetrain_position_float_fbs_generated",
+    srcs = ["drivetrain_position.fbs"],
+    outs = ["drivetrain_position_float.fbs"],
+    cmd = "cat $(SRCS) | sed 's/double/float/g' > $(OUTS)",
+    compatible_with = mcu_cpus,
+)
+
+genrule(
+    name = "drivetrain_output_float_fbs_generated",
+    srcs = ["drivetrain_output.fbs"],
+    outs = ["drivetrain_output_float.fbs"],
+    cmd = "cat $(SRCS) | sed 's/double/float/g' > $(OUTS)",
+    compatible_with = mcu_cpus,
+)
+
+genrule(
+    name = "drivetrain_status_float_fbs_generated",
+    srcs = ["drivetrain_status.fbs"],
+    outs = ["drivetrain_status_float.fbs"],
+    cmd = "cat $(SRCS) | sed 's/double/float/g' > $(OUTS)",
+    compatible_with = mcu_cpus,
+)
+
+flatbuffer_cc_library(
+    name = "drivetrain_goal_float_fbs",
+    srcs = ["drivetrain_goal_float.fbs"],
+    compatible_with = mcu_cpus,
+    gen_reflections = 1,
+    includes = ["//frc971/control_loops:control_loops_fbs_includes"],
+)
+
+flatbuffer_cc_library(
+    name = "drivetrain_output_float_fbs",
+    srcs = ["drivetrain_output_float.fbs"],
+    compatible_with = mcu_cpus,
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "drivetrain_position_float_fbs",
+    srcs = ["drivetrain_position_float.fbs"],
+    compatible_with = mcu_cpus,
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "drivetrain_status_float_fbs",
+    srcs = ["drivetrain_status_float.fbs"],
+    compatible_with = mcu_cpus,
+    gen_reflections = 1,
+    includes = ["//frc971/control_loops:control_loops_fbs_includes"],
+)
+
+aos_config(
+    name = "config",
+    src = "drivetrain_config.json",
+    flatbuffers = [
+        ":drivetrain_goal_fbs",
+        ":drivetrain_output_fbs",
+        ":drivetrain_status_fbs",
+        ":drivetrain_position_fbs",
+        ":localizer_fbs",
+        "//frc971/queues:gyro",
+        "//frc971/wpilib:imu_fbs",
     ],
+    visibility = ["//visibility:public"],
     deps = [
-        "//aos/controls:control_loop_queues",
-        "//frc971/control_loops:queues",
+        "//aos/robot_state:config",
     ],
 )
 
@@ -49,7 +136,7 @@
         "//aos/util:math",
         "//frc971/control_loops:c2d",
         "//frc971/control_loops:runge_kutta",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -66,11 +153,10 @@
     ],
 )
 
-queue_library(
-    name = "localizer_queue",
-    srcs = [
-        "localizer.q",
-    ],
+flatbuffer_cc_library(
+    name = "localizer_fbs",
+    srcs = ["localizer.fbs"],
+    gen_reflections = 1,
 )
 
 cc_library(
@@ -102,11 +188,14 @@
     deps = [
         ":distance_spline",
         ":drivetrain_config",
-        ":drivetrain_queue",
+        ":drivetrain_goal_fbs",
+        ":drivetrain_output_fbs",
+        ":drivetrain_status_fbs",
         ":spline",
         ":trajectory",
         "//aos:init",
         "//aos/util:math",
+        "//frc971/control_loops:control_loops_fbs",
     ],
 )
 
@@ -120,14 +209,19 @@
     ],
     deps = [
         ":drivetrain_config",
-        ":drivetrain_queue",
+        ":drivetrain_goal_fbs",
+        ":drivetrain_output_fbs",
+        ":drivetrain_status_fbs",
         ":localizer",
         "//aos:math",
         "//aos/util:math",
         "//frc971/control_loops:c2d",
+        "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:dlqr",
         "//frc971/control_loops:pose",
-        "//third_party/eigen",
+        "//frc971/control_loops:profiled_subsystem_fbs",
+        "//y2019/control_loops/superstructure:superstructure_goal_fbs",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -158,19 +252,20 @@
     ],
     deps = [
         ":drivetrain_config",
-        ":drivetrain_queue",
+        ":drivetrain_goal_fbs",
+        ":drivetrain_output_fbs",
+        ":drivetrain_status_fbs",
         ":gear",
         ":localizer",
         "//aos:math",
         "//aos/controls:control_loop",
         "//aos/controls:polytope",
-        "//aos/logging:matrix_logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/util:log_interval",
         "//aos/util:trapezoid_profile",
         "//frc971:shifter_hall_effect",
         "//frc971/control_loops:coerce_goal",
+        "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:state_feedback_loop",
     ],
 )
@@ -185,15 +280,17 @@
     ],
     deps = [
         ":drivetrain_config",
-        ":drivetrain_queue",
+        ":drivetrain_goal_fbs",
+        ":drivetrain_output_fbs",
+        ":drivetrain_position_fbs",
+        ":drivetrain_status_fbs",
         ":gear",
         "//aos:math",
         "//aos/controls:polytope",
-        "//aos/logging:matrix_logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/util:log_interval",
         "//frc971/control_loops:coerce_goal",
+        "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:state_feedback_loop",
     ],
 )
@@ -213,20 +310,24 @@
 cc_library(
     name = "polydrivetrain_uc",
     srcs = [
-        "drivetrain_uc.q.cc",
         "polydrivetrain.cc",
     ],
     hdrs = [
-        "drivetrain_uc.q.h",
         "polydrivetrain.h",
     ],
+    copts = ["-Wno-type-limits"],
     restricted_to = mcu_cpus,
     deps = [
         ":drivetrain_config_uc",
+        ":drivetrain_goal_float_fbs",
+        ":drivetrain_output_float_fbs",
+        ":drivetrain_position_float_fbs",
+        ":drivetrain_status_float_fbs",
         ":gear",
         "//aos:math",
         "//aos/controls:polytope_uc",
         "//frc971/control_loops:coerce_goal_uc",
+        "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:state_feedback_loop_uc",
     ],
 )
@@ -267,21 +368,22 @@
     ],
     deps = [
         ":down_estimator",
-        ":drivetrain_queue",
+        ":drivetrain_goal_fbs",
+        ":drivetrain_output_fbs",
+        ":drivetrain_position_fbs",
+        ":drivetrain_status_fbs",
         ":gear",
         ":line_follow_drivetrain",
         ":localizer",
-        ":localizer_queue",
+        ":localizer_fbs",
         ":polydrivetrain",
         ":splinedrivetrain",
         ":ssdrivetrain",
         "//aos/controls:control_loop",
-        "//aos/logging:matrix_logging",
-        "//aos/logging:queue_logging",
         "//aos/util:log_interval",
         "//frc971/control_loops:runge_kutta",
         "//frc971/queues:gyro",
-        "//frc971/wpilib:imu_queue",
+        "//frc971/wpilib:imu_fbs",
     ],
 )
 
@@ -292,10 +394,14 @@
     hdrs = ["drivetrain_test_lib.h"],
     deps = [
         ":drivetrain_config",
-        ":drivetrain_queue",
+        ":drivetrain_goal_fbs",
+        ":drivetrain_output_fbs",
+        ":drivetrain_position_fbs",
+        ":drivetrain_status_fbs",
         ":trajectory",
-        "//aos/events:event-loop",
+        "//aos/events:event_loop",
         "//aos/testing:googletest",
+        "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:state_feedback_loop",
         "//frc971/queues:gyro",
         "//y2016:constants",
@@ -308,6 +414,7 @@
     srcs = [
         "drivetrain_lib_test.cc",
     ],
+    data = ["config.json"],
     defines =
         cpu_select({
             "amd64": [
@@ -319,10 +426,12 @@
     deps = [
         ":drivetrain_config",
         ":drivetrain_lib",
-        ":localizer_queue",
-        ":drivetrain_queue",
+        ":localizer_fbs",
+        ":drivetrain_goal_fbs",
+        ":drivetrain_status_fbs",
+        ":drivetrain_position_fbs",
+        ":drivetrain_output_fbs",
         ":drivetrain_test_lib",
-        "//aos:queues",
         "//aos/controls:control_loop_test",
         "//aos/testing:googletest",
         "//frc971/queues:gyro",
@@ -399,7 +508,7 @@
     hdrs = ["spline.h"],
     deps = [
         "//frc971/control_loops:binomial",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -413,8 +522,8 @@
         ":trajectory",
         "//aos/logging:implementations",
         "//aos/network:team_number",
-        "//third_party/eigen",
         "//y2019/control_loops/drivetrain:drivetrain_base",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -440,7 +549,7 @@
         ":spline",
         "//aos/logging",
         "//frc971/control_loops:fixed_quadrature",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -477,13 +586,12 @@
     deps = [
         ":distance_spline",
         ":drivetrain_config",
-        "//aos/logging:matrix_logging",
         "//frc971/control_loops:c2d",
         "//frc971/control_loops:dlqr",
         "//frc971/control_loops:hybrid_state_feedback_loop",
         "//frc971/control_loops:runge_kutta",
         "//frc971/control_loops:state_feedback_loop",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -497,12 +605,11 @@
         ":distance_spline",
         ":trajectory",
         "//aos/logging:implementations",
-        "//aos/logging:matrix_logging",
         "//aos/network:team_number",
-        "//third_party/eigen",
         "//third_party/matplotlib-cpp",
         "//y2019/control_loops/drivetrain:drivetrain_base",
         "@com_github_gflags_gflags//:gflags",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 4685ed6..78cb378 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -7,18 +7,18 @@
 #include "Eigen/Dense"
 
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
-#include "aos/logging/matrix_logging.h"
-
 #include "frc971/control_loops/drivetrain/down_estimator.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/drivetrain/polydrivetrain.h"
 #include "frc971/control_loops/drivetrain/ssdrivetrain.h"
 #include "frc971/control_loops/runge_kutta.h"
-#include "frc971/queues/gyro.q.h"
+#include "frc971/queues/gyro_generated.h"
 #include "frc971/shifter_hall_effect.h"
-#include "frc971/wpilib/imu.q.h"
+#include "frc971/wpilib/imu_generated.h"
 
 using ::aos::monotonic_clock;
 namespace chrono = ::std::chrono;
@@ -31,16 +31,16 @@
                                ::aos::EventLoop *event_loop,
                                LocalizerInterface *localizer,
                                const ::std::string &name)
-    : aos::controls::ControlLoop<::frc971::control_loops::DrivetrainQueue>(
-          event_loop, name),
+    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                 name),
       dt_config_(dt_config),
-      localizer_control_fetcher_(event_loop->MakeFetcher<LocalizerControl>(
-          ".frc971.control_loops.drivetrain.localizer_control")),
+      localizer_control_fetcher_(
+          event_loop->MakeFetcher<LocalizerControl>("/drivetrain")),
       imu_values_fetcher_(
-          event_loop->MakeFetcher<::frc971::IMUValues>(".frc971.imu_values")),
+          event_loop->MakeFetcher<::frc971::IMUValues>("/drivetrain")),
       gyro_reading_fetcher_(
           event_loop->MakeFetcher<::frc971::sensors::GyroReading>(
-              ".frc971.sensors.gyro_reading")),
+              "/drivetrain")),
       localizer_(localizer),
       kf_(dt_config_.make_kf_drivetrain_loop()),
       dt_openloop_(dt_config_, &kf_),
@@ -89,10 +89,9 @@
 }
 
 void DrivetrainLoop::RunIteration(
-    const ::frc971::control_loops::DrivetrainQueue::Goal *goal,
-    const ::frc971::control_loops::DrivetrainQueue::Position *position,
-    ::frc971::control_loops::DrivetrainQueue::Output *output,
-    ::frc971::control_loops::DrivetrainQueue::Status *status) {
+    const drivetrain::Goal *goal, const drivetrain::Position *position,
+    aos::Sender<drivetrain::Output>::Builder *output,
+    aos::Sender<drivetrain::Status>::Builder *status) {
   const monotonic_clock::time_point monotonic_now =
       event_loop()->monotonic_now();
 
@@ -118,9 +117,9 @@
       }
       break;
     case ShifterType::HALL_EFFECT_SHIFTER:
-      left_gear_ = ComputeGear(position->left_shifter_position,
+      left_gear_ = ComputeGear(position->left_shifter_position(),
                                dt_config_.left_drive, left_high_requested_);
-      right_gear_ = ComputeGear(position->right_shifter_position,
+      right_gear_ = ComputeGear(position->right_shifter_position(),
                                 dt_config_.right_drive, right_high_requested_);
       break;
     case ShifterType::NO_SHIFTER:
@@ -129,35 +128,39 @@
 
   kf_.set_index(ControllerIndexFromGears());
 
+  flatbuffers::Offset<GearLogging> gear_logging_offset;
   // Set the gear-logging parts of the status
   if (status) {
-    status->gear_logging.left_state = static_cast<uint32_t>(left_gear_);
-    status->gear_logging.right_state = static_cast<uint32_t>(right_gear_);
-    status->gear_logging.left_loop_high = MaybeHigh(left_gear_);
-    status->gear_logging.right_loop_high = MaybeHigh(right_gear_);
-    status->gear_logging.controller_index = kf_.index();
+    GearLogging::Builder gear_logging_builder =
+        status->MakeBuilder<GearLogging>();
+    gear_logging_builder.add_left_state(static_cast<uint32_t>(left_gear_));
+    gear_logging_builder.add_right_state(static_cast<uint32_t>(right_gear_));
+    gear_logging_builder.add_left_loop_high(MaybeHigh(left_gear_));
+    gear_logging_builder.add_right_loop_high(MaybeHigh(right_gear_));
+    gear_logging_builder.add_controller_index(kf_.index());
+    gear_logging_offset = gear_logging_builder.Finish();
   }
 
   const bool is_latest_imu_values = imu_values_fetcher_.Fetch();
   if (is_latest_imu_values) {
-    const double rate = -imu_values_fetcher_->gyro_y;
+    const double rate = -imu_values_fetcher_->gyro_y();
     const double accel_squared =
-        ::std::pow(imu_values_fetcher_->accelerometer_x, 2.0) +
-        ::std::pow(imu_values_fetcher_->accelerometer_y, 2.0) +
-        ::std::pow(imu_values_fetcher_->accelerometer_z, 2.0);
-    const double angle = ::std::atan2(imu_values_fetcher_->accelerometer_x,
-                                      imu_values_fetcher_->accelerometer_z) +
+        ::std::pow(imu_values_fetcher_->accelerometer_x(), 2.0) +
+        ::std::pow(imu_values_fetcher_->accelerometer_y(), 2.0) +
+        ::std::pow(imu_values_fetcher_->accelerometer_z(), 2.0);
+    const double angle = ::std::atan2(imu_values_fetcher_->accelerometer_x(),
+                                      imu_values_fetcher_->accelerometer_z()) +
                          0.008;
 
     switch (dt_config_.imu_type) {
       case IMUType::IMU_X:
-        last_accel_ = -imu_values_fetcher_->accelerometer_x;
+        last_accel_ = -imu_values_fetcher_->accelerometer_x();
         break;
       case IMUType::IMU_FLIPPED_X:
-        last_accel_ = imu_values_fetcher_->accelerometer_x;
+        last_accel_ = imu_values_fetcher_->accelerometer_x();
         break;
       case IMUType::IMU_Y:
-        last_accel_ = -imu_values_fetcher_->accelerometer_y;
+        last_accel_ = -imu_values_fetcher_->accelerometer_y();
         break;
     }
 
@@ -185,43 +188,37 @@
   switch (dt_config_.gyro_type) {
     case GyroType::IMU_X_GYRO:
       if (is_latest_imu_values) {
-        AOS_LOG_STRUCT(DEBUG, "using", *imu_values_fetcher_.get());
-        last_gyro_rate_ = imu_values_fetcher_->gyro_x;
+        last_gyro_rate_ = imu_values_fetcher_->gyro_x();
         last_gyro_time_ = monotonic_now;
       }
       break;
     case GyroType::IMU_Y_GYRO:
       if (is_latest_imu_values) {
-        AOS_LOG_STRUCT(DEBUG, "using", *imu_values_fetcher_.get());
-        last_gyro_rate_ = imu_values_fetcher_->gyro_y;
+        last_gyro_rate_ = imu_values_fetcher_->gyro_y();
         last_gyro_time_ = monotonic_now;
       }
       break;
     case GyroType::IMU_Z_GYRO:
       if (is_latest_imu_values) {
-        AOS_LOG_STRUCT(DEBUG, "using", *imu_values_fetcher_.get());
-        last_gyro_rate_ = imu_values_fetcher_->gyro_z;
+        last_gyro_rate_ = imu_values_fetcher_->gyro_z();
         last_gyro_time_ = monotonic_now;
       }
       break;
     case GyroType::FLIPPED_IMU_Z_GYRO:
       if (is_latest_imu_values) {
-        AOS_LOG_STRUCT(DEBUG, "using", *imu_values_fetcher_.get());
-        last_gyro_rate_ = -imu_values_fetcher_->gyro_z;
+        last_gyro_rate_ = -imu_values_fetcher_->gyro_z();
         last_gyro_time_ = monotonic_now;
       }
       break;
     case GyroType::SPARTAN_GYRO:
       if (gyro_reading_fetcher_.Fetch()) {
-        AOS_LOG_STRUCT(DEBUG, "using", *gyro_reading_fetcher_.get());
-        last_gyro_rate_ = gyro_reading_fetcher_->velocity;
+        last_gyro_rate_ = gyro_reading_fetcher_->velocity();
         last_gyro_time_ = monotonic_now;
       }
       break;
     case GyroType::FLIPPED_SPARTAN_GYRO:
       if (gyro_reading_fetcher_.Fetch()) {
-        AOS_LOG_STRUCT(DEBUG, "using", *gyro_reading_fetcher_.get());
-        last_gyro_rate_ = -gyro_reading_fetcher_->velocity;
+        last_gyro_rate_ = -gyro_reading_fetcher_->velocity();
         last_gyro_time_ = monotonic_now;
       }
       break;
@@ -236,7 +233,7 @@
 
   {
     Eigen::Matrix<double, 4, 1> Y;
-    Y << position->left_encoder, position->right_encoder, last_gyro_rate_,
+    Y << position->left_encoder(), position->right_encoder(), last_gyro_rate_,
         last_accel_;
     kf_.Correct(Y);
     // If we get a new message setting the absolute position, then reset the
@@ -244,33 +241,36 @@
     // TODO(james): Use a watcher (instead of a fetcher) once we support it in
     // simulation.
     if (localizer_control_fetcher_.Fetch()) {
-      AOS_LOG_STRUCT(DEBUG, "localizer_control", *localizer_control_fetcher_);
+      VLOG(1) << "localizer_control "
+              << aos::FlatbufferToJson(localizer_control_fetcher_.get());
       localizer_->ResetPosition(
-          monotonic_now, localizer_control_fetcher_->x,
-          localizer_control_fetcher_->y, localizer_control_fetcher_->theta,
-          localizer_control_fetcher_->theta_uncertainty,
-          !localizer_control_fetcher_->keep_current_theta);
+          monotonic_now, localizer_control_fetcher_->x(),
+          localizer_control_fetcher_->y(), localizer_control_fetcher_->theta(),
+          localizer_control_fetcher_->theta_uncertainty(),
+          !localizer_control_fetcher_->keep_current_theta());
     }
     localizer_->Update({last_last_left_voltage_, last_last_right_voltage_},
-                       monotonic_now, position->left_encoder,
-                       position->right_encoder, last_gyro_rate_, last_accel_);
+                       monotonic_now, position->left_encoder(),
+                       position->right_encoder(), last_gyro_rate_, last_accel_);
   }
 
   dt_openloop_.SetPosition(position, left_gear_, right_gear_);
 
-  int controller_type = 0;
+  ControllerType controller_type = ControllerType_POLYDRIVE;
   if (goal) {
-    controller_type = goal->controller_type;
+    controller_type = goal->controller_type();
 
-    dt_closedloop_.SetGoal(*goal);
-    dt_openloop_.SetGoal(*goal);
-    dt_spline_.SetGoal(*goal);
-    dt_line_follow_.SetGoal(monotonic_now, *goal);
+    dt_closedloop_.SetGoal(goal);
+    dt_openloop_.SetGoal(goal->wheel(), goal->throttle(), goal->quickturn(),
+                         goal->highgear());
+    dt_spline_.SetGoal(goal);
+    dt_line_follow_.SetGoal(monotonic_now, goal);
   }
 
-  dt_openloop_.Update(robot_state().voltage_battery);
+  dt_openloop_.Update(robot_state().voltage_battery());
 
-  dt_closedloop_.Update(output != NULL && controller_type == 1);
+  dt_closedloop_.Update(output != nullptr &&
+                        controller_type == ControllerType_MOTION_PROFILE);
 
   const Eigen::Matrix<double, 5, 1> trajectory_state =
       (Eigen::Matrix<double, 5, 1>() << localizer_->x(), localizer_->y(),
@@ -278,25 +278,30 @@
        localizer_->right_velocity())
           .finished();
 
-  dt_spline_.Update(output != NULL && controller_type == 2, trajectory_state);
+  dt_spline_.Update(
+      output != nullptr && controller_type == ControllerType_SPLINE_FOLLOWER,
+      trajectory_state);
 
   dt_line_follow_.Update(monotonic_now, trajectory_state);
 
+  OutputT output_struct;
+
   switch (controller_type) {
-    case 0:
-      dt_openloop_.SetOutput(output);
+    case ControllerType_POLYDRIVE:
+      dt_openloop_.SetOutput(output != nullptr ? &output_struct : nullptr);
       break;
-    case 1:
-      dt_closedloop_.SetOutput(output);
+    case ControllerType_MOTION_PROFILE:
+      dt_closedloop_.SetOutput(output != nullptr ? &output_struct : nullptr);
       break;
-    case 2:
-      dt_spline_.SetOutput(output);
+    case ControllerType_SPLINE_FOLLOWER:
+      dt_spline_.SetOutput(output != nullptr ? &output_struct : nullptr);
       break;
-    case 3:
-      if (!dt_line_follow_.SetOutput(output)) {
+    case ControllerType_LINE_FOLLOWER:
+      if (!dt_line_follow_.SetOutput(output != nullptr ? &output_struct
+                                                       : nullptr)) {
         // If the line follow drivetrain was unable to execute (generally due to
         // not having a target), execute the regular teleop drivetrain.
-        dt_openloop_.SetOutput(output);
+        dt_openloop_.SetOutput(output != nullptr ? &output_struct : nullptr);
       }
       break;
   }
@@ -305,8 +310,6 @@
 
   // set the output status of the control loop state
   if (status) {
-    status->robot_speed = (kf_.X_hat(1) + kf_.X_hat(3)) / 2.0;
-
     Eigen::Matrix<double, 2, 1> linear =
         dt_config_.LeftRightToLinear(kf_.X_hat());
     Eigen::Matrix<double, 2, 1> angular =
@@ -317,42 +320,60 @@
     Eigen::Matrix<double, 4, 1> gyro_left_right =
         dt_config_.AngularLinearToLeftRight(linear, angular);
 
-    status->estimated_left_position = gyro_left_right(0, 0);
-    status->estimated_right_position = gyro_left_right(2, 0);
+    const flatbuffers::Offset<CIMLogging> cim_logging_offset =
+        dt_openloop_.PopulateStatus(status->fbb());
 
-    status->estimated_left_velocity = gyro_left_right(1, 0);
-    status->estimated_right_velocity = gyro_left_right(3, 0);
-    status->output_was_capped = dt_closedloop_.output_was_capped();
-    status->uncapped_left_voltage = kf_.U_uncapped(0, 0);
-    status->uncapped_right_voltage = kf_.U_uncapped(1, 0);
+    flatbuffers::Offset<LineFollowLogging> line_follow_logging_offset =
+        dt_line_follow_.PopulateStatus(status);
+    flatbuffers::Offset<TrajectoryLogging> trajectory_logging_offset =
+        dt_spline_.MakeTrajectoryLogging(status);
 
-    status->left_voltage_error = kf_.X_hat(4);
-    status->right_voltage_error = kf_.X_hat(5);
-    status->estimated_angular_velocity_error = kf_.X_hat(6);
-    status->estimated_heading = localizer_->theta();
+    StatusBuilder builder = status->MakeBuilder<Status>();
 
-    status->x = localizer_->x();
-    status->y = localizer_->y();
-    status->theta = ::aos::math::NormalizeAngle(localizer_->theta());
+    dt_closedloop_.PopulateStatus(&builder);
 
-    status->ground_angle = down_estimator_.X_hat(0) + dt_config_.down_offset;
+    builder.add_estimated_left_position(gyro_left_right(0, 0));
+    builder.add_estimated_right_position(gyro_left_right(2, 0));
 
-    dt_openloop_.PopulateStatus(status);
-    dt_closedloop_.PopulateStatus(status);
-    dt_spline_.PopulateStatus(status);
-    dt_line_follow_.PopulateStatus(status);
+    builder.add_estimated_left_velocity(gyro_left_right(1, 0));
+    builder.add_estimated_right_velocity(gyro_left_right(3, 0));
+
+    if (dt_spline_.enable()) {
+      dt_spline_.PopulateStatus(&builder);
+    } else {
+      builder.add_robot_speed((kf_.X_hat(1) + kf_.X_hat(3)) / 2.0);
+      builder.add_output_was_capped(dt_closedloop_.output_was_capped());
+      builder.add_uncapped_left_voltage(kf_.U_uncapped(0, 0));
+      builder.add_uncapped_right_voltage(kf_.U_uncapped(1, 0));
+    }
+
+    builder.add_left_voltage_error(kf_.X_hat(4));
+    builder.add_right_voltage_error(kf_.X_hat(5));
+    builder.add_estimated_angular_velocity_error(kf_.X_hat(6));
+    builder.add_estimated_heading(localizer_->theta());
+
+    builder.add_x(localizer_->x());
+    builder.add_y(localizer_->y());
+    builder.add_theta(::aos::math::NormalizeAngle(localizer_->theta()));
+
+    builder.add_ground_angle(down_estimator_.X_hat(0) + dt_config_.down_offset);
+    builder.add_cim_logging(cim_logging_offset);
+    builder.add_gear_logging(gear_logging_offset);
+    builder.add_line_follow_logging(line_follow_logging_offset);
+    builder.add_trajectory_logging(trajectory_logging_offset);
+    status->Send(builder.Finish());
   }
 
   double left_voltage = 0.0;
   double right_voltage = 0.0;
   if (output) {
-    left_voltage = output->left_voltage;
-    right_voltage = output->right_voltage;
-    left_high_requested_ = output->left_high;
-    right_high_requested_ = output->right_high;
+    left_voltage = output_struct.left_voltage;
+    right_voltage = output_struct.right_voltage;
+    left_high_requested_ = output_struct.left_high;
+    right_high_requested_ = output_struct.right_high;
   }
 
-  const double scalar = robot_state().voltage_battery / 12.0;
+  const double scalar = robot_state().voltage_battery() / 12.0;
 
   left_voltage *= scalar;
   right_voltage *= scalar;
@@ -375,14 +396,20 @@
 
   last_state_ = kf_.X_hat();
   kf_.UpdateObserver(U, dt_config_.dt);
+
+  if (output) {
+    output->Send(Output::Pack(*output->fbb(), &output_struct));
+  }
 }
 
-void DrivetrainLoop::Zero(
-    ::frc971::control_loops::DrivetrainQueue::Output *output) {
-  output->left_voltage = 0;
-  output->right_voltage = 0;
-  output->left_high = dt_config_.default_high_gear;
-  output->right_high = dt_config_.default_high_gear;
+flatbuffers::Offset<Output> DrivetrainLoop::Zero(
+    aos::Sender<Output>::Builder *output) {
+  Output::Builder builder = output->MakeBuilder<Output>();
+  builder.add_left_voltage(0);
+  builder.add_right_voltage(0);
+  builder.add_left_high(dt_config_.default_high_gear);
+  builder.add_right_high(dt_config_.default_high_gear);
+  return builder.Finish();
 }
 
 }  // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index 33ff770..9f6a34c 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -6,43 +6,49 @@
 #include "aos/controls/control_loop.h"
 #include "aos/controls/polytope.h"
 #include "aos/util/log_interval.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/drivetrain/gear.h"
 #include "frc971/control_loops/drivetrain/line_follow_drivetrain.h"
 #include "frc971/control_loops/drivetrain/localizer.h"
-#include "frc971/control_loops/drivetrain/localizer.q.h"
+#include "frc971/control_loops/drivetrain/localizer_generated.h"
 #include "frc971/control_loops/drivetrain/polydrivetrain.h"
 #include "frc971/control_loops/drivetrain/splinedrivetrain.h"
 #include "frc971/control_loops/drivetrain/ssdrivetrain.h"
-#include "frc971/queues/gyro.q.h"
-#include "frc971/wpilib/imu.q.h"
+#include "frc971/queues/gyro_generated.h"
+#include "frc971/wpilib/imu_generated.h"
 
 namespace frc971 {
 namespace control_loops {
 namespace drivetrain {
 
-class DrivetrainLoop : public aos::controls::ControlLoop<
-                           ::frc971::control_loops::DrivetrainQueue> {
+class DrivetrainLoop
+    : public aos::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
   // Constructs a control loop which can take a Drivetrain or defaults to the
   // drivetrain at frc971::control_loops::drivetrain
-  explicit DrivetrainLoop(
-      const DrivetrainConfig<double> &dt_config, ::aos::EventLoop *event_loop,
-      LocalizerInterface *localizer,
-      const ::std::string &name = ".frc971.control_loops.drivetrain_queue");
+  explicit DrivetrainLoop(const DrivetrainConfig<double> &dt_config,
+                          ::aos::EventLoop *event_loop,
+                          LocalizerInterface *localizer,
+                          const ::std::string &name = "/drivetrain");
 
   int ControllerIndexFromGears();
 
  protected:
   // Executes one cycle of the control loop.
   void RunIteration(
-      const ::frc971::control_loops::DrivetrainQueue::Goal *goal,
-      const ::frc971::control_loops::DrivetrainQueue::Position *position,
-      ::frc971::control_loops::DrivetrainQueue::Output *output,
-      ::frc971::control_loops::DrivetrainQueue::Status *status) override;
+      const ::frc971::control_loops::drivetrain::Goal *goal,
+      const ::frc971::control_loops::drivetrain::Position *position,
+      aos::Sender<::frc971::control_loops::drivetrain::Output>::Builder *output,
+      aos::Sender<::frc971::control_loops::drivetrain::Status>::Builder *status)
+      override;
 
-  void Zero(::frc971::control_loops::DrivetrainQueue::Output *output) override;
+  flatbuffers::Offset<drivetrain::Output> Zero(
+      aos::Sender<drivetrain::Output>::Builder *builder) override;
 
   double last_gyro_rate_ = 0.0;
 
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
deleted file mode 100644
index c7a307e..0000000
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ /dev/null
@@ -1,224 +0,0 @@
-package frc971.control_loops;
-
-import "aos/controls/control_loops.q";
-import "frc971/control_loops/control_loops.q";
-
-// For logging information about what the code is doing with the shifters.
-struct GearLogging {
-  // Which controller is being used.
-  int8_t controller_index;
-
-  // Whether each loop for the drivetrain sides is the high-gear one.
-  bool left_loop_high;
-  bool right_loop_high;
-
-  // The states of each drivetrain shifter.
-  int8_t left_state;
-  int8_t right_state;
-};
-
-// For logging information about the state of the shifters.
-struct CIMLogging {
-  // Whether the code thinks each drivetrain side is currently in gear.
-  bool left_in_gear;
-  bool right_in_gear;
-
-  // The angular velocities (in rad/s, positive forward) the code thinks motors
-  // on each side of the drivetrain are moving at.
-  double left_motor_speed;
-  double right_motor_speed;
-
-  // The velocity estimates for each drivetrain side of the robot (in m/s,
-  // positive forward) that can be used for shifting.
-  double left_velocity;
-  double right_velocity;
-};
-
-// For logging information about the state of the trajectory planning.
-struct TrajectoryLogging {
-  // state of planning the trajectory.
-  //  0: not currently planning
-  //  1: received a multispline to plan
-  //  2: Built the spline and planning.
-  //  3: Finished the plan and ready to excecute.
-  int8_t planning_state;
-
-  // State of the spline execution.
-  bool is_executing;
-  // Whether we have finished the spline specified by current_spline_idx.
-  bool is_executed;
-
-  // The handle of the goal spline.  0 means stop requested.
-  int32_t goal_spline_handle;
-  // Handle of the executing spline.  -1 means none requested.  If there was no
-  // spline executing when a spline finished optimizing, it will become the
-  // current spline even if we aren't ready to start yet.
-  int32_t current_spline_idx;
-  // Handle of the spline that is being optimized and staged.
-  int32_t planning_spline_idx;
-
-  // Expected position and velocity on the spline
-  float x;
-  float y;
-  float theta;
-  float left_velocity;
-  float right_velocity;
-  float distance_remaining;
-};
-
-// For logging state of the line follower.
-struct LineFollowLogging {
-  // Whether we are currently freezing target choice.
-  bool frozen;
-  // Whether we currently have a target.
-  bool have_target;
-  // Absolute position of the current goal.
-  float x;
-  float y;
-  float theta;
-  // Current lateral offset from line pointing straight out of the target.
-  float offset;
-  // Current distance from the plane of the target, in meters.
-  float distance_to_target;
-  // Current goal heading.
-  float goal_theta;
-  // Current relative heading.
-  float rel_theta;
-};
-
-// Published on ".frc971.control_loops.drivetrain_queue"
-queue_group DrivetrainQueue {
-  implements aos.control_loops.ControlLoop;
-
-  message Goal {
-    // Position of the steering wheel (positive = turning left when going
-    // forwards).
-    float wheel;
-    float wheel_velocity;
-    float wheel_torque;
-
-    // Position of the throttle (positive forwards).
-    float throttle;
-    float throttle_velocity;
-    float throttle_torque;
-
-    // True to shift into high, false to shift into low.
-    bool highgear;
-
-    // True to activate quickturn.
-    bool quickturn;
-
-    // Type of controller in charge of the drivetrain.
-    //  0: polydrive
-    //  1: motion profiled position drive (statespace)
-    //  2: spline follower
-    //  3: line follower (for guiding into a target)
-    uint8_t controller_type;
-
-    // Position goals for each drivetrain side (in meters) when the
-    // closed-loop controller is active.
-    double left_goal;
-    double right_goal;
-
-    float max_ss_voltage;
-
-    // Motion profile parameters.
-    // The control loop will profile if these are all non-zero.
-    .frc971.ProfileParameters linear;
-    .frc971.ProfileParameters angular;
-
-    // Parameters for a spline to follow. This just contains info on a spline to
-    // compute. Each time this is sent, spline drivetrain will compute a new
-    // spline.
-    .frc971.MultiSpline spline;
-
-    // Which spline to follow.
-    int32_t spline_handle;
-  };
-
-  message Position {
-    // Relative position of each drivetrain side (in meters).
-    double left_encoder;
-    double right_encoder;
-
-    // The speed in m/s of each drivetrain side from the most recent encoder
-    // pulse, or 0 if there was no edge within the last 5ms.
-    double left_speed;
-    double right_speed;
-
-    // Position of each drivetrain shifter, scaled from 0.0 to 1.0 where smaller
-    // is towards low gear.
-    double left_shifter_position;
-    double right_shifter_position;
-
-    // Raw analog voltages of each shifter hall effect for logging purposes.
-    double low_left_hall;
-    double high_left_hall;
-    double low_right_hall;
-    double high_right_hall;
-  };
-
-  message Output {
-    // Voltage to send to motor(s) on either side of the drivetrain.
-    double left_voltage;
-    double right_voltage;
-
-    // Whether to set each shifter piston to high gear.
-    bool left_high;
-    bool right_high;
-  };
-
-  message Status {
-    // Estimated speed of the center of the robot in m/s (positive forwards).
-    double robot_speed;
-
-    // Estimated relative position of each drivetrain side (in meters).
-    double estimated_left_position;
-    double estimated_right_position;
-
-    // Estimated velocity of each drivetrain side (in m/s).
-    double estimated_left_velocity;
-    double estimated_right_velocity;
-
-    // The voltage we wanted to send to each drivetrain side last cycle.
-    double uncapped_left_voltage;
-    double uncapped_right_voltage;
-
-    // The voltage error for the left and right sides.
-    double left_voltage_error;
-    double right_voltage_error;
-
-    // The profiled goal states.
-    double profiled_left_position_goal;
-    double profiled_right_position_goal;
-    double profiled_left_velocity_goal;
-    double profiled_right_velocity_goal;
-
-    // The KF offset
-    double estimated_angular_velocity_error;
-    // The KF estimated heading.
-    double estimated_heading;
-
-    // xytheta of the robot.
-    double x;
-    double y;
-    double theta;
-
-    // True if the output voltage was capped last cycle.
-    bool output_was_capped;
-
-    // The angle of the robot relative to the ground.
-    double ground_angle;
-
-    // Information about shifting logic and curent gear, for logging purposes
-    GearLogging gear_logging;
-    CIMLogging cim_logging;
-    TrajectoryLogging trajectory_logging;
-    LineFollowLogging line_follow_logging;
-  };
-
-  queue Goal goal;
-  queue Position position;
-  queue Output output;
-  queue Status status;
-};
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.json b/frc971/control_loops/drivetrain/drivetrain_config.json
new file mode 100644
index 0000000..dc828bb
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_config.json
@@ -0,0 +1,43 @@
+{
+  "channels":
+  [
+    {
+      "name": "/drivetrain",
+      "type": "frc971.IMUValues",
+      "frequency": 200
+    },
+    {
+      "name": "/drivetrain",
+      "type": "frc971.sensors.GyroReading",
+      "frequency": 200
+    },
+    {
+      "name": "/drivetrain",
+      "type": "frc971.control_loops.drivetrain.Goal",
+      "frequency": 200
+    },
+    {
+      "name": "/drivetrain",
+      "type": "frc971.control_loops.drivetrain.Position",
+      "frequency": 200
+    },
+    {
+      "name": "/drivetrain",
+      "type": "frc971.control_loops.drivetrain.Status",
+      "frequency": 200
+    },
+    {
+      "name": "/drivetrain",
+      "type": "frc971.control_loops.drivetrain.Output",
+      "frequency": 200
+    },
+    {
+      "name": "/drivetrain",
+      "type": "frc971.control_loops.drivetrain.LocalizerControl",
+      "frequency": 200
+    }
+  ],
+  "imports": [
+    "../../../aos/robot_state/robot_state_config.json"
+  ]
+}
diff --git a/frc971/control_loops/drivetrain/drivetrain_goal.fbs b/frc971/control_loops/drivetrain/drivetrain_goal.fbs
new file mode 100644
index 0000000..8a67849
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_goal.fbs
@@ -0,0 +1,65 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace frc971.control_loops.drivetrain;
+
+enum ControllerType : byte {
+  POLYDRIVE,
+  MOTION_PROFILE,
+  SPLINE_FOLLOWER,
+  LINE_FOLLOWER,
+}
+
+table SplineGoal {
+  // index of the spline. Zero indicates the spline should not be computed.
+  spline_idx:int;
+
+  // Acutal spline.
+  spline:frc971.MultiSpline;
+
+  // Whether to follow the spline driving forwards or backwards.
+  drive_spline_backwards:bool;
+}
+
+table Goal {
+  // Position of the steering wheel (positive = turning left when going
+  // forwards).
+  wheel:float;
+  wheel_velocity:float;
+  wheel_torque:float;
+
+  // Position of the throttle (positive forwards).
+  throttle:float;
+  throttle_velocity:float;
+  throttle_torque:float;
+
+  // True to shift into high, false to shift into low.
+  highgear:bool;
+
+  // True to activate quickturn.
+  quickturn:bool;
+
+  // Type of controller in charge of the drivetrain.
+  controller_type:ControllerType;
+
+  // Position goals for each drivetrain side (in meters) when the
+  // closed-loop controller is active.
+  left_goal:double;
+  right_goal:double;
+
+  max_ss_voltage:float;
+
+  // Motion profile parameters.
+  // The control loop will profile if these are all non-zero.
+  linear:ProfileParameters;
+  angular:ProfileParameters;
+
+  // Parameters for a spline to follow. This just contains info on a spline to
+  // compute. Each time this is sent, spline drivetrain will compute a new
+  // spline.
+  spline:SplineGoal;
+
+  // Which spline to follow.
+  spline_handle:int;
+}
+
+root_type Goal;
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index e4de9bb..a46defd 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -5,19 +5,21 @@
 
 #include "aos/controls/control_loop_test.h"
 #include "aos/controls/polytope.h"
-#include "aos/events/event-loop.h"
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/event_loop.h"
 #include "aos/time/time.h"
 #include "gflags/gflags.h"
 #include "gtest/gtest.h"
 
 #include "frc971/control_loops/coerce_goal.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
-#include "frc971/control_loops/drivetrain/localizer.q.h"
-#include "frc971/queues/gyro.q.h"
+#include "frc971/control_loops/drivetrain/localizer_generated.h"
+#include "frc971/queues/gyro_generated.h"
 
 namespace frc971 {
 namespace control_loops {
@@ -30,27 +32,21 @@
 class DrivetrainTest : public ::aos::testing::ControlLoopTest {
  protected:
   DrivetrainTest()
-      : ::aos::testing::ControlLoopTest(GetTestDrivetrainConfig().dt),
+      : ::aos::testing::ControlLoopTest(
+            aos::configuration::ReadConfig(
+                "frc971/control_loops/drivetrain/config.json"),
+            GetTestDrivetrainConfig().dt),
         test_event_loop_(MakeEventLoop()),
         drivetrain_goal_sender_(
-            test_event_loop_
-                ->MakeSender<::frc971::control_loops::DrivetrainQueue::Goal>(
-                    ".frc971.control_loops.drivetrain_queue.goal")),
+            test_event_loop_->MakeSender<Goal>("/drivetrain")),
         drivetrain_goal_fetcher_(
-            test_event_loop_
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Goal>(
-                    ".frc971.control_loops.drivetrain_queue.goal")),
+            test_event_loop_->MakeFetcher<Goal>("/drivetrain")),
         drivetrain_status_fetcher_(
-            test_event_loop_
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Status>(
-                    ".frc971.control_loops.drivetrain_queue.status")),
+            test_event_loop_->MakeFetcher<Status>("/drivetrain")),
         drivetrain_output_fetcher_(
-            test_event_loop_
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Output>(
-                    ".frc971.control_loops.drivetrain_queue.output")),
+            test_event_loop_->MakeFetcher<Output>("/drivetrain")),
         localizer_control_sender_(
-            test_event_loop_->MakeSender<LocalizerControl>(
-                ".frc971.control_loops.drivetrain.localizer_control")),
+            test_event_loop_->MakeSender<LocalizerControl>("/drivetrain")),
         drivetrain_event_loop_(MakeEventLoop()),
         dt_config_(GetTestDrivetrainConfig()),
         localizer_(drivetrain_event_loop_.get(), dt_config_),
@@ -65,9 +61,9 @@
 
   void VerifyNearGoal() {
     drivetrain_goal_fetcher_.Fetch();
-    EXPECT_NEAR(drivetrain_goal_fetcher_->left_goal,
+    EXPECT_NEAR(drivetrain_goal_fetcher_->left_goal(),
                 drivetrain_plant_.GetLeftPosition(), 1e-3);
-    EXPECT_NEAR(drivetrain_goal_fetcher_->right_goal,
+    EXPECT_NEAR(drivetrain_goal_fetcher_->right_goal(),
                 drivetrain_plant_.GetRightPosition(), 1e-3);
   }
 
@@ -79,8 +75,10 @@
 
   void VerifyNearSplineGoal() {
     drivetrain_status_fetcher_.Fetch();
-    const double expected_x = drivetrain_status_fetcher_->trajectory_logging.x;
-    const double expected_y = drivetrain_status_fetcher_->trajectory_logging.y;
+    const double expected_x =
+        CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->x();
+    const double expected_y =
+        CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->y();
     const ::Eigen::Vector2d actual = drivetrain_plant_.GetPosition();
     EXPECT_NEAR(actual(0), expected_x, 2e-2);
     EXPECT_NEAR(actual(1), expected_y, 2e-2);
@@ -92,7 +90,8 @@
       ::std::this_thread::sleep_for(::std::chrono::milliseconds(5));
       RunFor(dt());
       EXPECT_TRUE(drivetrain_status_fetcher_.Fetch());
-    } while (drivetrain_status_fetcher_->trajectory_logging.planning_state !=
+    } while (CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())
+                 ->planning_state() !=
              (int8_t)SplineDrivetrain::PlanState::kPlannedTrajectory);
   }
 
@@ -100,17 +99,18 @@
     do {
       RunFor(dt());
       EXPECT_TRUE(drivetrain_status_fetcher_.Fetch());
-    } while (!drivetrain_status_fetcher_->trajectory_logging.is_executed);
+    } while (!CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())
+                  ->is_executed());
   }
 
   ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Goal>
+  ::aos::Sender<::frc971::control_loops::drivetrain::Goal>
       drivetrain_goal_sender_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Goal>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Goal>
       drivetrain_goal_fetcher_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Status>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Status>
       drivetrain_status_fetcher_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Output>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Output>
       drivetrain_output_fetcher_;
   ::aos::Sender<LocalizerControl> localizer_control_sender_;
 
@@ -128,11 +128,12 @@
 TEST_F(DrivetrainTest, ConvergesCorrectly) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 1;
-    message->left_goal = -1.0;
-    message->right_goal = 1.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_MOTION_PROFILE);
+    goal_builder.add_left_goal(-1.0);
+    goal_builder.add_right_goal(1.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(2));
   VerifyNearGoal();
@@ -143,11 +144,12 @@
 TEST_F(DrivetrainTest, ConvergesWithVoltageError) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 1;
-    message->left_goal = -1.0;
-    message->right_goal = 1.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_MOTION_PROFILE);
+    goal_builder.add_left_goal(-1.0);
+    goal_builder.add_right_goal(1.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   drivetrain_plant_.set_left_voltage_offset(1.0);
   drivetrain_plant_.set_right_voltage_offset(1.0);
@@ -158,11 +160,12 @@
 // Tests that it survives disabling.
 TEST_F(DrivetrainTest, SurvivesDisabling) {
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 1;
-    message->left_goal = -1.0;
-    message->right_goal = 1.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_MOTION_PROFILE);
+    goal_builder.add_left_goal(-1.0);
+    goal_builder.add_right_goal(1.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   for (int i = 0; i < 500; ++i) {
     if (i > 20 && i < 200) {
@@ -187,20 +190,21 @@
 TEST_F(DrivetrainTest, DriveStraightForward) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 1;
-    message->left_goal = 4.0;
-    message->right_goal = 4.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_MOTION_PROFILE);
+    goal_builder.add_left_goal(4.0);
+    goal_builder.add_right_goal(4.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   for (int i = 0; i < 500; ++i) {
     RunFor(dt());
     ASSERT_TRUE(drivetrain_output_fetcher_.Fetch());
-    EXPECT_NEAR(drivetrain_output_fetcher_->left_voltage,
-                drivetrain_output_fetcher_->right_voltage, 1e-4);
-    EXPECT_GT(drivetrain_output_fetcher_->left_voltage, -11);
-    EXPECT_GT(drivetrain_output_fetcher_->right_voltage, -11);
+    EXPECT_NEAR(drivetrain_output_fetcher_->left_voltage(),
+                drivetrain_output_fetcher_->right_voltage(), 1e-4);
+    EXPECT_GT(drivetrain_output_fetcher_->left_voltage(), -11);
+    EXPECT_GT(drivetrain_output_fetcher_->right_voltage(), -11);
   }
   VerifyNearGoal();
 }
@@ -210,17 +214,18 @@
 TEST_F(DrivetrainTest, DriveAlmostStraightForward) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 1;
-    message->left_goal = 4.0;
-    message->right_goal = 3.9;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_MOTION_PROFILE);
+    goal_builder.add_left_goal(4.0);
+    goal_builder.add_right_goal(3.9);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   for (int i = 0; i < 500; ++i) {
     RunFor(dt());
     ASSERT_TRUE(drivetrain_output_fetcher_.Fetch());
-    EXPECT_GT(drivetrain_output_fetcher_->left_voltage, -11);
-    EXPECT_GT(drivetrain_output_fetcher_->right_voltage, -11);
+    EXPECT_GT(drivetrain_output_fetcher_->left_voltage(), -11);
+    EXPECT_GT(drivetrain_output_fetcher_->right_voltage(), -11);
   }
   VerifyNearGoal();
 }
@@ -254,26 +259,39 @@
 TEST_F(DrivetrainTest, ProfileStraightForward) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 1;
-    message->left_goal = 4.0;
-    message->right_goal = 4.0;
-    message->linear.max_velocity = 1.0;
-    message->linear.max_acceleration = 3.0;
-    message->angular.max_velocity = 1.0;
-    message->angular.max_acceleration = 3.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    ProfileParameters::Builder linear_builder =
+        builder.MakeBuilder<ProfileParameters>();
+    linear_builder.add_max_velocity(1.0);
+    linear_builder.add_max_acceleration(3.0);
+    flatbuffers::Offset<ProfileParameters> linear_offset =
+        linear_builder.Finish();
+
+    ProfileParameters::Builder angular_builder =
+        builder.MakeBuilder<ProfileParameters>();
+    angular_builder.add_max_velocity(1.0);
+    angular_builder.add_max_acceleration(3.0);
+    flatbuffers::Offset<ProfileParameters> angular_offset =
+        angular_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_MOTION_PROFILE);
+    goal_builder.add_left_goal(4.0);
+    goal_builder.add_right_goal(4.0);
+    goal_builder.add_linear(linear_offset);
+    goal_builder.add_angular(angular_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   while (monotonic_now() < monotonic_clock::time_point(chrono::seconds(6))) {
     RunFor(dt());
     ASSERT_TRUE(drivetrain_output_fetcher_.Fetch());
-    EXPECT_NEAR(drivetrain_output_fetcher_->left_voltage,
-                drivetrain_output_fetcher_->right_voltage, 1e-4);
-    EXPECT_GT(drivetrain_output_fetcher_->left_voltage, -6);
-    EXPECT_GT(drivetrain_output_fetcher_->right_voltage, -6);
-    EXPECT_LT(drivetrain_output_fetcher_->left_voltage, 6);
-    EXPECT_LT(drivetrain_output_fetcher_->right_voltage, 6);
+    EXPECT_NEAR(drivetrain_output_fetcher_->left_voltage(),
+                drivetrain_output_fetcher_->right_voltage(), 1e-4);
+    EXPECT_GT(drivetrain_output_fetcher_->left_voltage(), -6);
+    EXPECT_GT(drivetrain_output_fetcher_->right_voltage(), -6);
+    EXPECT_LT(drivetrain_output_fetcher_->left_voltage(), 6);
+    EXPECT_LT(drivetrain_output_fetcher_->right_voltage(), 6);
   }
   VerifyNearGoal();
 }
@@ -282,26 +300,39 @@
 TEST_F(DrivetrainTest, ProfileTurn) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 1;
-    message->left_goal = -1.0;
-    message->right_goal = 1.0;
-    message->linear.max_velocity = 1.0;
-    message->linear.max_acceleration = 3.0;
-    message->angular.max_velocity = 1.0;
-    message->angular.max_acceleration = 3.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    ProfileParameters::Builder linear_builder =
+        builder.MakeBuilder<ProfileParameters>();
+    linear_builder.add_max_velocity(1.0);
+    linear_builder.add_max_acceleration(3.0);
+    flatbuffers::Offset<ProfileParameters> linear_offset =
+        linear_builder.Finish();
+
+    ProfileParameters::Builder angular_builder =
+        builder.MakeBuilder<ProfileParameters>();
+    angular_builder.add_max_velocity(1.0);
+    angular_builder.add_max_acceleration(3.0);
+    flatbuffers::Offset<ProfileParameters> angular_offset =
+        angular_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_MOTION_PROFILE);
+    goal_builder.add_left_goal(-1.0);
+    goal_builder.add_right_goal(1.0);
+    goal_builder.add_linear(linear_offset);
+    goal_builder.add_angular(angular_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   while (monotonic_now() < monotonic_clock::time_point(chrono::seconds(6))) {
     RunFor(dt());
     ASSERT_TRUE(drivetrain_output_fetcher_.Fetch());
-    EXPECT_NEAR(drivetrain_output_fetcher_->left_voltage,
-                -drivetrain_output_fetcher_->right_voltage, 1e-4);
-    EXPECT_GT(drivetrain_output_fetcher_->left_voltage, -6);
-    EXPECT_GT(drivetrain_output_fetcher_->right_voltage, -6);
-    EXPECT_LT(drivetrain_output_fetcher_->left_voltage, 6);
-    EXPECT_LT(drivetrain_output_fetcher_->right_voltage, 6);
+    EXPECT_NEAR(drivetrain_output_fetcher_->left_voltage(),
+                -drivetrain_output_fetcher_->right_voltage(), 1e-4);
+    EXPECT_GT(drivetrain_output_fetcher_->left_voltage(), -6);
+    EXPECT_GT(drivetrain_output_fetcher_->right_voltage(), -6);
+    EXPECT_LT(drivetrain_output_fetcher_->left_voltage(), 6);
+    EXPECT_LT(drivetrain_output_fetcher_->right_voltage(), 6);
   }
   VerifyNearGoal();
 }
@@ -310,15 +341,28 @@
 TEST_F(DrivetrainTest, SaturatedTurnDrive) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 1;
-    message->left_goal = 5.0;
-    message->right_goal = 4.0;
-    message->linear.max_velocity = 6.0;
-    message->linear.max_acceleration = 4.0;
-    message->angular.max_velocity = 2.0;
-    message->angular.max_acceleration = 4.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    ProfileParameters::Builder linear_builder =
+        builder.MakeBuilder<ProfileParameters>();
+    linear_builder.add_max_velocity(6.0);
+    linear_builder.add_max_acceleration(4.0);
+    flatbuffers::Offset<ProfileParameters> linear_offset =
+        linear_builder.Finish();
+
+    ProfileParameters::Builder angular_builder =
+        builder.MakeBuilder<ProfileParameters>();
+    angular_builder.add_max_velocity(2.0);
+    angular_builder.add_max_acceleration(4.0);
+    flatbuffers::Offset<ProfileParameters> angular_offset =
+        angular_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_MOTION_PROFILE);
+    goal_builder.add_left_goal(5.0);
+    goal_builder.add_right_goal(4.0);
+    goal_builder.add_linear(linear_offset);
+    goal_builder.add_angular(angular_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   while (monotonic_now() < monotonic_clock::time_point(chrono::seconds(3))) {
@@ -333,61 +377,77 @@
 TEST_F(DrivetrainTest, OpenLoopThenClosed) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 0;
-    message->wheel = 0.0;
-    message->throttle = 1.0;
-    message->highgear = true;
-    message->quickturn = false;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_POLYDRIVE);
+    goal_builder.add_wheel(0.0);
+    goal_builder.add_throttle(1.0);
+    goal_builder.add_highgear(true);
+    goal_builder.add_quickturn(false);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(1));
 
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 0;
-    message->wheel = 0.0;
-    message->throttle = -0.3;
-    message->highgear = true;
-    message->quickturn = false;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_POLYDRIVE);
+    goal_builder.add_wheel(0.0);
+    goal_builder.add_throttle(-0.3);
+    goal_builder.add_highgear(true);
+    goal_builder.add_quickturn(false);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(1));
 
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 0;
-    message->wheel = 0.0;
-    message->throttle = 0.0;
-    message->highgear = true;
-    message->quickturn = false;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_POLYDRIVE);
+    goal_builder.add_wheel(0.0);
+    goal_builder.add_throttle(0.0);
+    goal_builder.add_highgear(true);
+    goal_builder.add_quickturn(false);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(10));
 
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 1;
-    message->left_goal = 5.0;
-    message->right_goal = 4.0;
-    message->linear.max_velocity = 1.0;
-    message->linear.max_acceleration = 2.0;
-    message->angular.max_velocity = 1.0;
-    message->angular.max_acceleration = 2.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    ProfileParameters::Builder linear_builder =
+        builder.MakeBuilder<ProfileParameters>();
+    linear_builder.add_max_velocity(1.0);
+    linear_builder.add_max_acceleration(2.0);
+    flatbuffers::Offset<ProfileParameters> linear_offset =
+        linear_builder.Finish();
+
+    ProfileParameters::Builder angular_builder =
+        builder.MakeBuilder<ProfileParameters>();
+    angular_builder.add_max_velocity(1.0);
+    angular_builder.add_max_acceleration(2.0);
+    flatbuffers::Offset<ProfileParameters> angular_offset =
+        angular_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_MOTION_PROFILE);
+    goal_builder.add_left_goal(5.0);
+    goal_builder.add_right_goal(4.0);
+    goal_builder.add_linear(linear_offset);
+    goal_builder.add_angular(angular_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   const auto end_time = monotonic_now() + chrono::seconds(4);
   while (monotonic_now() < end_time) {
     RunFor(dt());
     ASSERT_TRUE(drivetrain_output_fetcher_.Fetch());
-    EXPECT_GT(drivetrain_output_fetcher_->left_voltage, -6);
-    EXPECT_GT(drivetrain_output_fetcher_->right_voltage, -6);
-    EXPECT_LT(drivetrain_output_fetcher_->left_voltage, 6);
-    EXPECT_LT(drivetrain_output_fetcher_->right_voltage, 6);
+    EXPECT_GT(drivetrain_output_fetcher_->left_voltage(), -6);
+    EXPECT_GT(drivetrain_output_fetcher_->right_voltage(), -6);
+    EXPECT_LT(drivetrain_output_fetcher_->left_voltage(), 6);
+    EXPECT_LT(drivetrain_output_fetcher_->right_voltage(), 6);
   }
   VerifyNearGoal();
 }
@@ -396,22 +456,44 @@
 TEST_F(DrivetrainTest, SplineSimple) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{0.0, 0.25, 0.5, 0.5, 0.75, 1.0}};
-    message->spline.spline_y = {{0.0, 0.0, 0.25, 0.75, 1.0, 1.0}};
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.25, 0.5, 0.5, 0.75, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.0, 0.25, 0.75, 1.0, 1.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(dt());
 
   // Send the start goal
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 1;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(1);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
@@ -423,22 +505,43 @@
 TEST_F(DrivetrainTest, SplineSimpleBackwards) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 1;
-    message->spline.drive_spline_backwards = true;
-    message->spline.spline_x = {{0.0, -0.25, -0.5, -0.5, -0.75, -1.0}};
-    message->spline.spline_y = {{0.0, 0.0, -0.25, -0.75, -1.0, -1.0}};
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.0, -0.25, -0.5, -0.5, -0.75, -1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.0, -0.25, -0.75, -1.0, -1.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(true);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(dt());
 
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 1;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(1);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
@@ -456,7 +559,7 @@
   drivetrain_status_fetcher_.Fetch();
   auto actual = drivetrain_plant_.state();
   const double expected_theta =
-      drivetrain_status_fetcher_->trajectory_logging.theta;
+      CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->theta();
   // As a sanity check, compare both against absolute angle and the spline's
   // goal angle.
   EXPECT_NEAR(0.0, ::aos::math::DiffAngle(actual(2), 0.0), 2e-2);
@@ -467,14 +570,35 @@
 TEST_F(DrivetrainTest, SplineSingleGoal) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{0.0, 0.25, 0.5, 0.5, 0.75, 1.0}};
-    message->spline.spline_y = {{0.0, 0.0, 0.25, 0.75, 1.0, 1.0}};
-    message->spline_handle = 1;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.25, 0.5, 0.5, 0.75, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.0, 0.25, 0.75, 1.0, 1.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    goal_builder.add_spline_handle(1);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
@@ -486,100 +610,179 @@
 TEST_F(DrivetrainTest, SplineStop) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{0.0, 0.25, 0.5, 0.5, 0.75, 1.0}};
-    message->spline.spline_y = {{0.0, 0.0, 0.25, 0.75, 1.0, 1.0}};
-    message->spline_handle = 1;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.25, 0.5, 0.5, 0.75, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.0, 0.25, 0.75, 1.0, 1.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    goal_builder.add_spline_handle(1);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
   RunFor(chrono::milliseconds(500));
   drivetrain_status_fetcher_.Fetch();
-  const double goal_x = drivetrain_status_fetcher_->trajectory_logging.x;
-  const double goal_y = drivetrain_status_fetcher_->trajectory_logging.y;
+  const double goal_x =
+      CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->x();
+  const double goal_y =
+      CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->y();
 
   // Now stop.
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::milliseconds(2000));
 
   // The goal shouldn't change after being stopped.
   drivetrain_status_fetcher_.Fetch();
-  EXPECT_NEAR(drivetrain_status_fetcher_->trajectory_logging.x, goal_x, 1e-9);
-  EXPECT_NEAR(drivetrain_status_fetcher_->trajectory_logging.y, goal_y, 1e-9);
+  EXPECT_NEAR(
+      CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->x(),
+      goal_x, 1e-9);
+  EXPECT_NEAR(
+      CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->y(),
+      goal_y, 1e-9);
 }
 
 // Tests that a spline can't be restarted.
 TEST_F(DrivetrainTest, SplineRestart) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{0.0, 0.25, 0.5, 0.5, 0.75, 1.0}};
-    message->spline.spline_y = {{0.0, 0.0, 0.25, 0.75, 1.0, 1.0}};
-    message->spline_handle = 1;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.25, 0.5, 0.5, 0.75, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.0, 0.25, 0.75, 1.0, 1.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    goal_builder.add_spline_handle(1);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
   RunFor(chrono::milliseconds(500));
   drivetrain_status_fetcher_.Fetch();
-  const double goal_x = drivetrain_status_fetcher_->trajectory_logging.x;
-  const double goal_y = drivetrain_status_fetcher_->trajectory_logging.y;
+  const double goal_x =
+      CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->x();
+  const double goal_y =
+      CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->y();
 
   // Send a stop goal.
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::milliseconds(500));
 
   // Send a restart.
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 1;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(1);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::milliseconds(2000));
 
   // The goal shouldn't change after being stopped and restarted.
   drivetrain_status_fetcher_.Fetch();
-  EXPECT_NEAR(drivetrain_status_fetcher_->trajectory_logging.x, goal_x, 1e-9);
-  EXPECT_NEAR(drivetrain_status_fetcher_->trajectory_logging.y, goal_y, 1e-9);
+  EXPECT_NEAR(
+      CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->x(),
+      goal_x, 1e-9);
+  EXPECT_NEAR(
+      CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->y(),
+      goal_y, 1e-9);
 }
 
 // Tests that simple spline converges when it doesn't start where it thinks.
 TEST_F(DrivetrainTest, SplineOffset) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{0.2, 0.25, 0.5, 0.5, 0.75, 1.0}};
-    message->spline.spline_y = {{0.2, 0.0, 0.25, 0.75, 1.0, 1.0}};
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.2, 0.25, 0.5, 0.5, 0.75, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.2, 0.0, 0.25, 0.75, 1.0, 1.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(dt());
 
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 1;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(1);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
@@ -592,21 +795,43 @@
 TEST_F(DrivetrainTest, SplineSideOffset) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{0.0, 0.25, 0.5, 0.5, 0.75, 1.0}};
-    message->spline.spline_y = {{0.5, 0.0, 0.25, 0.75, 1.0, 1.0}};
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.25, 0.5, 0.5, 0.75, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.5, 0.0, 0.25, 0.75, 1.0, 1.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(dt());
 
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 1;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(1);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
@@ -618,23 +843,45 @@
 TEST_F(DrivetrainTest, MultiSpline) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 2;
-    message->spline.spline_x = {
-        {0.0, 0.25, 0.5, 0.5, 0.75, 1.0, 1.25, 1.5, 1.5, 1.25, 1.0}};
-    message->spline.spline_y = {
-        {0.0, 0.0, 0.25, 0.75, 1.0, 1.0, 1.0, 1.25, 1.5, 1.75, 2.0}};
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>(
+            {0.0, 0.25, 0.5, 0.5, 0.75, 1.0, 1.25, 1.5, 1.5, 1.25, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>(
+            {0.0, 0.0, 0.25, 0.75, 1.0, 1.0, 1.0, 1.25, 1.5, 1.75, 2.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(2);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(dt());
 
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 1;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(1);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
@@ -646,21 +893,43 @@
 TEST_F(DrivetrainTest, SequentialSplines) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{0.0, 0.25, 0.5, 0.5, 0.75, 1.0}};
-    message->spline.spline_y = {{0.0, 0.0, 0.25, 0.75, 1.0, 1.0}};
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.25, 0.5, 0.5, 0.75, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.0, 0.25, 0.75, 1.0, 1.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(dt());
 
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 1;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(1);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
@@ -670,22 +939,44 @@
 
   // Second spline.
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 2;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{1.0, 1.25, 1.5, 1.5, 1.25, 1.0}};
-    message->spline.spline_y = {{1.0, 1.0, 1.25, 1.5, 1.75, 2.0}};
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({1.0, 1.25, 1.5, 1.5, 1.25, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({1.0, 1.0, 1.25, 1.5, 1.75, 2.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(2);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(dt());
 
   // And then start it.
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 2;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(2);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
@@ -696,14 +987,35 @@
 TEST_F(DrivetrainTest, SplineStopFirst) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{0.0, 0.25, 0.5, 0.5, 0.75, 1.0}};
-    message->spline.spline_y = {{0.0, 0.0, 0.25, 0.75, 1.0, 1.0}};
-    message->spline_handle = 1;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.25, 0.5, 0.5, 0.75, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.0, 0.25, 0.75, 1.0, 1.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(1);
+    goal_builder.add_spline(spline_goal_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
@@ -711,23 +1023,45 @@
 
   // Stop goal
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::milliseconds(500));
 
   // Second spline goal.
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 2;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{1.0, 1.25, 1.5, 1.5, 1.25, 1.0}};
-    message->spline.spline_y = {{1.0, 1.0, 1.25, 1.5, 1.75, 2.0}};
-    message->spline_handle = 2;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({1.0, 1.25, 1.5, 1.5, 1.25, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({1.0, 1.0, 1.25, 1.5, 1.75, 2.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(2);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    goal_builder.add_spline_handle(2);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
@@ -740,15 +1074,35 @@
 TEST_F(DrivetrainTest, CancelSplineBeforeExecuting) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{0.0, 0.25, 0.5, 0.5, 0.75, 1.0}};
-    message->spline.spline_y = {{0.0, 0.0, 0.25, 0.75, 1.0, 1.0}};
-    // Don't start running the splane.
-    message->spline_handle = 0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.25, 0.5, 0.5, 0.75, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.0, 0.25, 0.75, 1.0, 1.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    goal_builder.add_spline_handle(0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
@@ -756,23 +1110,45 @@
 
   // Plan another spline, but don't start it yet:
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 2;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{0.0, 0.75, 1.25, 1.5, 1.25, 1.0}};
-    message->spline.spline_y = {{0.0, 0.75, 1.25, 1.5, 1.75, 2.0}};
-    message->spline_handle = 0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.75, 1.25, 1.5, 1.25, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.75, 1.25, 1.5, 1.75, 2.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(2);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    goal_builder.add_spline_handle(0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
   // Now execute it.
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 2;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(2);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   WaitForTrajectoryExecution();
@@ -784,35 +1160,78 @@
 TEST_F(DrivetrainTest, ParallelSplines) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{0.0, 0.25, 0.5, 0.5, 0.75, 1.0}};
-    message->spline.spline_y = {{0.0, 0.0, 0.25, 0.75, 1.0, 1.0}};
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.25, 0.5, 0.5, 0.75, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.0, 0.25, 0.75, 1.0, 1.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
   // Second spline goal
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->spline_handle = 1;
-    message->controller_type = 2;
-    message->spline.spline_idx = 2;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{1.0, 1.25, 1.5, 1.5, 1.25, 1.0}};
-    message->spline.spline_y = {{1.0, 1.0, 1.25, 1.5, 1.75, 2.0}};
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({1.0, 1.25, 1.5, 1.5, 1.25, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({1.0, 1.0, 1.25, 1.5, 1.75, 2.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(2);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    goal_builder.add_spline_handle(1);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryExecution();
 
   // Second start goal
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 2;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(2);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::milliseconds(4000));
@@ -823,20 +1242,42 @@
 TEST_F(DrivetrainTest, OnlyPlanSpline) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{0.0, 0.25, 0.5, 0.5, 0.75, 1.0}};
-    message->spline.spline_y = {{0.0, 0.0, 0.25, 0.75, 1.0, 1.0}};
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.25, 0.5, 0.5, 0.75, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.0, 0.25, 0.75, 1.0, 1.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
 
   for (int i = 0; i < 100; ++i) {
     RunFor(dt());
     drivetrain_status_fetcher_.Fetch();
-    EXPECT_EQ(drivetrain_status_fetcher_->trajectory_logging.planning_state,
+    EXPECT_EQ(CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())
+                  ->planning_state(),
               3);
     ::std::this_thread::sleep_for(::std::chrono::milliseconds(2));
   }
@@ -847,23 +1288,45 @@
 TEST_F(DrivetrainTest, SplineExecuteAfterPlan) {
   SetEnabled(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline.spline_idx = 1;
-    message->spline.spline_count = 1;
-    message->spline.spline_x = {{0.0, 0.25, 0.5, 0.5, 0.75, 1.0}};
-    message->spline.spline_y = {{0.0, 0.0, 0.25, 0.75, 1.0, 1.0}};
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.25, 0.5, 0.5, 0.75, 1.0});
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+        builder.fbb()->CreateVector<float>({0.0, 0.0, 0.25, 0.75, 1.0, 1.0});
+
+    MultiSpline::Builder multispline_builder =
+        builder.MakeBuilder<MultiSpline>();
+
+    multispline_builder.add_spline_count(1);
+    multispline_builder.add_spline_x(spline_x_offset);
+    multispline_builder.add_spline_y(spline_y_offset);
+
+    flatbuffers::Offset<MultiSpline> multispline_offset =
+        multispline_builder.Finish();
+
+    SplineGoal::Builder spline_goal_builder = builder.MakeBuilder<SplineGoal>();
+    spline_goal_builder.add_spline_idx(1);
+    spline_goal_builder.add_drive_spline_backwards(false);
+    spline_goal_builder.add_spline(multispline_offset);
+    flatbuffers::Offset<SplineGoal> spline_goal_offset =
+        spline_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline(spline_goal_offset);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   WaitForTrajectoryPlan();
   RunFor(chrono::milliseconds(2000));
 
   // Start goal
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 2;
-    message->spline_handle = 1;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_SPLINE_FOLLOWER);
+    goal_builder.add_spline_handle(1);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::milliseconds(2000));
 
@@ -877,21 +1340,29 @@
   localizer_.target_selector()->set_has_target(true);
   localizer_.target_selector()->set_pose({{1.0, 1.0, 0.0}, M_PI_4});
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 3;
-    message->throttle = 0.5;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_LINE_FOLLOWER);
+    goal_builder.add_throttle(0.5);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(5));
 
   drivetrain_status_fetcher_.Fetch();
-  EXPECT_TRUE(drivetrain_status_fetcher_->line_follow_logging.frozen);
-  EXPECT_TRUE(drivetrain_status_fetcher_->line_follow_logging.have_target);
-  EXPECT_EQ(1.0, drivetrain_status_fetcher_->line_follow_logging.x);
-  EXPECT_EQ(1.0, drivetrain_status_fetcher_->line_follow_logging.y);
-  EXPECT_FLOAT_EQ(M_PI_4,
-                  drivetrain_status_fetcher_->line_follow_logging.theta);
+  EXPECT_TRUE(CHECK_NOTNULL(drivetrain_status_fetcher_->line_follow_logging())
+                  ->frozen());
+  EXPECT_TRUE(CHECK_NOTNULL(drivetrain_status_fetcher_->line_follow_logging())
+                  ->have_target());
+  EXPECT_EQ(
+      1.0,
+      CHECK_NOTNULL(drivetrain_status_fetcher_->line_follow_logging())->x());
+  EXPECT_EQ(
+      1.0,
+      CHECK_NOTNULL(drivetrain_status_fetcher_->line_follow_logging())->y());
+  EXPECT_FLOAT_EQ(
+      M_PI_4, CHECK_NOTNULL(drivetrain_status_fetcher_->line_follow_logging())
+                  ->theta());
 
   // Should have run off the end of the target, running along the y=x line.
   EXPECT_LT(1.0, drivetrain_plant_.GetPosition().x());
@@ -906,10 +1377,11 @@
   localizer_.target_selector()->set_has_target(false);
   localizer_.target_selector()->set_pose({{1.0, 1.0, 0.0}, M_PI_4});
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 3;
-    message->throttle = 0.5;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_controller_type(ControllerType_LINE_FOLLOWER);
+    goal_builder.add_throttle(0.5);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(5));
@@ -926,11 +1398,13 @@
   EXPECT_EQ(0.0, localizer_.y());
   EXPECT_EQ(0.0, localizer_.theta());
   {
-    auto message = localizer_control_sender_.MakeMessage();
-    message->x = 9.0;
-    message->y = 7.0;
-    message->theta = 1.0;
-    ASSERT_TRUE(message.Send());
+    auto builder = localizer_control_sender_.MakeBuilder();
+    LocalizerControl::Builder localizer_control_builder =
+        builder.MakeBuilder<LocalizerControl>();
+    localizer_control_builder.add_x(9.0);
+    localizer_control_builder.add_y(7.0);
+    localizer_control_builder.add_theta(1.0);
+    ASSERT_TRUE(builder.Send(localizer_control_builder.Finish()));
   }
   RunFor(dt());
 
diff --git a/frc971/control_loops/drivetrain/drivetrain_output.fbs b/frc971/control_loops/drivetrain/drivetrain_output.fbs
new file mode 100644
index 0000000..da8c889
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_output.fbs
@@ -0,0 +1,13 @@
+namespace frc971.control_loops.drivetrain;
+
+table Output {
+  // Voltage to send to motor(s) on either side of the drivetrain.
+  left_voltage:double;
+  right_voltage:double;
+
+  // Whether to set each shifter piston to high gear.
+  left_high:bool;
+  right_high:bool;
+}
+
+root_type Output;
diff --git a/frc971/control_loops/drivetrain/drivetrain_position.fbs b/frc971/control_loops/drivetrain/drivetrain_position.fbs
new file mode 100644
index 0000000..900c036
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_position.fbs
@@ -0,0 +1,25 @@
+namespace frc971.control_loops.drivetrain;
+
+table Position {
+  // Relative position of each drivetrain side (in meters).
+  left_encoder:double;
+  right_encoder:double;
+
+  // The speed in m/s of each drivetrain side from the most recent encoder
+  // pulse, or 0 if there was no edge within the last 5ms.
+  left_speed:double;
+  right_speed:double;
+
+  // Position of each drivetrain shifter, scaled from 0.0 to 1.0 where smaller
+  // is towards low gear.
+  left_shifter_position:double;
+  right_shifter_position:double;
+
+  // Raw analog voltages of each shifter hall effect for logging purposes.
+  low_left_hall:double;
+  high_left_hall:double;
+  low_right_hall:double;
+  high_right_hall:double;
+}
+
+root_type Position;
diff --git a/frc971/control_loops/drivetrain/drivetrain_status.fbs b/frc971/control_loops/drivetrain/drivetrain_status.fbs
new file mode 100644
index 0000000..67134f5
--- /dev/null
+++ b/frc971/control_loops/drivetrain/drivetrain_status.fbs
@@ -0,0 +1,140 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace frc971.control_loops.drivetrain;
+
+// For logging information about what the code is doing with the shifters.
+table GearLogging {
+  // Which controller is being used.
+  controller_index:byte;
+
+  // Whether each loop for the drivetrain sides is the high-gear one.
+  left_loop_high:bool;
+  right_loop_high:bool;
+
+  // The states of each drivetrain shifter.
+  left_state:byte;
+  right_state:byte;
+}
+
+// For logging information about the state of the shifters.
+table CIMLogging {
+  // Whether the code thinks each drivetrain side is currently in gear.
+  left_in_gear:bool;
+  right_in_gear:bool;
+
+  // The angular velocities (in rad/s, positive forward) the code thinks motors
+  // on each side of the drivetrain are moving at.
+  left_motor_speed:double;
+  right_motor_speed:double;
+
+  // The velocity estimates for each drivetrain side of the robot (in m/s,
+  // positive forward) that can be used for shifting.
+  left_velocity:double;
+  right_velocity:double;
+}
+
+enum PlanningState : byte {
+  NO_PLAN,
+  BUILDING_TRAJECTORY,
+  PLANNING_TRAJECTORY,
+  PLANNED,
+}
+
+// For logging information about the state of the trajectory planning.
+table TrajectoryLogging {
+  // state of planning the trajectory.
+  planning_state:PlanningState;
+
+  // State of the spline execution.
+  is_executing:bool;
+  // Whether we have finished the spline specified by current_spline_idx.
+  is_executed:bool;
+
+  // The handle of the goal spline.  0 means stop requested.
+  goal_spline_handle:int;
+  // Handle of the executing spline.  -1 means none requested.  If there was no
+  // spline executing when a spline finished optimizing, it will become the
+  // current spline even if we aren't ready to start yet.
+  current_spline_idx:int;
+  // Handle of the spline that is being optimized and staged.
+  planning_spline_idx:int;
+
+  // Expected position and velocity on the spline
+  x:float;
+  y:float;
+  theta:float;
+  left_velocity:float;
+  right_velocity:float;
+  distance_remaining:float;
+}
+
+// For logging state of the line follower.
+table LineFollowLogging {
+  // Whether we are currently freezing target choice.
+  frozen:bool;
+  // Whether we currently have a target.
+  have_target:bool;
+  // Absolute position of the current goal.
+  x:float;
+  y:float;
+  theta:float;
+  // Current lateral offset from line pointing straight out of the target.
+  offset:float;
+  // Current distance from the plane of the target, in meters.
+  distance_to_target:float;
+  // Current goal heading.
+  goal_theta:float;
+  // Current relative heading.
+  rel_theta:float;
+}
+
+table Status {
+  // Estimated speed of the center of the robot in m/s (positive forwards).
+  robot_speed:double;
+
+  // Estimated relative position of each drivetrain side (in meters).
+  estimated_left_position:double;
+  estimated_right_position:double;
+
+  // Estimated velocity of each drivetrain side (in m/s).
+  estimated_left_velocity:double;
+  estimated_right_velocity:double;
+
+  // The voltage we wanted to send to each drivetrain side last cycle.
+  uncapped_left_voltage:double;
+  uncapped_right_voltage:double;
+
+  // The voltage error for the left and right sides.
+  left_voltage_error:double;
+  right_voltage_error:double;
+
+  // The profiled goal states.
+  profiled_left_position_goal:double;
+  profiled_right_position_goal:double;
+  profiled_left_velocity_goal:double;
+  profiled_right_velocity_goal:double;
+
+  // The KF offset
+  estimated_angular_velocity_error:double;
+  // The KF estimated heading.
+  estimated_heading:double;
+
+  // xytheta of the robot.
+  x:double;
+  y:double;
+  theta:double;
+
+  // True if the output voltage was capped last cycle.
+  output_was_capped:bool;
+
+  // The angle of the robot relative to the ground.
+  ground_angle:double;
+
+  // Information about shifting logic and curent gear, for logging purposes
+  gear_logging:GearLogging;
+  cim_logging:CIMLogging;
+  trajectory_logging:TrajectoryLogging;
+  line_follow_logging:LineFollowLogging;
+}
+
+root_type Status;
diff --git a/frc971/control_loops/drivetrain/drivetrain_test_lib.cc b/frc971/control_loops/drivetrain/drivetrain_test_lib.cc
index 34c9907..8ebbb1b 100644
--- a/frc971/control_loops/drivetrain/drivetrain_test_lib.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_test_lib.cc
@@ -90,23 +90,20 @@
 DrivetrainSimulation::DrivetrainSimulation(
     ::aos::EventLoop *event_loop, const DrivetrainConfig<double> &dt_config)
     : event_loop_(event_loop),
-      robot_state_fetcher_(
-          event_loop_->MakeFetcher<::aos::RobotState>(".aos.robot_state")),
+      robot_state_fetcher_(event_loop_->MakeFetcher<::aos::RobotState>("/aos")),
       drivetrain_position_sender_(
           event_loop_
-              ->MakeSender<::frc971::control_loops::DrivetrainQueue::Position>(
-                  ".frc971.control_loops.drivetrain_queue.position")),
+              ->MakeSender<::frc971::control_loops::drivetrain::Position>(
+                  "/drivetrain")),
       drivetrain_output_fetcher_(
-          event_loop_
-              ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Output>(
-                  ".frc971.control_loops.drivetrain_queue.output")),
+          event_loop_->MakeFetcher<::frc971::control_loops::drivetrain::Output>(
+              "/drivetrain")),
       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")),
       gyro_reading_sender_(
           event_loop->MakeSender<::frc971::sensors::GyroReading>(
-              ".frc971.sensors.gyro_reading")),
+              "/drivetrain")),
       dt_config_(dt_config),
       drivetrain_plant_(MakePlantFromConfig(dt_config_)),
       velocity_drivetrain_(
@@ -133,9 +130,9 @@
             actual_y_.push_back(actual_position(1));
 
             trajectory_x_.push_back(
-                drivetrain_status_fetcher_->trajectory_logging.x);
+                drivetrain_status_fetcher_->trajectory_logging()->x());
             trajectory_y_.push_back(
-                drivetrain_status_fetcher_->trajectory_logging.y);
+                drivetrain_status_fetcher_->trajectory_logging()->y());
           }
         }
         first_ = false;
@@ -159,22 +156,27 @@
   const double right_encoder = GetRightPosition();
 
   {
-    ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Position>::Message
-        position = drivetrain_position_sender_.MakeMessage();
-    position->left_encoder = left_encoder;
-    position->right_encoder = right_encoder;
-    position->left_shifter_position = left_gear_high_ ? 1.0 : 0.0;
-    position->right_shifter_position = right_gear_high_ ? 1.0 : 0.0;
-    position.Send();
+    ::aos::Sender<::frc971::control_loops::drivetrain::Position>::Builder
+        builder = drivetrain_position_sender_.MakeBuilder();
+    frc971::control_loops::drivetrain::Position::Builder position_builder =
+        builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
+    position_builder.add_left_encoder(left_encoder);
+    position_builder.add_right_encoder(right_encoder);
+    position_builder.add_left_shifter_position(left_gear_high_ ? 1.0 : 0.0);
+    position_builder.add_right_shifter_position(right_gear_high_ ? 1.0 : 0.0);
+    builder.Send(position_builder.Finish());
   }
 
   {
-    auto gyro = gyro_reading_sender_.MakeMessage();
-    gyro->angle =
-        (right_encoder - left_encoder) / (dt_config_.robot_radius * 2.0);
-    gyro->velocity = (drivetrain_plant_.X(3, 0) - drivetrain_plant_.X(1, 0)) /
-                     (dt_config_.robot_radius * 2.0);
-    gyro.Send();
+    auto builder = gyro_reading_sender_.MakeBuilder();
+    frc971::sensors::GyroReading::Builder gyro_builder =
+        builder.MakeBuilder<frc971::sensors::GyroReading>();
+    gyro_builder.add_angle((right_encoder - left_encoder) /
+                           (dt_config_.robot_radius * 2.0));
+    gyro_builder.add_velocity(
+        (drivetrain_plant_.X(3, 0) - drivetrain_plant_.X(1, 0)) /
+        (dt_config_.robot_radius * 2.0));
+    builder.Send(gyro_builder.Finish());
   }
 }
 
@@ -184,17 +186,17 @@
   last_right_position_ = drivetrain_plant_.Y(1, 0);
   EXPECT_TRUE(drivetrain_output_fetcher_.Fetch());
   ::Eigen::Matrix<double, 2, 1> U = last_U_;
-  last_U_ << drivetrain_output_fetcher_->left_voltage,
-      drivetrain_output_fetcher_->right_voltage;
+  last_U_ << drivetrain_output_fetcher_->left_voltage(),
+      drivetrain_output_fetcher_->right_voltage();
   {
     robot_state_fetcher_.Fetch();
     const double scalar = robot_state_fetcher_.get()
-                              ? robot_state_fetcher_->voltage_battery / 12.0
+                              ? robot_state_fetcher_->voltage_battery() / 12.0
                               : 1.0;
     last_U_ *= scalar;
   }
-  left_gear_high_ = drivetrain_output_fetcher_->left_high;
-  right_gear_high_ = drivetrain_output_fetcher_->right_high;
+  left_gear_high_ = drivetrain_output_fetcher_->left_high();
+  right_gear_high_ = drivetrain_output_fetcher_->right_high();
 
   if (left_gear_high_) {
     if (right_gear_high_) {
diff --git a/frc971/control_loops/drivetrain/drivetrain_test_lib.h b/frc971/control_loops/drivetrain/drivetrain_test_lib.h
index 9a4f177..2284f63 100644
--- a/frc971/control_loops/drivetrain/drivetrain_test_lib.h
+++ b/frc971/control_loops/drivetrain/drivetrain_test_lib.h
@@ -1,11 +1,15 @@
 #ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_TEST_LIB_H_
 #define FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_TEST_LIB_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/control_loops_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/queues/gyro.q.h"
+#include "frc971/queues/gyro_generated.h"
 
 namespace frc971 {
 namespace control_loops {
@@ -79,11 +83,11 @@
   ::aos::EventLoop *event_loop_;
   ::aos::Fetcher<::aos::RobotState> robot_state_fetcher_;
 
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Position>
+  ::aos::Sender<::frc971::control_loops::drivetrain::Position>
       drivetrain_position_sender_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Output>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Output>
       drivetrain_output_fetcher_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Status>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Status>
       drivetrain_status_fetcher_;
   ::aos::Sender<::frc971::sensors::GyroReading> gyro_reading_sender_;
 
@@ -95,7 +99,8 @@
   ::Eigen::Matrix<double, 5, 1> state_ = ::Eigen::Matrix<double, 5, 1>::Zero();
   ::std::unique_ptr<
       StateFeedbackLoop<2, 2, 2, double, StateFeedbackHybridPlant<2, 2, 2>,
-                        HybridKalman<2, 2, 2>>> velocity_drivetrain_;
+                        HybridKalman<2, 2, 2>>>
+      velocity_drivetrain_;
   double last_left_position_;
   double last_right_position_;
 
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
index 8234b1c..7fe5cad 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
@@ -105,9 +105,9 @@
 
 void LineFollowDrivetrain::SetGoal(
     ::aos::monotonic_clock::time_point now,
-    const ::frc971::control_loops::DrivetrainQueue::Goal &goal) {
+    const ::frc971::control_loops::drivetrain::Goal *goal) {
   // TODO(james): More properly calculate goal velocity from throttle.
-  goal_velocity_ = 4.0 * goal.throttle;
+  goal_velocity_ = 4.0 * goal->throttle();
   // The amount of time to freeze the target choice after the driver releases
   // the button. Depending on the current state, we vary how long this timeout
   // is so that we can avoid button glitches causing issues.
@@ -115,7 +115,7 @@
   // Freeze the target once the driver presses the button; if we haven't yet
   // confirmed a target when the driver presses the button, we will not do
   // anything and report not ready until we have a target.
-  if (goal.controller_type == 3) {
+  if (goal->controller_type() == drivetrain::ControllerType_LINE_FOLLOWER) {
     last_enable_ = now;
     // If we already acquired a target, we want to keep track if it.
     if (have_target_) {
@@ -130,11 +130,11 @@
   freeze_target_ = now <= freeze_delay + last_enable_;
   // Set an adjustment that lets the driver tweak the offset for where we place
   // the target left/right.
-  side_adjust_ = -goal.wheel * 0.1;
+  side_adjust_ = -goal->wheel() * 0.1;
 }
 
 bool LineFollowDrivetrain::SetOutput(
-    ::frc971::control_loops::DrivetrainQueue::Output *output) {
+    ::frc971::control_loops::drivetrain::OutputT *output) {
   // TODO(james): Account for voltage error terms, and/or provide driver with
   // ability to influence steering.
   if (output != nullptr && have_target_) {
@@ -257,18 +257,20 @@
   }
 }
 
-void LineFollowDrivetrain::PopulateStatus(
-    ::frc971::control_loops::DrivetrainQueue::Status *status) const {
-  status->line_follow_logging.frozen = freeze_target_;
-  status->line_follow_logging.have_target = have_target_;
-  status->line_follow_logging.x = target_pose_.abs_pos().x();
-  status->line_follow_logging.y = target_pose_.abs_pos().y();
-  status->line_follow_logging.theta = target_pose_.abs_theta();
-  status->line_follow_logging.offset = relative_pose_.rel_pos().y();
-  status->line_follow_logging.distance_to_target =
-      -relative_pose_.rel_pos().x();
-  status->line_follow_logging.goal_theta = controls_goal_(0, 0);
-  status->line_follow_logging.rel_theta = relative_pose_.rel_theta();
+flatbuffers::Offset<LineFollowLogging> LineFollowDrivetrain::PopulateStatus(
+    aos::Sender<drivetrain::Status>::Builder *builder) const {
+  LineFollowLogging::Builder line_follow_logging_builder =
+      builder->MakeBuilder<LineFollowLogging>();
+  line_follow_logging_builder.add_frozen(freeze_target_);
+  line_follow_logging_builder.add_have_target(have_target_);
+  line_follow_logging_builder.add_x(target_pose_.abs_pos().x());
+  line_follow_logging_builder.add_y(target_pose_.abs_pos().y());
+  line_follow_logging_builder.add_theta(target_pose_.abs_theta());
+  line_follow_logging_builder.add_offset(relative_pose_.rel_pos().y());
+  line_follow_logging_builder.add_distance_to_target(-relative_pose_.rel_pos().x());
+  line_follow_logging_builder.add_goal_theta(controls_goal_(0, 0));
+  line_follow_logging_builder.add_rel_theta(relative_pose_.rel_theta());
+  return line_follow_logging_builder.Finish();
 }
 
 }  // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain.h b/frc971/control_loops/drivetrain/line_follow_drivetrain.h
index 09b2080..1ebf64d 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain.h
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain.h
@@ -2,10 +2,15 @@
 #define FRC971_CONTROL_LOOPS_DRIVETRAIN_LINE_FOLLOW_DRIVETRAIN_H_
 #include "Eigen/Dense"
 
-#include "frc971/control_loops/pose.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/drivetrain/localizer.h"
+#include "frc971/control_loops/pose.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
 
 namespace frc971 {
 namespace control_loops {
@@ -29,7 +34,7 @@
   // a Target; the positive X-axis in the Pose's frame represents the direction
   // we want to go (we approach the pose from the left-half plane).
   void SetGoal(::aos::monotonic_clock::time_point now,
-               const ::frc971::control_loops::DrivetrainQueue::Goal &goal);
+               const ::frc971::control_loops::drivetrain::Goal *goal);
   // State: [x, y, theta, left_vel, right_vel]
   void Update(::aos::monotonic_clock::time_point now,
               const ::Eigen::Matrix<double, 5, 1> &state);
@@ -37,9 +42,11 @@
   // yet have a target to track into and so some other drivetrain should take
   // over.
   bool SetOutput(
-      ::frc971::control_loops::DrivetrainQueue::Output *output);
-  void PopulateStatus(
-      ::frc971::control_loops::DrivetrainQueue::Status *status) const;
+      ::frc971::control_loops::drivetrain::OutputT *output);
+
+  flatbuffers::Offset<LineFollowLogging> PopulateStatus(
+      aos::Sender<drivetrain::Status>::Builder *line_follow_logging_builder)
+      const;
 
  private:
   // Nominal max voltage.
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc b/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc
index f4d718e..bd45e92 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc
@@ -50,13 +50,21 @@
   }
 
   void Iterate() {
-    ::frc971::control_loops::DrivetrainQueue::Goal goal;
-    goal.throttle = driver_model_(state_);
-    goal.controller_type = freeze_target_ ? 3 : 0;
-    drivetrain_.SetGoal(t_, goal);
+    flatbuffers::FlatBufferBuilder fbb;
+    fbb.ForceDefaults(1);
+    Goal::Builder goal_builder(fbb);
+    goal_builder.add_throttle(driver_model_(state_));
+    goal_builder.add_controller_type(freeze_target_
+                                         ? ControllerType_LINE_FOLLOWER
+                                         : ControllerType_POLYDRIVE);
+    fbb.Finish(goal_builder.Finish());
+
+    aos::FlatbufferDetachedBuffer<Goal> goal(fbb.Release());
+
+    drivetrain_.SetGoal(t_, &goal.message());
     drivetrain_.Update(t_, state_);
 
-    ::frc971::control_loops::DrivetrainQueue::Output output;
+    ::frc971::control_loops::drivetrain::OutputT output;
     EXPECT_EQ(expect_output_, drivetrain_.SetOutput(&output));
     if (!expect_output_) {
       EXPECT_EQ(0.0, output.left_voltage);
@@ -96,9 +104,15 @@
   }
 
   double GoalTheta(double x, double y, double v, double throttle) {
-    ::frc971::control_loops::DrivetrainQueue::Goal goal;
-    goal.throttle = throttle;
-    drivetrain_.SetGoal(t_, goal);
+    flatbuffers::FlatBufferBuilder fbb;
+    fbb.ForceDefaults(1);
+    Goal::Builder goal_builder(fbb);
+    goal_builder.add_throttle(throttle);
+    fbb.Finish(goal_builder.Finish());
+
+    aos::FlatbufferDetachedBuffer<Goal> goal(fbb.Release());
+
+    drivetrain_.SetGoal(t_, &goal.message());
     ::Eigen::Matrix<double, 5, 1> state;
     state << x, y, 0.0, v, v;
     return drivetrain_.GoalTheta(state, y, throttle > 0.0 ? 1.0 : -1.0);
diff --git a/frc971/control_loops/drivetrain/localizer.fbs b/frc971/control_loops/drivetrain/localizer.fbs
new file mode 100644
index 0000000..5450c08
--- /dev/null
+++ b/frc971/control_loops/drivetrain/localizer.fbs
@@ -0,0 +1,13 @@
+namespace frc971.control_loops.drivetrain;
+
+// Allows you to reset the state of the localizer to a specific position on the
+// field.
+table LocalizerControl {
+  x:float;      // X position, meters
+  y:float;      // Y position, meters
+  theta:float;  // heading, radians
+  theta_uncertainty:double; // Uncertainty in theta.
+  keep_current_theta:bool; // Whether to keep the current theta value.
+}
+
+root_type LocalizerControl;
diff --git a/frc971/control_loops/drivetrain/localizer.h b/frc971/control_loops/drivetrain/localizer.h
index 7b2ceae..2589d4b 100644
--- a/frc971/control_loops/drivetrain/localizer.h
+++ b/frc971/control_loops/drivetrain/localizer.h
@@ -1,7 +1,7 @@
 #ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_FIELD_ESTIMATOR_H_
 #define FRC971_CONTROL_LOOPS_DRIVETRAIN_FIELD_ESTIMATOR_H_
 
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 #include "frc971/control_loops/drivetrain/hybrid_ekf.h"
 #include "frc971/control_loops/pose.h"
diff --git a/frc971/control_loops/drivetrain/localizer.q b/frc971/control_loops/drivetrain/localizer.q
deleted file mode 100644
index 323f895..0000000
--- a/frc971/control_loops/drivetrain/localizer.q
+++ /dev/null
@@ -1,12 +0,0 @@
-package frc971.control_loops.drivetrain;
-
-// Allows you to reset the state of the localizer to a specific position on the
-// field.
-// Published on ".frc971.control_loops.drivetrain.localizer_control"
-message LocalizerControl {
-  float x;      // X position, meters
-  float y;      // Y position, meters
-  float theta;  // heading, radians
-  double theta_uncertainty; // Uncertainty in theta.
-  bool keep_current_theta; // Whether to keep the current theta value.
-};
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc
index c213b06..a0d374e 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.cc
+++ b/frc971/control_loops/drivetrain/polydrivetrain.cc
@@ -1,14 +1,5 @@
 #include "frc971/control_loops/drivetrain/polydrivetrain.h"
 
-#include "aos/commonmath.h"
-#include "aos/controls/polytope.h"
-#include "frc971/control_loops/coerce_goal.h"
-#ifdef __linux__
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain_config.h"
-#endif  // __linux__
-#include "frc971/control_loops/state_feedback_loop.h"
-
 namespace frc971 {
 namespace control_loops {
 namespace drivetrain {
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.h b/frc971/control_loops/drivetrain/polydrivetrain.h
index f8f1a39..74fb2eb 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.h
+++ b/frc971/control_loops/drivetrain/polydrivetrain.h
@@ -7,13 +7,18 @@
 #include "frc971/control_loops/coerce_goal.h"
 #include "frc971/control_loops/drivetrain/gear.h"
 #ifdef __linux__
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/matrix_logging.h"
-#include "aos/logging/queue_logging.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/robot_state/robot_state_generated.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #else
-#include "frc971/control_loops/drivetrain/drivetrain_uc.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_float_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_float_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_float_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_float_generated.h"
 #endif  // __linux__
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
@@ -35,10 +40,11 @@
   Scalar MotorSpeed(const constants::ShifterHallEffect &hall_effect,
                     Scalar shifter_position, Scalar velocity, Gear gear);
 
-  void SetGoal(const ::frc971::control_loops::DrivetrainQueue::Goal &goal);
+  void SetGoal(const Scalar wheel, const Scalar throttle, const bool quickturn,
+               const bool highgear);
 
   void SetPosition(
-      const ::frc971::control_loops::DrivetrainQueue::Position *position,
+      const ::frc971::control_loops::drivetrain::Position *position,
       Gear left_gear, Gear right_gear);
 
   Scalar FilterVelocity(Scalar throttle) const;
@@ -47,9 +53,10 @@
 
   void Update(Scalar voltage_battery);
 
-  void SetOutput(::frc971::control_loops::DrivetrainQueue::Output *output);
+  void SetOutput(::frc971::control_loops::drivetrain::OutputT *output);
 
-  void PopulateStatus(::frc971::control_loops::DrivetrainQueue::Status *status);
+  flatbuffers::Offset<CIMLogging> PopulateStatus(
+      flatbuffers::FlatBufferBuilder *fbb);
 
   // Computes the next state of a shifter given the current state and the
   // requested state.
@@ -81,8 +88,8 @@
   Gear left_gear_;
   Gear right_gear_;
 
-  ::frc971::control_loops::DrivetrainQueue::Position last_position_;
-  ::frc971::control_loops::DrivetrainQueue::Position position_;
+  ::frc971::control_loops::drivetrain::PositionT last_position_;
+  ::frc971::control_loops::drivetrain::PositionT position_;
   int counter_;
   DrivetrainConfig<Scalar> dt_config_;
 
@@ -123,10 +130,7 @@
       left_gear_(dt_config.default_high_gear ? Gear::HIGH : Gear::LOW),
       right_gear_(dt_config.default_high_gear ? Gear::HIGH : Gear::LOW),
       counter_(0),
-      dt_config_(dt_config) {
-  last_position_.Zero();
-  position_.Zero();
-}
+      dt_config_(dt_config) {}
 
 template <typename Scalar>
 Scalar PolyDrivetrain<Scalar>::MotorSpeed(
@@ -195,13 +199,9 @@
 }
 
 template <typename Scalar>
-void PolyDrivetrain<Scalar>::SetGoal(
-    const ::frc971::control_loops::DrivetrainQueue::Goal &goal) {
-  const Scalar wheel = goal.wheel;
-  const Scalar throttle = goal.throttle;
-  const bool quickturn = goal.quickturn;
-  const bool highgear = goal.highgear;
-
+void PolyDrivetrain<Scalar>::SetGoal(const Scalar wheel, const Scalar throttle,
+                                     const bool quickturn,
+                                     const bool highgear) {
   // Apply a sin function that's scaled to make it feel better.
   const Scalar angular_range =
       static_cast<Scalar>(M_PI_2) * dt_config_.wheel_non_linearity;
@@ -234,12 +234,12 @@
 
 template <typename Scalar>
 void PolyDrivetrain<Scalar>::SetPosition(
-    const ::frc971::control_loops::DrivetrainQueue::Position *position,
+    const ::frc971::control_loops::drivetrain::Position *position,
     Gear left_gear, Gear right_gear) {
   left_gear_ = left_gear;
   right_gear_ = right_gear;
   last_position_ = position_;
-  position_ = *position;
+  position->UnPackTo(&position_);
 }
 
 template <typename Scalar>
@@ -415,8 +415,8 @@
 
 template <typename Scalar>
 void PolyDrivetrain<Scalar>::SetOutput(
-    ::frc971::control_loops::DrivetrainQueue::Output *output) {
-  if (output != NULL) {
+    ::frc971::control_loops::drivetrain::OutputT *output) {
+  if (output != nullptr) {
     output->left_voltage = loop_->U(0, 0);
     output->right_voltage = loop_->U(1, 0);
     output->left_high = MaybeHigh(left_gear_);
@@ -425,19 +425,21 @@
 }
 
 template <typename Scalar>
-void PolyDrivetrain<Scalar>::PopulateStatus(
-    ::frc971::control_loops::DrivetrainQueue::Status *status) {
+flatbuffers::Offset<CIMLogging> PolyDrivetrain<Scalar>::PopulateStatus(
+    flatbuffers::FlatBufferBuilder *fbb) {
+  CIMLogging::Builder builder(*fbb);
 
-  status->cim_logging.left_in_gear = IsInGear(left_gear_);
-  status->cim_logging.left_motor_speed = left_motor_speed_;
-  status->cim_logging.left_velocity = current_left_velocity_;
+  builder.add_left_in_gear(IsInGear(left_gear_));
+  builder.add_left_motor_speed(left_motor_speed_);
+  builder.add_left_velocity(current_left_velocity_);
 
-  status->cim_logging.right_in_gear = IsInGear(right_gear_);
-  status->cim_logging.right_motor_speed = right_motor_speed_;
-  status->cim_logging.right_velocity = current_right_velocity_;
+  builder.add_right_in_gear(IsInGear(right_gear_));
+  builder.add_right_motor_speed(right_motor_speed_);
+  builder.add_right_velocity(current_right_velocity_);
+
+  return builder.Finish();
 }
 
-
 }  // namespace drivetrain
 }  // namespace control_loops
 }  // namespace frc971
diff --git a/frc971/control_loops/drivetrain/replay_drivetrain.cc b/frc971/control_loops/drivetrain/replay_drivetrain.cc
deleted file mode 100644
index 2f63c9e..0000000
--- a/frc971/control_loops/drivetrain/replay_drivetrain.cc
+++ /dev/null
@@ -1,38 +0,0 @@
-#include "aos/controls/replay_control_loop.h"
-#include "aos/init.h"
-
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/queues/gyro.q.h"
-
-// Reads one or more log files and sends out all the queue messages (in the
-// correct order and at the correct time) to feed a "live" drivetrain process.
-
-int main(int argc, char **argv) {
-  if (argc <= 1) {
-    fprintf(stderr, "Need at least one file to replay!\n");
-    return EXIT_FAILURE;
-  }
-
-  ::aos::InitNRT();
-
-  ::frc971::control_loops::DrivetrainQueue drivetrain_queue(
-      ".frc971.control_loops.drivetrain_queue",
-      ".frc971.control_loops.drivetrain_queue.goal",
-      ".frc971.control_loops.drivetrain_queue.position",
-      ".frc971.control_loops.drivetrain_queue.output",
-      ".frc971.control_loops.drivetrain_queue.status");
-
-  {
-    ::aos::controls::ControlLoopReplayer<
-        ::frc971::control_loops::DrivetrainQueue>
-        replayer(&drivetrain_queue, "drivetrain");
-
-    replayer.AddDirectQueueSender<::frc971::sensors::GyroReading>(
-        "wpilib_interface.Gyro", "sending", ".frc971.sensors.gyro_reading");
-    for (int i = 1; i < argc; ++i) {
-      replayer.ProcessFile(argv[i]);
-    }
-  }
-
-  ::aos::Cleanup();
-}
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.cc b/frc971/control_loops/drivetrain/splinedrivetrain.cc
index de59355..1222ae0 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.cc
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.cc
@@ -2,10 +2,13 @@
 
 #include "Eigen/Dense"
 
-#include "aos/init.h"
+#include "aos/realtime.h"
 #include "aos/util/math.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 
 namespace frc971 {
 namespace control_loops {
@@ -30,7 +33,7 @@
 
   ::aos::MutexLocker locker(&mutex_);
   while (run_) {
-    while (goal_.spline.spline_idx == future_spline_idx_) {
+    while (goal_.spline_idx == future_spline_idx_) {
       AOS_CHECK(!new_goal_.Wait());
       if (!run_) {
         return;
@@ -39,10 +42,10 @@
     past_distance_spline_.reset();
     past_trajectory_.reset();
 
-    plan_state_ = PlanState::kBuildingTrajectory;
-    const ::frc971::MultiSpline &multispline = goal_.spline;
-    future_spline_idx_ = multispline.spline_idx;
+    plan_state_ = PlanningState_BUILDING_TRAJECTORY;
+    future_spline_idx_ = goal_.spline_idx;
     planning_spline_idx_ = future_spline_idx_;
+    const MultiSpline &multispline = goal_.spline;
     auto x = multispline.spline_x;
     auto y = multispline.spline_y;
     ::std::vector<Spline> splines = ::std::vector<Spline>();
@@ -56,7 +59,7 @@
       splines.emplace_back(Spline(points));
     }
 
-    future_drive_spline_backwards_ = goal_.spline.drive_spline_backwards;
+    future_drive_spline_backwards_ = goal_.drive_spline_backwards;
 
     future_distance_spline_ = ::std::unique_ptr<DistanceSpline>(
         new DistanceSpline(::std::move(splines)));
@@ -65,47 +68,79 @@
         new Trajectory(future_distance_spline_.get(), dt_config_));
 
     for (size_t i = 0; i < multispline.constraints.size(); ++i) {
-      const ::frc971::Constraint &constraint = multispline.constraints[i];
+      const ::frc971::ConstraintT &constraint = multispline.constraints[i];
       switch (constraint.constraint_type) {
-        case 0:
+        case frc971::ConstraintType_CONSTRAINT_TYPE_UNDEFINED:
           break;
-        case 1:
+        case frc971::ConstraintType_LONGITUDINAL_ACCELERATION:
           future_trajectory_->set_longitudal_acceleration(constraint.value);
           break;
-        case 2:
+        case frc971::ConstraintType_LATERAL_ACCELERATION:
           future_trajectory_->set_lateral_acceleration(constraint.value);
           break;
-        case 3:
+        case frc971::ConstraintType_VOLTAGE:
           future_trajectory_->set_voltage_limit(constraint.value);
           break;
-        case 4:
+        case frc971::ConstraintType_VELOCITY:
           future_trajectory_->LimitVelocity(constraint.start_distance,
                                             constraint.end_distance,
                                             constraint.value);
           break;
       }
     }
-    plan_state_ = PlanState::kPlanningTrajectory;
+    plan_state_ = PlanningState_PLANNING_TRAJECTORY;
 
     future_trajectory_->Plan();
-    plan_state_ = PlanState::kPlannedTrajectory;
+    plan_state_ = PlanningState_PLANNED;
   }
 }
 
 void SplineDrivetrain::SetGoal(
-    const ::frc971::control_loops::DrivetrainQueue::Goal &goal) {
-  current_spline_handle_ = goal.spline_handle;
+    const ::frc971::control_loops::drivetrain::Goal *goal) {
+  current_spline_handle_ = goal->spline_handle();
+
   // If told to stop, set the executing spline to an invalid index and clear out
   // its plan:
   if (current_spline_handle_ == 0 &&
-      current_spline_idx_ != goal.spline.spline_idx) {
+      (goal->spline() == nullptr ||
+       current_spline_idx_ != CHECK_NOTNULL(goal->spline())->spline_idx())) {
     current_spline_idx_ = -1;
   }
 
   ::aos::Mutex::State mutex_state = mutex_.TryLock();
   if (mutex_state == ::aos::Mutex::State::kLocked) {
-    if (goal.spline.spline_idx && future_spline_idx_ != goal.spline.spline_idx) {
-      goal_ = goal;
+    if (goal->spline() != nullptr && goal->spline()->spline_idx() &&
+        future_spline_idx_ != goal->spline()->spline_idx()) {
+      CHECK_NOTNULL(goal->spline());
+      goal_.spline_idx = goal->spline()->spline_idx();
+      goal_.drive_spline_backwards = goal->spline()->drive_spline_backwards();
+
+      const frc971::MultiSpline *multispline = goal->spline()->spline();
+      CHECK_NOTNULL(multispline);
+
+      goal_.spline.spline_count = multispline->spline_count();
+
+      CHECK_EQ(multispline->spline_x()->size(),
+               static_cast<size_t>(goal_.spline.spline_count * 5 + 1));
+      CHECK_EQ(multispline->spline_y()->size(),
+               static_cast<size_t>(goal_.spline.spline_count * 5 + 1));
+
+      std::copy(multispline->spline_x()->begin(),
+                multispline->spline_x()->end(), goal_.spline.spline_x.begin());
+      std::copy(multispline->spline_y()->begin(),
+                multispline->spline_y()->end(), goal_.spline.spline_y.begin());
+
+      for (size_t i = 0; i < 6; ++i) {
+        if (multispline->constraints() != nullptr &&
+            i < multispline->constraints()->size()) {
+          multispline->constraints()->Get(i)->UnPackTo(
+              &goal_.spline.constraints[i]);
+        } else {
+          goal_.spline.constraints[i].constraint_type =
+              ConstraintType_CONSTRAINT_TYPE_UNDEFINED;
+        }
+      }
+
       new_goal_.Broadcast();
       if (current_spline_handle_ != current_spline_idx_) {
         // If we aren't going to actively execute the current spline, evict it's
@@ -178,7 +213,7 @@
 }
 
 void SplineDrivetrain::SetOutput(
-    ::frc971::control_loops::DrivetrainQueue::Output *output) {
+    ::frc971::control_loops::drivetrain::OutputT *output) {
   if (!output) {
     return;
   }
@@ -193,42 +228,52 @@
   output->right_voltage = next_U_(1);
 }
 
+
 void SplineDrivetrain::PopulateStatus(
-    ::frc971::control_loops::DrivetrainQueue::Status *status) const {
-  if (status && enable_) {
-    status->uncapped_left_voltage = uncapped_U_(0);
-    status->uncapped_right_voltage = uncapped_U_(1);
-    status->robot_speed = current_xva_(1);
-    status->output_was_capped = output_was_capped_;
+  drivetrain::Status::Builder *builder) const {
+  if (builder && enable_) {
+    builder->add_uncapped_left_voltage(uncapped_U_(0));
+    builder->add_uncapped_right_voltage(uncapped_U_(1));
+    builder->add_robot_speed(current_xva_(1));
+    builder->add_output_was_capped(output_was_capped_);
   }
+}
 
-  if (status) {
-    if (current_distance_spline_) {
-      ::Eigen::Matrix<double, 5, 1> goal_state = CurrentGoalState();
-      status->trajectory_logging.x = goal_state(0);
-      status->trajectory_logging.y = goal_state(1);
-      status->trajectory_logging.theta = ::aos::math::NormalizeAngle(
-          goal_state(2) + (current_drive_spline_backwards_ ? M_PI : 0.0));
-      status->trajectory_logging.left_velocity = goal_state(3);
-      status->trajectory_logging.right_velocity = goal_state(4);
-    }
-    status->trajectory_logging.planning_state = static_cast<int8_t>(plan_state_.load());
-    status->trajectory_logging.is_executing = !IsAtEnd() && has_started_execution_;
-    status->trajectory_logging.is_executed =
-        (current_spline_idx_ != -1) && IsAtEnd();
-    status->trajectory_logging.goal_spline_handle = current_spline_handle_;
-    status->trajectory_logging.current_spline_idx = current_spline_idx_;
-    status->trajectory_logging.distance_remaining =
-        current_trajectory_ ? current_trajectory_->length() - current_xva_.x()
-                            : 0.0;
-
-    int32_t planning_spline_idx = planning_spline_idx_;
-    if (current_spline_idx_ == planning_spline_idx) {
-      status->trajectory_logging.planning_spline_idx = 0;
-    } else {
-      status->trajectory_logging.planning_spline_idx = planning_spline_idx_;
-    }
+flatbuffers::Offset<TrajectoryLogging> SplineDrivetrain::MakeTrajectoryLogging(
+    flatbuffers::FlatBufferBuilder *builder) const {
+  drivetrain::TrajectoryLogging::Builder trajectory_logging_builder(*builder);
+  if (current_distance_spline_) {
+    ::Eigen::Matrix<double, 5, 1> goal_state = CurrentGoalState();
+    trajectory_logging_builder.add_x(goal_state(0));
+    trajectory_logging_builder.add_y(goal_state(1));
+    trajectory_logging_builder.add_theta(::aos::math::NormalizeAngle(
+        goal_state(2) + (current_drive_spline_backwards_ ? M_PI : 0.0)));
+    trajectory_logging_builder.add_left_velocity(goal_state(3));
+    trajectory_logging_builder.add_right_velocity(goal_state(4));
   }
+  trajectory_logging_builder.add_planning_state(plan_state_.load());
+  trajectory_logging_builder.add_is_executing(!IsAtEnd() &&
+                                              has_started_execution_);
+  trajectory_logging_builder.add_is_executed((current_spline_idx_ != -1) &&
+                                             IsAtEnd());
+  trajectory_logging_builder.add_goal_spline_handle(current_spline_handle_);
+  trajectory_logging_builder.add_current_spline_idx(current_spline_idx_);
+  trajectory_logging_builder.add_distance_remaining(
+      current_trajectory_ ? current_trajectory_->length() - current_xva_.x()
+                          : 0.0);
+
+  int32_t planning_spline_idx = planning_spline_idx_;
+  if (current_spline_idx_ == planning_spline_idx) {
+    trajectory_logging_builder.add_planning_spline_idx(0);
+  } else {
+    trajectory_logging_builder.add_planning_spline_idx(planning_spline_idx_);
+  }
+  return trajectory_logging_builder.Finish();
+}
+
+flatbuffers::Offset<TrajectoryLogging> SplineDrivetrain::MakeTrajectoryLogging(
+    aos::Sender<drivetrain::Status>::Builder *builder) const {
+  return MakeTrajectoryLogging(builder->fbb());
 }
 
 }  // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.h b/frc971/control_loops/drivetrain/splinedrivetrain.h
index 98c4e74..4f21b29 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.h
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.h
@@ -8,9 +8,12 @@
 
 #include "aos/condition.h"
 #include "aos/mutex/mutex.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/drivetrain/distance_spline.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/drivetrain/spline.h"
 #include "frc971/control_loops/drivetrain/trajectory.h"
 
@@ -31,14 +34,18 @@
     worker_thread_.join();
   }
 
-  void SetGoal(const ::frc971::control_loops::DrivetrainQueue::Goal &goal);
+  void SetGoal(const ::frc971::control_loops::drivetrain::Goal *goal);
 
   void Update(bool enabled, const ::Eigen::Matrix<double, 5, 1> &state);
 
-  void SetOutput(
-      ::frc971::control_loops::DrivetrainQueue::Output *output);
+  void SetOutput(::frc971::control_loops::drivetrain::OutputT *output);
+
+  flatbuffers::Offset<TrajectoryLogging> MakeTrajectoryLogging(
+      aos::Sender<drivetrain::Status>::Builder *builder) const;
+  flatbuffers::Offset<TrajectoryLogging> MakeTrajectoryLogging(
+      flatbuffers::FlatBufferBuilder *builder) const;
   void PopulateStatus(
-      ::frc971::control_loops::DrivetrainQueue::Status *status) const;
+      drivetrain::Status::Builder *status) const;
 
   // Accessor for the current goal state, pretty much only present for debugging
   // purposes.
@@ -55,6 +62,9 @@
               true;
   }
 
+  // Returns true if the splinedrivetrain is enabled.
+  bool enable() const { return enable_; }
+
   enum class PlanState : int8_t {
     kNoPlan = 0,
     kBuildingTrajectory = 1,
@@ -85,7 +95,7 @@
   bool enable_ = false;
   bool output_was_capped_ = false;
 
-  std::atomic<PlanState> plan_state_ = {PlanState::kNoPlan};
+  std::atomic<PlanningState> plan_state_ = {PlanningState_NO_PLAN};
 
   ::std::thread worker_thread_;
   // mutex_ is held by the worker thread while it is doing work or by the main
@@ -95,7 +105,26 @@
   ::aos::Condition new_goal_;
   // The following variables are guarded by mutex_.
   bool run_ = true;
-  ::frc971::control_loops::DrivetrainQueue::Goal goal_;
+
+  // These two structures mirror the flatbuffer Multispline.
+  // TODO(austin): copy the goal flatbuffer directly instead of recreating it
+  // like this...
+  struct MultiSpline {
+    int32_t spline_count;
+    std::array<float, 36> spline_x;
+    std::array<float, 36> spline_y;
+    std::array<ConstraintT, 6> constraints;
+  };
+
+  struct SplineGoal {
+    int32_t spline_idx = 0;
+
+    bool drive_spline_backwards;
+
+    MultiSpline spline;
+  };
+
+  SplineGoal goal_;
   ::std::unique_ptr<DistanceSpline> past_distance_spline_;
   ::std::unique_ptr<DistanceSpline> future_distance_spline_;
   ::std::unique_ptr<Trajectory> past_trajectory_;
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.cc b/frc971/control_loops/drivetrain/ssdrivetrain.cc
index 5924eb1..cd29e39 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.cc
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.cc
@@ -2,11 +2,12 @@
 
 #include "aos/commonmath.h"
 #include "aos/controls/polytope.h"
-#include "aos/logging/matrix_logging.h"
 
 #include "frc971/control_loops/coerce_goal.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 
 namespace frc971 {
@@ -60,8 +61,6 @@
 
   const Eigen::Matrix<double, 7, 1> error = kf_->R() - kf_->X_hat();
 
-  AOS_LOG_MATRIX(DEBUG, "U_uncapped", *U);
-
   Eigen::Matrix<double, 2, 2> position_K;
   position_K << kf_->controller().K(0, 0), kf_->controller().K(0, 2),
       kf_->controller().K(1, 0), kf_->controller().K(1, 2);
@@ -75,7 +74,6 @@
   const auto drive_error = T_inverse_ * position_error;
   Eigen::Matrix<double, 2, 1> velocity_error;
   velocity_error << error(1, 0), error(3, 0);
-  AOS_LOG_MATRIX(DEBUG, "error", error);
 
   Eigen::Matrix<double, 2, 1> U_integral;
   U_integral << kf_->X_hat(4, 0), kf_->X_hat(5, 0);
@@ -144,23 +142,31 @@
 }
 
 void DrivetrainMotorsSS::SetGoal(
-    const ::frc971::control_loops::DrivetrainQueue::Goal &goal) {
-  unprofiled_goal_ << goal.left_goal, 0.0, goal.right_goal, 0.0, 0.0, 0.0, 0.0;
-  if (::std::abs(goal.max_ss_voltage) < 0.01) {
+    const ::frc971::control_loops::drivetrain::Goal *goal) {
+  unprofiled_goal_ << goal->left_goal(), 0.0, goal->right_goal(), 0.0, 0.0, 0.0,
+      0.0;
+  if (!goal->has_max_ss_voltage()) {
     max_voltage_ = kMaxVoltage;
   } else {
-    max_voltage_ = goal.max_ss_voltage;
+    max_voltage_ = goal->has_max_ss_voltage();
   }
 
-  use_profile_ =
-      !kf_->controller().Kff().isZero(0) &&
-      (goal.linear.max_velocity != 0.0 && goal.linear.max_acceleration != 0.0 &&
-       goal.angular.max_velocity != 0.0 &&
-       goal.angular.max_acceleration != 0.0);
-  linear_profile_.set_maximum_velocity(goal.linear.max_velocity);
-  linear_profile_.set_maximum_acceleration(goal.linear.max_acceleration);
-  angular_profile_.set_maximum_velocity(goal.angular.max_velocity);
-  angular_profile_.set_maximum_acceleration(goal.angular.max_acceleration);
+  use_profile_ = !kf_->controller().Kff().isZero(0) &&
+                 (goal->has_linear() && goal->has_angular() &&
+                  goal->linear()->has_max_velocity() &&
+                  goal->linear()->has_max_acceleration() &&
+                  goal->angular()->has_max_velocity() &&
+                  goal->angular()->has_max_acceleration());
+  if (goal->has_linear()) {
+    linear_profile_.set_maximum_velocity(goal->linear()->max_velocity());
+    linear_profile_.set_maximum_acceleration(
+        goal->linear()->max_acceleration());
+  }
+  if (goal->has_angular()) {
+    angular_profile_.set_maximum_velocity(goal->angular()->max_velocity());
+    angular_profile_.set_maximum_acceleration(
+        goal->angular()->max_acceleration());
+  }
 }
 
 void DrivetrainMotorsSS::Update(bool enable_control_loop) {
@@ -255,7 +261,7 @@
 }
 
 void DrivetrainMotorsSS::SetOutput(
-    ::frc971::control_loops::DrivetrainQueue::Output *output) const {
+    ::frc971::control_loops::drivetrain::OutputT *output) const {
   if (output) {
     output->left_voltage = kf_->U(0, 0);
     output->right_voltage = kf_->U(1, 0);
@@ -265,7 +271,7 @@
 }
 
 void DrivetrainMotorsSS::PopulateStatus(
-    ::frc971::control_loops::DrivetrainQueue::Status *status) const {
+    ::frc971::control_loops::drivetrain::StatusBuilder *builder) const {
   Eigen::Matrix<double, 2, 1> profiled_linear =
       dt_config_.LeftRightToLinear(kf_->next_R());
   Eigen::Matrix<double, 2, 1> profiled_angular =
@@ -276,10 +282,10 @@
   Eigen::Matrix<double, 4, 1> profiled_gyro_left_right =
       dt_config_.AngularLinearToLeftRight(profiled_linear, profiled_angular);
 
-  status->profiled_left_position_goal = profiled_gyro_left_right(0, 0);
-  status->profiled_left_velocity_goal = profiled_gyro_left_right(1, 0);
-  status->profiled_right_position_goal = profiled_gyro_left_right(2, 0);
-  status->profiled_right_velocity_goal = profiled_gyro_left_right(3, 0);
+  builder->add_profiled_left_position_goal(profiled_gyro_left_right(0, 0));
+  builder->add_profiled_left_velocity_goal(profiled_gyro_left_right(1, 0));
+  builder->add_profiled_right_position_goal(profiled_gyro_left_right(2, 0));
+  builder->add_profiled_right_velocity_goal(profiled_gyro_left_right(3, 0));
 }
 
 }  // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.h b/frc971/control_loops/drivetrain/ssdrivetrain.h
index 762cbc2..4d91807 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.h
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.h
@@ -4,14 +4,16 @@
 #include "aos/commonmath.h"
 #include "aos/controls/control_loop.h"
 #include "aos/controls/polytope.h"
-#include "aos/logging/matrix_logging.h"
 #include "aos/util/trapezoid_profile.h"
 
-#include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/control_loops/coerce_goal.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/drivetrain/localizer.h"
+#include "frc971/control_loops/state_feedback_loop.h"
 
 namespace frc971 {
 namespace control_loops {
@@ -23,7 +25,7 @@
                      StateFeedbackLoop<7, 2, 4> *kf,
                      LocalizerInterface *localizer);
 
-  void SetGoal(const ::frc971::control_loops::DrivetrainQueue::Goal &goal);
+  void SetGoal(const ::frc971::control_loops::drivetrain::Goal *goal);
 
   // Computes the power to send out as part of the controller.  Should be called
   // when disabled (with enable_control_loop false) so the profiles get computed
@@ -34,10 +36,9 @@
 
   bool output_was_capped() const { return output_was_capped_; }
 
-  void SetOutput(
-      ::frc971::control_loops::DrivetrainQueue::Output *output) const;
+  void SetOutput(::frc971::control_loops::drivetrain::OutputT *output) const;
   void PopulateStatus(
-      ::frc971::control_loops::DrivetrainQueue::Status *status) const;
+      ::frc971::control_loops::drivetrain::StatusBuilder *builder) const;
 
  private:
   void PolyCapU(Eigen::Matrix<double, 2, 1> *U);
diff --git a/frc971/control_loops/drivetrain/trajectory.cc b/frc971/control_loops/drivetrain/trajectory.cc
index 9d35a5e..ba4c0c2 100644
--- a/frc971/control_loops/drivetrain/trajectory.cc
+++ b/frc971/control_loops/drivetrain/trajectory.cc
@@ -3,7 +3,6 @@
 #include <chrono>
 
 #include "Eigen/Dense"
-#include "aos/logging/matrix_logging.h"
 #include "frc971/control_loops/c2d.h"
 #include "frc971/control_loops/dlqr.h"
 #include "frc971/control_loops/drivetrain/distance_spline.h"
@@ -327,9 +326,7 @@
   ::Eigen::Matrix<double, 2, 5> K = ::Eigen::Matrix<double, 2, 5>::Zero();
 
   int info = ::frc971::controls::dlqr<5, 2>(A, B, Q, R, &K, &S);
-  if (info == 0) {
-    AOS_LOG_MATRIX(INFO, "K", K);
-  } else {
+  if (info != 0) {
     AOS_LOG(ERROR, "Failed to solve %d, controllability: %d\n", info,
             controls::Controllability(A, B));
     // TODO(austin): Can we be more clever here?  Use the last one?  We should
diff --git a/frc971/control_loops/drivetrain/trajectory_plot.cc b/frc971/control_loops/drivetrain/trajectory_plot.cc
index 0b35ee8..2a990f9 100644
--- a/frc971/control_loops/drivetrain/trajectory_plot.cc
+++ b/frc971/control_loops/drivetrain/trajectory_plot.cc
@@ -3,7 +3,6 @@
 #include <chrono>
 
 #include "aos/logging/implementations.h"
-#include "aos/logging/matrix_logging.h"
 #include "aos/network/team_number.h"
 #include "aos/time/time.h"
 #include "frc971/control_loops/dlqr.h"
diff --git a/frc971/control_loops/hall_effect_tracker.h b/frc971/control_loops/hall_effect_tracker.h
index d1b6efe..084c9a7 100644
--- a/frc971/control_loops/hall_effect_tracker.h
+++ b/frc971/control_loops/hall_effect_tracker.h
@@ -3,7 +3,7 @@
 
 #include <stdint.h>
 
-#include "frc971/control_loops/control_loops.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
 
 namespace frc971 {
 
@@ -27,22 +27,22 @@
   double posedge_value() const { return posedge_value_; }
   double negedge_value() const { return negedge_value_; }
 
-  void Update(const HallEffectStruct &position) {
+  void Update(const HallEffectStruct *position) {
     last_value_ = value_;
-    value_ = position.current;
-    posedge_value_ = position.posedge_value;
-    negedge_value_ = position.negedge_value;
-    posedges_.update(position.posedge_count);
-    negedges_.update(position.negedge_count);
+    value_ = position->current();
+    posedge_value_ = position->posedge_value();
+    negedge_value_ = position->negedge_value();
+    posedges_.update(position->posedge_count());
+    negedges_.update(position->negedge_count());
   }
 
-  void Reset(const HallEffectStruct &position) {
-    posedges_.Reset(position.posedge_count);
-    negedges_.Reset(position.negedge_count);
-    value_ = position.current;
-    last_value_ = position.current;
-    posedge_value_ = position.posedge_value;
-    negedge_value_ = position.negedge_value;
+  void Reset(const HallEffectStruct *position) {
+    posedges_.Reset(position->posedge_count());
+    negedges_.Reset(position->negedge_count());
+    value_ = position->current();
+    last_value_ = position->current();
+    posedge_value_ = position->posedge_value();
+    negedge_value_ = position->negedge_value();
   }
 
  private:
diff --git a/frc971/control_loops/position_sensor_sim.cc b/frc971/control_loops/position_sensor_sim.cc
index c875a0b..612801e 100644
--- a/frc971/control_loops/position_sensor_sim.cc
+++ b/frc971/control_loops/position_sensor_sim.cc
@@ -127,72 +127,95 @@
   current_position_ = new_position;
 }
 
-void PositionSensorSimulator::GetSensorValues(IndexPosition *values) {
-  values->encoder = current_position_ - start_position_;
+template <>
+flatbuffers::Offset<IndexPosition>
+PositionSensorSimulator::GetSensorValues<IndexPositionBuilder>(
+    IndexPositionBuilder *builder) {
+  builder->add_encoder(current_position_ - start_position_);
 
-  values->index_pulses = lower_index_edge_.index_count();
-  if (values->index_pulses == 0) {
-    values->latched_encoder = 0.0;
+  const int index_count = lower_index_edge_.index_count();
+  builder->add_index_pulses(index_count);
+  if (index_count == 0) {
+    builder->add_latched_encoder(0.0);
   } else {
     // Populate the latched encoder samples.
-    values->latched_encoder =
-        lower_index_edge_.IndexPulsePosition() - start_position_;
+    builder->add_latched_encoder(lower_index_edge_.IndexPulsePosition() -
+                                 start_position_);
   }
+  return builder->Finish();
 }
 
-void PositionSensorSimulator::GetSensorValues(PotAndIndexPosition *values) {
-  values->pot = lower_index_edge_.mutable_pot_noise()->AddNoiseToSample(
-      current_position_);
-  values->encoder = current_position_ - start_position_;
+template <>
+flatbuffers::Offset<PotAndIndexPosition>
+PositionSensorSimulator::GetSensorValues<PotAndIndexPositionBuilder>(
+    PotAndIndexPositionBuilder *builder) {
+  builder->add_pot(lower_index_edge_.mutable_pot_noise()->AddNoiseToSample(
+      current_position_));
+  builder->add_encoder(current_position_ - start_position_);
 
   if (lower_index_edge_.index_count() == 0) {
-    values->latched_pot = 0.0;
-    values->latched_encoder = 0.0;
+    builder->add_latched_pot(0.0);
+    builder->add_latched_encoder(0.0);
   } else {
     // Populate the latched pot/encoder samples.
-    values->latched_pot = lower_index_edge_.latched_pot();
-    values->latched_encoder =
-        lower_index_edge_.IndexPulsePosition() - start_position_;
+    builder->add_latched_pot(lower_index_edge_.latched_pot());
+    builder->add_latched_encoder(lower_index_edge_.IndexPulsePosition() -
+                                 start_position_);
   }
 
-  values->index_pulses = lower_index_edge_.index_count();
+  builder->add_index_pulses(lower_index_edge_.index_count());
+  return builder->Finish();
 }
 
-void PositionSensorSimulator::GetSensorValues(PotAndAbsolutePosition *values) {
-  values->pot = lower_index_edge_.mutable_pot_noise()->AddNoiseToSample(
-      current_position_);
-  values->encoder = current_position_ - start_position_;
+template <>
+flatbuffers::Offset<PotAndAbsolutePosition>
+PositionSensorSimulator::GetSensorValues<PotAndAbsolutePositionBuilder>(
+    PotAndAbsolutePositionBuilder *builder) {
+  builder->add_pot(lower_index_edge_.mutable_pot_noise()->AddNoiseToSample(
+      current_position_));
+  builder->add_encoder(current_position_ - start_position_);
   // TODO(phil): Create some lag here since this is a PWM signal it won't be
   // instantaneous like the other signals. Better yet, its lag varies
   // randomly with the distribution varying depending on the reading.
-  values->absolute_encoder = ::std::remainder(
+  double absolute_encoder = ::std::remainder(
       current_position_ + known_absolute_encoder_, distance_per_revolution_);
-  if (values->absolute_encoder < 0) {
-    values->absolute_encoder += distance_per_revolution_;
+  if (absolute_encoder < 0) {
+    absolute_encoder += distance_per_revolution_;
   }
+  builder->add_absolute_encoder(absolute_encoder);
+  return builder->Finish();
 }
 
-void PositionSensorSimulator::GetSensorValues(AbsolutePosition *values) {
-  values->encoder = current_position_ - start_position_;
+template <>
+flatbuffers::Offset<AbsolutePosition>
+PositionSensorSimulator::GetSensorValues<AbsolutePositionBuilder>(
+    AbsolutePositionBuilder *builder) {
+  builder->add_encoder(current_position_ - start_position_);
   // TODO(phil): Create some lag here since this is a PWM signal it won't be
   // instantaneous like the other signals. Better yet, its lag varies
   // randomly with the distribution varying depending on the reading.
-  values->absolute_encoder = ::std::remainder(
+  double absolute_encoder = ::std::remainder(
       current_position_ + known_absolute_encoder_, distance_per_revolution_);
-  if (values->absolute_encoder < 0) {
-    values->absolute_encoder += distance_per_revolution_;
+  if (absolute_encoder < 0) {
+    absolute_encoder += distance_per_revolution_;
   }
+  builder->add_absolute_encoder(absolute_encoder);
+  return builder->Finish();
 }
 
-void PositionSensorSimulator::GetSensorValues(HallEffectAndPosition *values) {
-  values->current = lower_index_edge_.current_index_segment() !=
-                    upper_index_edge_.current_index_segment();
-  values->encoder = current_position_ - start_position_;
+template <>
+flatbuffers::Offset<HallEffectAndPosition>
+PositionSensorSimulator::GetSensorValues<HallEffectAndPositionBuilder>(
+    HallEffectAndPositionBuilder *builder) {
+  builder->add_current(lower_index_edge_.current_index_segment() !=
+                       upper_index_edge_.current_index_segment());
+  builder->add_encoder(current_position_ - start_position_);
 
-  values->posedge_count = posedge_count_;
-  values->negedge_count = negedge_count_;
-  values->posedge_value = posedge_value_ - start_position_;
-  values->negedge_value = negedge_value_ - start_position_;
+  builder->add_posedge_count(posedge_count_);
+  builder->add_negedge_count(negedge_count_);
+  builder->add_posedge_value(posedge_value_ - start_position_);
+  builder->add_negedge_value(negedge_value_ - start_position_);
+  return builder->Finish();
 }
 
 }  // namespace control_loops
diff --git a/frc971/control_loops/position_sensor_sim.h b/frc971/control_loops/position_sensor_sim.h
index 2880429..6be6bbc 100644
--- a/frc971/control_loops/position_sensor_sim.h
+++ b/frc971/control_loops/position_sensor_sim.h
@@ -1,9 +1,11 @@
 #ifndef FRC971_CONTROL_LOOPS_POSITION_SENSOR_SIM_H_
 #define FRC971_CONTROL_LOOPS_POSITION_SENSOR_SIM_H_
 
+#include "flatbuffers/flatbuffers.h"
+
 #include "aos/testing/random_seed.h"
 
-#include "frc971/control_loops/control_loops.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/gaussian_noise.h"
 
 namespace frc971 {
@@ -58,11 +60,17 @@
   // values: The target structure will be populated with simulated sensor
   //         readings. The readings will be in SI units. For example the units
   //         can be given in radians, meters, etc.
-  void GetSensorValues(IndexPosition *values);
-  void GetSensorValues(PotAndIndexPosition *values);
-  void GetSensorValues(AbsolutePosition *values);
-  void GetSensorValues(PotAndAbsolutePosition *values);
-  void GetSensorValues(HallEffectAndPosition *values);
+  template <typename PositionBuilder>
+  flatbuffers::Offset<typename PositionBuilder::Table> GetSensorValues(
+      PositionBuilder *builder);
+  template <typename Position>
+  const Position *FillSensorValues(flatbuffers::FlatBufferBuilder *fbb) {
+    fbb->Clear();
+    typename Position::Builder values(*fbb);
+
+    fbb->Finish(GetSensorValues(&values));
+    return flatbuffers::GetRoot<Position>(fbb->GetBufferPointer());
+  }
 
  private:
   // It turns out that we can re-use a lot of the same logic to count the index
@@ -84,7 +92,7 @@
       index_count_ = 0;
     }
 
-    double index_count() const { return index_count_; }
+    int index_count() const { return index_count_; }
     double latched_pot() const { return latched_pot_; }
     int current_index_segment() const { return current_index_segment_; }
 
diff --git a/frc971/control_loops/position_sensor_sim_test.cc b/frc971/control_loops/position_sensor_sim_test.cc
index a4436ce..93a648a 100644
--- a/frc971/control_loops/position_sensor_sim_test.cc
+++ b/frc971/control_loops/position_sensor_sim_test.cc
@@ -5,10 +5,12 @@
 #include <random>
 
 #include "gtest/gtest.h"
-#include "frc971/control_loops/control_loops.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/position_sensor_sim.h"
 #include "aos/die.h"
 
+#include "flatbuffers/flatbuffers.h"
+
 namespace frc971 {
 namespace control_loops {
 
@@ -23,46 +25,51 @@
   // this test is to verify that no false index pulses are generated while the
   // mechanism stays between two index pulses.
   const double index_diff = 0.5;
-  IndexPosition index_position;
-  PotAndIndexPosition pot_and_index_position;
+  flatbuffers::FlatBufferBuilder fbb;
+  flatbuffers::FlatBufferBuilder pot_fbb;
   PositionSensorSimulator sim(index_diff);
   sim.Initialize(3.6 * index_diff, 0);
 
   // Make sure that we don't accidentally hit an index pulse.
   for (int i = 0; i < 30; i++) {
     sim.MoveTo(3.6 * index_diff);
-    sim.GetSensorValues(&index_position);
-    sim.GetSensorValues(&pot_and_index_position);
-    ASSERT_DOUBLE_EQ(3.6 * index_diff, pot_and_index_position.pot);
-    ASSERT_EQ(0u, pot_and_index_position.index_pulses);
-    ASSERT_EQ(0u, index_position.index_pulses);
+    const IndexPosition *index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+    const PotAndIndexPosition *pot_and_index_position =
+        sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+    ASSERT_DOUBLE_EQ(3.6 * index_diff, pot_and_index_position->pot());
+    ASSERT_EQ(0u, pot_and_index_position->index_pulses());
+
+    ASSERT_EQ(0u, index_position->index_pulses());
   }
 
   for (int i = 0; i < 30; i++) {
     sim.MoveTo(3.0 * index_diff);
-    sim.GetSensorValues(&index_position);
-    sim.GetSensorValues(&pot_and_index_position);
-    ASSERT_DOUBLE_EQ(3.0 * index_diff, pot_and_index_position.pot);
-    ASSERT_EQ(0u, pot_and_index_position.index_pulses);
-    ASSERT_EQ(0u, index_position.index_pulses);
+    const IndexPosition *index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+    const PotAndIndexPosition *pot_and_index_position =
+        sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+    ASSERT_DOUBLE_EQ(3.0 * index_diff, pot_and_index_position->pot());
+    ASSERT_EQ(0u, pot_and_index_position->index_pulses());
+    ASSERT_EQ(0u, index_position->index_pulses());
   }
 
   for (int i = 0; i < 30; i++) {
     sim.MoveTo(3.99 * index_diff);
-    sim.GetSensorValues(&index_position);
-    sim.GetSensorValues(&pot_and_index_position);
-    ASSERT_DOUBLE_EQ(3.99 * index_diff, pot_and_index_position.pot);
-    ASSERT_EQ(0u, pot_and_index_position.index_pulses);
-    ASSERT_EQ(0u, index_position.index_pulses);
+    const IndexPosition *index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+    const PotAndIndexPosition *pot_and_index_position =
+        sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+    ASSERT_DOUBLE_EQ(3.99 * index_diff, pot_and_index_position->pot());
+    ASSERT_EQ(0u, pot_and_index_position->index_pulses());
+    ASSERT_EQ(0u, index_position->index_pulses());
   }
 
   for (int i = 0; i < 30; i++) {
     sim.MoveTo(3.0 * index_diff);
-    sim.GetSensorValues(&index_position);
-    sim.GetSensorValues(&pot_and_index_position);
-    ASSERT_DOUBLE_EQ(3.0 * index_diff, pot_and_index_position.pot);
-    ASSERT_EQ(0u, pot_and_index_position.index_pulses);
-    ASSERT_EQ(0u, index_position.index_pulses);
+    const IndexPosition *index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+    const PotAndIndexPosition *pot_and_index_position =
+        sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+    ASSERT_DOUBLE_EQ(3.0 * index_diff, pot_and_index_position->pot());
+    ASSERT_EQ(0u, pot_and_index_position->index_pulses());
+    ASSERT_EQ(0u, index_position->index_pulses());
   }
 }
 
@@ -72,58 +79,59 @@
   // again simulate zero noise on the potentiometer to accurately verify the
   // mechanism's position during the index pulses.
   const double index_diff = 0.8;
-  IndexPosition index_position;
-  PotAndIndexPosition pot_and_index_position;
+  flatbuffers::FlatBufferBuilder fbb;
+  flatbuffers::FlatBufferBuilder pot_fbb;
   PositionSensorSimulator sim(index_diff);
   sim.Initialize(4.6 * index_diff, 0);
 
   // Make sure that we get an index pulse on every transition.
-  sim.GetSensorValues(&index_position);
-  sim.GetSensorValues(&pot_and_index_position);
-  ASSERT_EQ(0u, index_position.index_pulses);
-  ASSERT_EQ(0u, pot_and_index_position.index_pulses);
+  const IndexPosition *index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+  const PotAndIndexPosition *pot_and_index_position =
+      sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  ASSERT_EQ(0u, index_position->index_pulses());
+  ASSERT_EQ(0u, pot_and_index_position->index_pulses());
 
   sim.MoveTo(3.6 * index_diff);
-  sim.GetSensorValues(&index_position);
-  sim.GetSensorValues(&pot_and_index_position);
-  ASSERT_DOUBLE_EQ(4.0 * index_diff, pot_and_index_position.latched_pot);
-  ASSERT_EQ(1u, index_position.index_pulses);
-  ASSERT_EQ(1u, pot_and_index_position.index_pulses);
+  index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+  pot_and_index_position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  ASSERT_DOUBLE_EQ(4.0 * index_diff, pot_and_index_position->latched_pot());
+  ASSERT_EQ(1u, index_position->index_pulses());
+  ASSERT_EQ(1u, pot_and_index_position->index_pulses());
 
   sim.MoveTo(4.5 * index_diff);
-  sim.GetSensorValues(&index_position);
-  sim.GetSensorValues(&pot_and_index_position);
-  ASSERT_DOUBLE_EQ(4.0 * index_diff, pot_and_index_position.latched_pot);
-  ASSERT_EQ(2u, index_position.index_pulses);
-  ASSERT_EQ(2u, pot_and_index_position.index_pulses);
+  index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+  pot_and_index_position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  ASSERT_DOUBLE_EQ(4.0 * index_diff, pot_and_index_position->latched_pot());
+  ASSERT_EQ(2u, index_position->index_pulses());
+  ASSERT_EQ(2u, pot_and_index_position->index_pulses());
 
   sim.MoveTo(5.9 * index_diff);
-  sim.GetSensorValues(&index_position);
-  sim.GetSensorValues(&pot_and_index_position);
-  ASSERT_DOUBLE_EQ(5.0 * index_diff, pot_and_index_position.latched_pot);
-  ASSERT_EQ(3u, index_position.index_pulses);
-  ASSERT_EQ(3u, pot_and_index_position.index_pulses);
+  index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+  pot_and_index_position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  ASSERT_DOUBLE_EQ(5.0 * index_diff, pot_and_index_position->latched_pot());
+  ASSERT_EQ(3u, index_position->index_pulses());
+  ASSERT_EQ(3u, pot_and_index_position->index_pulses());
 
   sim.MoveTo(6.1 * index_diff);
-  sim.GetSensorValues(&index_position);
-  sim.GetSensorValues(&pot_and_index_position);
-  ASSERT_DOUBLE_EQ(6.0 * index_diff, pot_and_index_position.latched_pot);
-  ASSERT_EQ(4u, index_position.index_pulses);
-  ASSERT_EQ(4u, pot_and_index_position.index_pulses);
+  index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+  pot_and_index_position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  ASSERT_DOUBLE_EQ(6.0 * index_diff, pot_and_index_position->latched_pot());
+  ASSERT_EQ(4u, index_position->index_pulses());
+  ASSERT_EQ(4u, pot_and_index_position->index_pulses());
 
   sim.MoveTo(8.7 * index_diff);
-  sim.GetSensorValues(&index_position);
-  sim.GetSensorValues(&pot_and_index_position);
-  ASSERT_DOUBLE_EQ(8.0 * index_diff, pot_and_index_position.latched_pot);
-  ASSERT_EQ(5u, index_position.index_pulses);
-  ASSERT_EQ(5u, pot_and_index_position.index_pulses);
+  index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+  pot_and_index_position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  ASSERT_DOUBLE_EQ(8.0 * index_diff, pot_and_index_position->latched_pot());
+  ASSERT_EQ(5u, index_position->index_pulses());
+  ASSERT_EQ(5u, pot_and_index_position->index_pulses());
 
   sim.MoveTo(7.3 * index_diff);
-  sim.GetSensorValues(&index_position);
-  sim.GetSensorValues(&pot_and_index_position);
-  ASSERT_DOUBLE_EQ(8.0 * index_diff, pot_and_index_position.latched_pot);
-  ASSERT_EQ(6u, index_position.index_pulses);
-  ASSERT_EQ(6u, pot_and_index_position.index_pulses);
+  index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+  pot_and_index_position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  ASSERT_DOUBLE_EQ(8.0 * index_diff, pot_and_index_position->latched_pot());
+  ASSERT_EQ(6u, index_position->index_pulses());
+  ASSERT_EQ(6u, pot_and_index_position->index_pulses());
 }
 
 // Tests that the simulator handles non-zero specified index pulse locations
@@ -132,65 +140,66 @@
   const double index_diff = 0.5;
   PositionSensorSimulator sim(index_diff);
   sim.Initialize(index_diff * 0.25, 0.0, index_diff * 0.5);
-  IndexPosition index_position;
-  PotAndIndexPosition pot_and_index_position;
+  flatbuffers::FlatBufferBuilder fbb;
+  flatbuffers::FlatBufferBuilder pot_fbb;
 
   sim.MoveTo(0.75 * index_diff);
-  sim.GetSensorValues(&index_position);
-  sim.GetSensorValues(&pot_and_index_position);
-  EXPECT_EQ(1u, index_position.index_pulses);
-  EXPECT_EQ(1u, pot_and_index_position.index_pulses);
-  EXPECT_DOUBLE_EQ(index_diff * 0.5, pot_and_index_position.latched_pot);
-  EXPECT_DOUBLE_EQ(index_diff * 0.25, index_position.latched_encoder);
-  EXPECT_DOUBLE_EQ(index_diff * 0.25, pot_and_index_position.latched_encoder);
+  const IndexPosition *index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+  const PotAndIndexPosition *pot_and_index_position =
+      sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  EXPECT_EQ(1u, index_position->index_pulses());
+  EXPECT_EQ(1u, pot_and_index_position->index_pulses());
+  EXPECT_DOUBLE_EQ(index_diff * 0.5, pot_and_index_position->latched_pot());
+  EXPECT_DOUBLE_EQ(index_diff * 0.25, index_position->latched_encoder());
+  EXPECT_DOUBLE_EQ(index_diff * 0.25, pot_and_index_position->latched_encoder());
 
   sim.MoveTo(index_diff);
-  sim.GetSensorValues(&index_position);
-  sim.GetSensorValues(&pot_and_index_position);
-  EXPECT_EQ(1u, index_position.index_pulses);
-  EXPECT_EQ(1u, pot_and_index_position.index_pulses);
-  EXPECT_DOUBLE_EQ(index_diff * 0.5, pot_and_index_position.latched_pot);
-  EXPECT_DOUBLE_EQ(index_diff * 0.25, index_position.latched_encoder);
-  EXPECT_DOUBLE_EQ(index_diff * 0.25, pot_and_index_position.latched_encoder);
+  index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+  pot_and_index_position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  EXPECT_EQ(1u, index_position->index_pulses());
+  EXPECT_EQ(1u, pot_and_index_position->index_pulses());
+  EXPECT_DOUBLE_EQ(index_diff * 0.5, pot_and_index_position->latched_pot());
+  EXPECT_DOUBLE_EQ(index_diff * 0.25, index_position->latched_encoder());
+  EXPECT_DOUBLE_EQ(index_diff * 0.25, pot_and_index_position->latched_encoder());
 
   sim.MoveTo(1.75 * index_diff);
-  sim.GetSensorValues(&index_position);
-  sim.GetSensorValues(&pot_and_index_position);
-  EXPECT_EQ(2u, index_position.index_pulses);
-  EXPECT_EQ(2u, pot_and_index_position.index_pulses);
-  EXPECT_DOUBLE_EQ(index_diff * 1.5, pot_and_index_position.latched_pot);
-  EXPECT_DOUBLE_EQ(index_diff * 1.25, index_position.latched_encoder);
-  EXPECT_DOUBLE_EQ(index_diff * 1.25, pot_and_index_position.latched_encoder);
+  index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+  pot_and_index_position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  EXPECT_EQ(2u, index_position->index_pulses());
+  EXPECT_EQ(2u, pot_and_index_position->index_pulses());
+  EXPECT_DOUBLE_EQ(index_diff * 1.5, pot_and_index_position->latched_pot());
+  EXPECT_DOUBLE_EQ(index_diff * 1.25, index_position->latched_encoder());
+  EXPECT_DOUBLE_EQ(index_diff * 1.25, pot_and_index_position->latched_encoder());
 
   // Try it with our known index pulse not being our first one.
   sim.Initialize(index_diff * 0.25, 0.0, index_diff * 1.5);
 
   sim.MoveTo(0.75 * index_diff);
-  sim.GetSensorValues(&index_position);
-  sim.GetSensorValues(&pot_and_index_position);
-  EXPECT_EQ(1u, index_position.index_pulses);
-  EXPECT_EQ(1u, pot_and_index_position.index_pulses);
-  EXPECT_DOUBLE_EQ(index_diff * 0.5, pot_and_index_position.latched_pot);
-  EXPECT_DOUBLE_EQ(index_diff * 0.25, index_position.latched_encoder);
-  EXPECT_DOUBLE_EQ(index_diff * 0.25, pot_and_index_position.latched_encoder);
+  index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+  pot_and_index_position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  EXPECT_EQ(1u, index_position->index_pulses());
+  EXPECT_EQ(1u, pot_and_index_position->index_pulses());
+  EXPECT_DOUBLE_EQ(index_diff * 0.5, pot_and_index_position->latched_pot());
+  EXPECT_DOUBLE_EQ(index_diff * 0.25, index_position->latched_encoder());
+  EXPECT_DOUBLE_EQ(index_diff * 0.25, pot_and_index_position->latched_encoder());
 
   sim.MoveTo(index_diff);
-  sim.GetSensorValues(&index_position);
-  sim.GetSensorValues(&pot_and_index_position);
-  EXPECT_EQ(1u, index_position.index_pulses);
-  EXPECT_EQ(1u, pot_and_index_position.index_pulses);
-  EXPECT_DOUBLE_EQ(index_diff * 0.5, pot_and_index_position.latched_pot);
-  EXPECT_DOUBLE_EQ(index_diff * 0.25, index_position.latched_encoder);
-  EXPECT_DOUBLE_EQ(index_diff * 0.25, pot_and_index_position.latched_encoder);
+  index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+  pot_and_index_position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  EXPECT_EQ(1u, index_position->index_pulses());
+  EXPECT_EQ(1u, pot_and_index_position->index_pulses());
+  EXPECT_DOUBLE_EQ(index_diff * 0.5, pot_and_index_position->latched_pot());
+  EXPECT_DOUBLE_EQ(index_diff * 0.25, index_position->latched_encoder());
+  EXPECT_DOUBLE_EQ(index_diff * 0.25, pot_and_index_position->latched_encoder());
 
   sim.MoveTo(1.75 * index_diff);
-  sim.GetSensorValues(&index_position);
-  sim.GetSensorValues(&pot_and_index_position);
-  EXPECT_EQ(2u, index_position.index_pulses);
-  EXPECT_EQ(2u, pot_and_index_position.index_pulses);
-  EXPECT_DOUBLE_EQ(index_diff * 1.5, pot_and_index_position.latched_pot);
-  EXPECT_DOUBLE_EQ(index_diff * 1.25, index_position.latched_encoder);
-  EXPECT_DOUBLE_EQ(index_diff * 1.25, pot_and_index_position.latched_encoder);
+  index_position = sim.FillSensorValues<IndexPosition>(&fbb);
+  pot_and_index_position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  EXPECT_EQ(2u, index_position->index_pulses());
+  EXPECT_EQ(2u, pot_and_index_position->index_pulses());
+  EXPECT_DOUBLE_EQ(index_diff * 1.5, pot_and_index_position->latched_pot());
+  EXPECT_DOUBLE_EQ(index_diff * 1.25, index_position->latched_encoder());
+  EXPECT_DOUBLE_EQ(index_diff * 1.25, pot_and_index_position->latched_encoder());
 }
 
 // Tests that the latched values update correctly.
@@ -198,44 +207,45 @@
   const double index_diff = 0.5;
   PositionSensorSimulator sim(index_diff);
   sim.Initialize(0, 0.25);
-  PotAndIndexPosition position;
+  flatbuffers::FlatBufferBuilder pot_fbb;
 
   sim.MoveTo(0.75 * index_diff);
-  sim.GetSensorValues(&position);
-  EXPECT_EQ(0u, position.index_pulses);
+  const PotAndIndexPosition *position =
+      sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  EXPECT_EQ(0u, position->index_pulses());
 
   sim.MoveTo(1.75 * index_diff);
-  sim.GetSensorValues(&position);
-  EXPECT_EQ(1u, position.index_pulses);
-  EXPECT_NEAR(index_diff, position.latched_pot, 0.75);
-  EXPECT_DOUBLE_EQ(index_diff, position.latched_encoder);
-  const double first_latched_pot = position.latched_pot;
+  position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  EXPECT_EQ(1u, position->index_pulses());
+  EXPECT_NEAR(index_diff, position->latched_pot(), 0.75);
+  EXPECT_DOUBLE_EQ(index_diff, position->latched_encoder());
+  const double first_latched_pot = position->latched_pot();
 
   sim.MoveTo(1.95 * index_diff);
-  sim.GetSensorValues(&position);
-  EXPECT_EQ(1u, position.index_pulses);
-  EXPECT_NEAR(index_diff, position.latched_pot, 0.75);
-  EXPECT_DOUBLE_EQ(first_latched_pot, position.latched_pot);
-  EXPECT_DOUBLE_EQ(index_diff, position.latched_encoder);
+  position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  EXPECT_EQ(1u, position->index_pulses());
+  EXPECT_NEAR(index_diff, position->latched_pot(), 0.75);
+  EXPECT_DOUBLE_EQ(first_latched_pot, position->latched_pot());
+  EXPECT_DOUBLE_EQ(index_diff, position->latched_encoder());
 
   sim.MoveTo(2.05 * index_diff);
-  sim.GetSensorValues(&position);
-  EXPECT_EQ(2u, position.index_pulses);
-  EXPECT_NEAR(index_diff * 2, position.latched_pot, 0.75);
-  EXPECT_DOUBLE_EQ(index_diff * 2, position.latched_encoder);
+  position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  EXPECT_EQ(2u, position->index_pulses());
+  EXPECT_NEAR(index_diff * 2, position->latched_pot(), 0.75);
+  EXPECT_DOUBLE_EQ(index_diff * 2, position->latched_encoder());
 
   sim.MoveTo(1.95 * index_diff);
-  sim.GetSensorValues(&position);
-  EXPECT_EQ(3u, position.index_pulses);
-  EXPECT_NEAR(index_diff * 2, position.latched_pot, 0.75);
-  EXPECT_DOUBLE_EQ(index_diff * 2, position.latched_encoder);
+  position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  EXPECT_EQ(3u, position->index_pulses());
+  EXPECT_NEAR(index_diff * 2, position->latched_pot(), 0.75);
+  EXPECT_DOUBLE_EQ(index_diff * 2, position->latched_encoder());
 
   sim.MoveTo(0.95 * index_diff);
-  sim.GetSensorValues(&position);
-  EXPECT_EQ(4u, position.index_pulses);
-  EXPECT_NEAR(index_diff, position.latched_pot, 0.75);
-  EXPECT_GT(::std::abs(first_latched_pot - position.latched_pot), 0.005);
-  EXPECT_DOUBLE_EQ(index_diff, position.latched_encoder);
+  position = sim.FillSensorValues<PotAndIndexPosition>(&pot_fbb);
+  EXPECT_EQ(4u, position->index_pulses());
+  EXPECT_NEAR(index_diff, position->latched_pot(), 0.75);
+  EXPECT_GT(::std::abs(first_latched_pot - position->latched_pot()), 0.005);
+  EXPECT_DOUBLE_EQ(index_diff, position->latched_encoder());
 }
 
 // This test makes sure that our simulation for an absolute encoder + relative
@@ -263,42 +273,43 @@
   const double index_diff = 0.1;
   PositionSensorSimulator sim(index_diff);
   sim.Initialize(0.20, 0.05, 0.2, 0.07);
-  PotAndAbsolutePosition position;
+  flatbuffers::FlatBufferBuilder pot_fbb;
 
   sim.MoveTo(0.20);
-  sim.GetSensorValues(&position);
-  EXPECT_DOUBLE_EQ(0.00, position.encoder);
-  EXPECT_NEAR(0.07, position.absolute_encoder, 0.00000001);
+  const PotAndAbsolutePosition *position =
+      sim.FillSensorValues<PotAndAbsolutePosition>(&pot_fbb);
+  EXPECT_DOUBLE_EQ(0.00, position->encoder());
+  EXPECT_NEAR(0.07, position->absolute_encoder(), 0.00000001);
 
   sim.MoveTo(0.30);
-  sim.GetSensorValues(&position);
-  EXPECT_DOUBLE_EQ(0.10, position.encoder);
-  EXPECT_NEAR(0.07, position.absolute_encoder, 0.00000001);
+  position = sim.FillSensorValues<PotAndAbsolutePosition>(&pot_fbb);
+  EXPECT_DOUBLE_EQ(0.10, position->encoder());
+  EXPECT_NEAR(0.07, position->absolute_encoder(), 0.00000001);
 
   sim.MoveTo(0.40);
-  sim.GetSensorValues(&position);
-  EXPECT_DOUBLE_EQ(0.20, position.encoder);
-  EXPECT_NEAR(0.07, position.absolute_encoder, 0.00000001);
+  position = sim.FillSensorValues<PotAndAbsolutePosition>(&pot_fbb);
+  EXPECT_DOUBLE_EQ(0.20, position->encoder());
+  EXPECT_NEAR(0.07, position->absolute_encoder(), 0.00000001);
 
   sim.MoveTo(0.34);
-  sim.GetSensorValues(&position);
-  EXPECT_DOUBLE_EQ(0.14, position.encoder);
-  EXPECT_NEAR(0.01, position.absolute_encoder, 0.00000001);
+  position = sim.FillSensorValues<PotAndAbsolutePosition>(&pot_fbb);
+  EXPECT_DOUBLE_EQ(0.14, position->encoder());
+  EXPECT_NEAR(0.01, position->absolute_encoder(), 0.00000001);
 
   sim.MoveTo(0.24);
-  sim.GetSensorValues(&position);
-  EXPECT_DOUBLE_EQ(0.04, position.encoder);
-  EXPECT_NEAR(0.01, position.absolute_encoder, 0.00000001);
+  position = sim.FillSensorValues<PotAndAbsolutePosition>(&pot_fbb);
+  EXPECT_DOUBLE_EQ(0.04, position->encoder());
+  EXPECT_NEAR(0.01, position->absolute_encoder(), 0.00000001);
 
   sim.MoveTo(0.23);
-  sim.GetSensorValues(&position);
-  EXPECT_DOUBLE_EQ(0.03, position.encoder);
-  EXPECT_NEAR(0.00, position.absolute_encoder, 0.00000001);
+  position = sim.FillSensorValues<PotAndAbsolutePosition>(&pot_fbb);
+  EXPECT_DOUBLE_EQ(0.03, position->encoder());
+  EXPECT_NEAR(0.00, position->absolute_encoder(), 0.00000001);
 
   sim.MoveTo(0.13);
-  sim.GetSensorValues(&position);
-  EXPECT_DOUBLE_EQ(-0.07, position.encoder);
-  EXPECT_NEAR(0.00, position.absolute_encoder, 0.00000001);
+  position = sim.FillSensorValues<PotAndAbsolutePosition>(&pot_fbb);
+  EXPECT_DOUBLE_EQ(-0.07, position->encoder());
+  EXPECT_NEAR(0.00, position->absolute_encoder(), 0.00000001);
 
   // TODO(philipp): Test negative values.
 }
@@ -309,78 +320,80 @@
   const double index_diff = 1.0;
   PositionSensorSimulator sim(index_diff);
   sim.InitializeHallEffectAndPosition(-0.25, 0.0, 0.5);
-  HallEffectAndPosition position;
+  //HallEffectAndPosition position;
+  flatbuffers::FlatBufferBuilder fbb;
 
   // Go over only the lower edge rising.
   sim.MoveTo(0.25);
-  sim.GetSensorValues(&position);
-  EXPECT_TRUE(position.current);
-  EXPECT_DOUBLE_EQ(0.50, position.encoder);
-  EXPECT_EQ(1, position.posedge_count);
-  EXPECT_EQ(0.25, position.posedge_value);
-  EXPECT_EQ(0, position.negedge_count);
-  EXPECT_EQ(0, position.negedge_value);
+  const HallEffectAndPosition *position =
+      sim.FillSensorValues<HallEffectAndPosition>(&fbb);
+  EXPECT_TRUE(position->current());
+  EXPECT_DOUBLE_EQ(0.50, position->encoder());
+  EXPECT_EQ(1, position->posedge_count());
+  EXPECT_EQ(0.25, position->posedge_value());
+  EXPECT_EQ(0, position->negedge_count());
+  EXPECT_EQ(0, position->negedge_value());
 
   // Now, go over the upper edge, falling.
   sim.MoveTo(0.75);
-  sim.GetSensorValues(&position);
-  EXPECT_FALSE(position.current);
-  EXPECT_DOUBLE_EQ(1.0, position.encoder);
-  EXPECT_EQ(1, position.posedge_count);
-  EXPECT_DOUBLE_EQ(0.25, position.posedge_value);
-  EXPECT_EQ(1, position.negedge_count);
-  EXPECT_DOUBLE_EQ(0.75, position.negedge_value);
+  position = sim.FillSensorValues<HallEffectAndPosition>(&fbb);
+  EXPECT_FALSE(position->current());
+  EXPECT_DOUBLE_EQ(1.0, position->encoder());
+  EXPECT_EQ(1, position->posedge_count());
+  EXPECT_DOUBLE_EQ(0.25, position->posedge_value());
+  EXPECT_EQ(1, position->negedge_count());
+  EXPECT_DOUBLE_EQ(0.75, position->negedge_value());
 
   // Now, jump a whole cycle.
   sim.MoveTo(1.75);
-  sim.GetSensorValues(&position);
-  EXPECT_FALSE(position.current);
-  EXPECT_DOUBLE_EQ(2.0, position.encoder);
-  EXPECT_EQ(2, position.posedge_count);
-  EXPECT_DOUBLE_EQ(1.25, position.posedge_value);
-  EXPECT_EQ(2, position.negedge_count);
-  EXPECT_DOUBLE_EQ(1.75, position.negedge_value);
+  position = sim.FillSensorValues<HallEffectAndPosition>(&fbb);
+  EXPECT_FALSE(position->current());
+  EXPECT_DOUBLE_EQ(2.0, position->encoder());
+  EXPECT_EQ(2, position->posedge_count());
+  EXPECT_DOUBLE_EQ(1.25, position->posedge_value());
+  EXPECT_EQ(2, position->negedge_count());
+  EXPECT_DOUBLE_EQ(1.75, position->negedge_value());
 
   // Now, jump a whole cycle backwards.
   sim.MoveTo(0.75);
-  sim.GetSensorValues(&position);
-  EXPECT_FALSE(position.current);
-  EXPECT_DOUBLE_EQ(1.0, position.encoder);
-  EXPECT_EQ(3, position.posedge_count);
-  EXPECT_DOUBLE_EQ(1.75, position.posedge_value);
-  EXPECT_EQ(3, position.negedge_count);
-  EXPECT_DOUBLE_EQ(1.25, position.negedge_value);
+  position = sim.FillSensorValues<HallEffectAndPosition>(&fbb);
+  EXPECT_FALSE(position->current());
+  EXPECT_DOUBLE_EQ(1.0, position->encoder());
+  EXPECT_EQ(3, position->posedge_count());
+  EXPECT_DOUBLE_EQ(1.75, position->posedge_value());
+  EXPECT_EQ(3, position->negedge_count());
+  EXPECT_DOUBLE_EQ(1.25, position->negedge_value());
 
   // Now, go over the upper edge, rising.
   sim.MoveTo(0.25);
-  sim.GetSensorValues(&position);
-  EXPECT_TRUE(position.current);
-  EXPECT_DOUBLE_EQ(0.5, position.encoder);
-  EXPECT_EQ(4, position.posedge_count);
-  EXPECT_DOUBLE_EQ(0.75, position.posedge_value);
-  EXPECT_EQ(3, position.negedge_count);
-  EXPECT_DOUBLE_EQ(1.25, position.negedge_value);
+  position = sim.FillSensorValues<HallEffectAndPosition>(&fbb);
+  EXPECT_TRUE(position->current());
+  EXPECT_DOUBLE_EQ(0.5, position->encoder());
+  EXPECT_EQ(4, position->posedge_count());
+  EXPECT_DOUBLE_EQ(0.75, position->posedge_value());
+  EXPECT_EQ(3, position->negedge_count());
+  EXPECT_DOUBLE_EQ(1.25, position->negedge_value());
 
   // Now, go over the lower edge, falling.
   sim.MoveTo(-0.25);
-  sim.GetSensorValues(&position);
-  EXPECT_FALSE(position.current);
-  EXPECT_DOUBLE_EQ(0.0, position.encoder);
-  EXPECT_EQ(4, position.posedge_count);
-  EXPECT_DOUBLE_EQ(0.75, position.posedge_value);
-  EXPECT_EQ(4, position.negedge_count);
-  EXPECT_DOUBLE_EQ(0.25, position.negedge_value);
+  position = sim.FillSensorValues<HallEffectAndPosition>(&fbb);
+  EXPECT_FALSE(position->current());
+  EXPECT_DOUBLE_EQ(0.0, position->encoder());
+  EXPECT_EQ(4, position->posedge_count());
+  EXPECT_DOUBLE_EQ(0.75, position->posedge_value());
+  EXPECT_EQ(4, position->negedge_count());
+  EXPECT_DOUBLE_EQ(0.25, position->negedge_value());
 
   for (int i = 0; i < 10; ++i) {
     // Now, go over the lower edge, falling.
     sim.MoveTo(-0.25 - i * 1.0e-6);
-    sim.GetSensorValues(&position);
-    EXPECT_FALSE(position.current);
-    EXPECT_NEAR(-i * 1.0e-6, position.encoder, 1e-8);
-    EXPECT_EQ(4, position.posedge_count);
-    EXPECT_DOUBLE_EQ(0.75, position.posedge_value);
-    EXPECT_EQ(4, position.negedge_count);
-    EXPECT_DOUBLE_EQ(0.25, position.negedge_value);
+    position = sim.FillSensorValues<HallEffectAndPosition>(&fbb);
+    EXPECT_FALSE(position->current());
+    EXPECT_NEAR(-i * 1.0e-6, position->encoder(), 1e-8);
+    EXPECT_EQ(4, position->posedge_count());
+    EXPECT_DOUBLE_EQ(0.75, position->posedge_value());
+    EXPECT_EQ(4, position->negedge_count());
+    EXPECT_DOUBLE_EQ(0.25, position->negedge_value());
   }
 }
 
diff --git a/frc971/control_loops/profiled_subsystem.fbs b/frc971/control_loops/profiled_subsystem.fbs
new file mode 100644
index 0000000..46bc9fc
--- /dev/null
+++ b/frc971/control_loops/profiled_subsystem.fbs
@@ -0,0 +1,204 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace frc971.control_loops;
+
+table ProfiledJointStatus {
+  // Is the subsystem zeroed?
+  zeroed:bool;
+
+  // The state of the subsystem, if applicable.  -1 otherwise.
+  // TODO(alex): replace with enum.
+  state:int;
+
+  // If true, we have aborted.
+  estopped:bool;
+
+  // Position of the joint.
+  position:float;
+  // Velocity of the joint in units/second.
+  velocity:float;
+  // Profiled goal position of the joint.
+  goal_position:float;
+  // Profiled goal velocity of the joint in units/second.
+  goal_velocity:float;
+  // Unprofiled goal position from absoulte zero  of the joint.
+  unprofiled_goal_position:float;
+  // Unprofiled goal velocity of the joint in units/second.
+  unprofiled_goal_velocity:float;
+
+  // The estimated voltage error.
+  voltage_error:float;
+
+  // The calculated velocity with delta x/delta t
+  calculated_velocity:float;
+
+  // Components of the control loop output
+  position_power:float;
+  velocity_power:float;
+  feedforwards_power:float;
+
+  // State of the estimator.
+  estimator_state:frc971.EstimatorState;
+}
+
+table HallProfiledJointStatus {
+  // Is the subsystem zeroed?
+  zeroed:bool;
+
+  // The state of the subsystem, if applicable.  -1 otherwise.
+  // TODO(alex): replace with enum.
+  state:int;
+
+  // If true, we have aborted.
+  estopped:bool;
+
+  // Position of the joint.
+  position:float;
+  // Velocity of the joint in units/second.
+  velocity:float;
+  // Profiled goal position of the joint.
+  goal_position:float;
+  // Profiled goal velocity of the joint in units/second.
+  goal_velocity:float;
+  // Unprofiled goal position from absoulte zero  of the joint.
+  unprofiled_goal_position:float;
+  // Unprofiled goal velocity of the joint in units/second.
+  unprofiled_goal_velocity:float;
+
+  // The estimated voltage error.
+  voltage_error:float;
+
+  // The calculated velocity with delta x/delta t
+  calculated_velocity:float;
+
+  // Components of the control loop output
+  position_power:float;
+  velocity_power:float;
+  feedforwards_power:float;
+
+  // State of the estimator.
+  estimator_state:frc971.HallEffectAndPositionEstimatorState;
+}
+
+table PotAndAbsoluteEncoderProfiledJointStatus {
+  // Is the subsystem zeroed?
+  zeroed:bool;
+
+  // The state of the subsystem, if applicable.  -1 otherwise.
+  // TODO(alex): replace with enum.
+  state:int;
+
+  // If true, we have aborted.
+  estopped:bool;
+
+  // Position of the joint.
+  position:float;
+  // Velocity of the joint in units/second.
+  velocity:float;
+  // Profiled goal position of the joint.
+  goal_position:float;
+  // Profiled goal velocity of the joint in units/second.
+  goal_velocity:float;
+  // Unprofiled goal position from absoulte zero  of the joint.
+  unprofiled_goal_position:float;
+  // Unprofiled goal velocity of the joint in units/second.
+  unprofiled_goal_velocity:float;
+
+  // The estimated voltage error.
+  voltage_error:float;
+
+  // The calculated velocity with delta x/delta t
+  calculated_velocity:float;
+
+  // Components of the control loop output
+  position_power:float;
+  velocity_power:float;
+  feedforwards_power:float;
+
+  // State of the estimator.
+  estimator_state:frc971.PotAndAbsoluteEncoderEstimatorState;
+}
+
+table IndexProfiledJointStatus {
+  // Is the subsystem zeroed?
+  zeroed:bool;
+
+  // The state of the subsystem, if applicable.  -1 otherwise.
+  // TODO(alex): replace with enum.
+  state:int;
+
+  // If true, we have aborted.
+  estopped:bool;
+
+  // Position of the joint.
+  position:float;
+  // Velocity of the joint in units/second.
+  velocity:float;
+  // Profiled goal position of the joint.
+  goal_position:float;
+  // Profiled goal velocity of the joint in units/second.
+  goal_velocity:float;
+  // Unprofiled goal position from absoulte zero  of the joint.
+  unprofiled_goal_position:float;
+  // Unprofiled goal velocity of the joint in units/second.
+  unprofiled_goal_velocity:float;
+
+  // The estimated voltage error.
+  voltage_error:float;
+
+  // The calculated velocity with delta x/delta t
+  calculated_velocity:float;
+
+  // Components of the control loop output
+  position_power:float;
+  velocity_power:float;
+  feedforwards_power:float;
+
+  // State of the estimator.
+  estimator_state:frc971.IndexEstimatorState;
+}
+
+table AbsoluteEncoderProfiledJointStatus {
+  // Is the subsystem zeroed?
+  zeroed:bool;
+
+  // The state of the subsystem, if applicable.  -1 otherwise.
+  // TODO(alex): replace with enum.
+  state:int;
+
+  // If true, we have aborted.
+  estopped:bool;
+
+  // Position of the joint.
+  position:float;
+  // Velocity of the joint in units/second.
+  velocity:float;
+  // Profiled goal position of the joint.
+  goal_position:float;
+  // Profiled goal velocity of the joint in units/second.
+  goal_velocity:float;
+  // Unprofiled goal position from absoulte zero  of the joint.
+  unprofiled_goal_position:float;
+  // Unprofiled goal velocity of the joint in units/second.
+  unprofiled_goal_velocity:float;
+
+  // The estimated voltage error.
+  voltage_error:float;
+
+  // The calculated velocity with delta x/delta t
+  calculated_velocity:float;
+
+  // Components of the control loop output
+  position_power:float;
+  velocity_power:float;
+  feedforwards_power:float;
+
+  // State of the estimator.
+  estimator_state:frc971.AbsoluteEncoderEstimatorState;
+}
+
+table StaticZeroingSingleDOFProfiledSubsystemGoal {
+  unsafe_goal:double;
+
+  profile_params:frc971.ProfileParameters;
+}
diff --git a/frc971/control_loops/profiled_subsystem.h b/frc971/control_loops/profiled_subsystem.h
index 58058c7..2752dcc 100644
--- a/frc971/control_loops/profiled_subsystem.h
+++ b/frc971/control_loops/profiled_subsystem.h
@@ -11,8 +11,8 @@
 #include "aos/controls/control_loop.h"
 #include "aos/util/trapezoid_profile.h"
 #include "frc971/constants.h"
-#include "frc971/control_loops/control_loops.q.h"
-#include "frc971/control_loops/profiled_subsystem.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
 #include "frc971/control_loops/simple_capped_state_feedback_loop.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/zeroing/zeroing.h"
@@ -106,8 +106,9 @@
   }
 
   // Returns the current internal estimator state for logging.
-  typename ZeroingEstimator::State EstimatorState(int index) {
-    return estimators_[index].GetEstimatorState();
+  flatbuffers::Offset<typename ZeroingEstimator::State> EstimatorState(
+      flatbuffers::FlatBufferBuilder *fbb, int index) {
+    return estimators_[index].GetEstimatorState(fbb);
   }
 
   // Sets the maximum voltage that will be commanded by the loop.
@@ -152,13 +153,14 @@
       double default_angular_acceleration);
 
   // Updates our estimator with the latest position.
-  void Correct(typename ZeroingEstimator::Position position);
+  void Correct(const typename ZeroingEstimator::Position &position);
   // Runs the controller and profile generator for a cycle.
   void Update(bool disabled);
 
   // Fills out the ProfiledJointStatus structure with the current state.
-  template <class StatusType>
-  void PopulateStatus(StatusType *status);
+  template <class StatusTypeBuilder>
+  StatusTypeBuilder BuildStatus(
+      flatbuffers::FlatBufferBuilder *fbb);
 
   // Forces the current goal to the provided goal, bypassing the profiler.
   void ForceGoal(double goal);
@@ -166,7 +168,7 @@
   // this goal.
   void set_unprofiled_goal(double unprofiled_goal);
   // Limits our profiles to a max velocity and acceleration for proper motion.
-  void AdjustProfile(const ::frc971::ProfileParameters &profile_parameters);
+  void AdjustProfile(const ::frc971::ProfileParameters *profile_parameters);
   void AdjustProfile(double max_angular_velocity,
                      double max_angular_acceleration);
 
@@ -248,37 +250,41 @@
 }
 
 template <class ZeroingEstimator>
-template <class StatusType>
-void SingleDOFProfiledSubsystem<ZeroingEstimator>::PopulateStatus(
-    StatusType *status) {
-  status->zeroed = this->zeroed();
-  status->state = -1;
+template <class StatusTypeBuilder>
+StatusTypeBuilder SingleDOFProfiledSubsystem<ZeroingEstimator>::BuildStatus(
+    flatbuffers::FlatBufferBuilder *fbb) {
+  flatbuffers::Offset<typename ZeroingEstimator::State> estimator_state =
+      this->EstimatorState(fbb, 0);
+
+  StatusTypeBuilder builder(*fbb);
+
+  builder.add_zeroed(this->zeroed());
   // We don't know, so default to the bad case.
-  status->estopped = true;
 
-  status->position = this->X_hat(0, 0);
-  status->velocity = this->X_hat(1, 0);
-  status->goal_position = this->goal(0, 0);
-  status->goal_velocity = this->goal(1, 0);
-  status->unprofiled_goal_position = this->unprofiled_goal(0, 0);
-  status->unprofiled_goal_velocity = this->unprofiled_goal(1, 0);
-  status->voltage_error = this->X_hat(2, 0);
-  status->calculated_velocity =
+  builder.add_position(this->X_hat(0, 0));
+  builder.add_velocity(this->X_hat(1, 0));
+  builder.add_goal_position(this->goal(0, 0));
+  builder.add_goal_velocity(this->goal(1, 0));
+  builder.add_unprofiled_goal_position(this->unprofiled_goal(0, 0));
+  builder.add_unprofiled_goal_velocity(this->unprofiled_goal(1, 0));
+  builder.add_voltage_error(this->X_hat(2, 0));
+  builder.add_calculated_velocity(
       (position() - last_position_) /
-      ::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency);
+      ::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency));
 
-  status->estimator_state = this->EstimatorState(0);
+  builder.add_estimator_state(estimator_state);
 
   Eigen::Matrix<double, 3, 1> error = this->controller().error();
-  status->position_power =
-      this->controller().controller().K(0, 0) * error(0, 0);
-  status->velocity_power =
-      this->controller().controller().K(0, 1) * error(1, 0);
+  builder.add_position_power(
+      this->controller().controller().K(0, 0) * error(0, 0));
+  builder.add_velocity_power(
+      this->controller().controller().K(0, 1) * error(1, 0));
+  return builder;
 }
 
 template <class ZeroingEstimator>
 void SingleDOFProfiledSubsystem<ZeroingEstimator>::Correct(
-    typename ZeroingEstimator::Position new_position) {
+    const typename ZeroingEstimator::Position &new_position) {
   this->estimators_[0].UpdateEstimate(new_position);
 
   if (this->estimators_[0].error()) {
@@ -299,7 +305,7 @@
   }
 
   last_position_ = position();
-  this->Y_ << new_position.encoder;
+  this->Y_ << new_position.encoder();
   this->Y_ += this->offset_;
   this->loop_->Correct(Y_);
 }
@@ -385,9 +391,11 @@
 
 template <class ZeroingEstimator>
 void SingleDOFProfiledSubsystem<ZeroingEstimator>::AdjustProfile(
-    const ::frc971::ProfileParameters &profile_parameters) {
-  AdjustProfile(profile_parameters.max_velocity,
-                profile_parameters.max_acceleration);
+    const ::frc971::ProfileParameters *profile_parameters) {
+  AdjustProfile(
+      profile_parameters != nullptr ? profile_parameters->max_velocity() : 0.0,
+      profile_parameters != nullptr ? profile_parameters->max_acceleration()
+                                    : 0.0);
 }
 
 template <class ZeroingEstimator>
diff --git a/frc971/control_loops/profiled_subsystem.q b/frc971/control_loops/profiled_subsystem.q
deleted file mode 100644
index ac23907..0000000
--- a/frc971/control_loops/profiled_subsystem.q
+++ /dev/null
@@ -1,198 +0,0 @@
-package frc971.control_loops;
-
-import "frc971/control_loops/control_loops.q";
-
-struct ProfiledJointStatus {
-  // Is the subsystem zeroed?
-  bool zeroed;
-
-  // The state of the subsystem, if applicable.  -1 otherwise.
-  int32_t state;
-
-  // If true, we have aborted.
-  bool estopped;
-
-  // Position of the joint.
-  float position;
-  // Velocity of the joint in units/second.
-  float velocity;
-  // Profiled goal position of the joint.
-  float goal_position;
-  // Profiled goal velocity of the joint in units/second.
-  float goal_velocity;
-  // Unprofiled goal position from absoulte zero  of the joint.
-  float unprofiled_goal_position;
-  // Unprofiled goal velocity of the joint in units/second.
-  float unprofiled_goal_velocity;
-
-  // The estimated voltage error.
-  float voltage_error;
-
-  // The calculated velocity with delta x/delta t
-  float calculated_velocity;
-
-  // Components of the control loop output
-  float position_power;
-  float velocity_power;
-  float feedforwards_power;
-
-  // State of the estimator.
-  .frc971.EstimatorState estimator_state;
-};
-
-struct HallProfiledJointStatus {
-  // Is the subsystem zeroed?
-  bool zeroed;
-
-  // The state of the subsystem, if applicable.  -1 otherwise.
-  int32_t state;
-
-  // If true, we have aborted.
-  bool estopped;
-
-  // Position of the joint.
-  float position;
-  // Velocity of the joint in units/second.
-  float velocity;
-  // Profiled goal position of the joint.
-  float goal_position;
-  // Profiled goal velocity of the joint in units/second.
-  float goal_velocity;
-  // Unprofiled goal position from absoulte zero  of the joint.
-  float unprofiled_goal_position;
-  // Unprofiled goal velocity of the joint in units/second.
-  float unprofiled_goal_velocity;
-
-  // The estimated voltage error.
-  float voltage_error;
-
-  // The calculated velocity with delta x/delta t
-  float calculated_velocity;
-
-  // Components of the control loop output
-  float position_power;
-  float velocity_power;
-  float feedforwards_power;
-
-  // State of the estimator.
-  .frc971.HallEffectAndPositionEstimatorState estimator_state;
-};
-
-struct PotAndAbsoluteEncoderProfiledJointStatus {
-  // Is the subsystem zeroed?
-  bool zeroed;
-
-  // The state of the subsystem, if applicable.  -1 otherwise.
-  int32_t state;
-
-  // If true, we have aborted.
-  bool estopped;
-
-  // Position of the joint.
-  float position;
-  // Velocity of the joint in units/second.
-  float velocity;
-  // Profiled goal position of the joint.
-  float goal_position;
-  // Profiled goal velocity of the joint in units/second.
-  float goal_velocity;
-  // Unprofiled goal position from absoulte zero of the joint.
-  float unprofiled_goal_position;
-  // Unprofiled goal velocity of the joint in units/second.
-  float unprofiled_goal_velocity;
-
-  // The estimated voltage error.
-  float voltage_error;
-
-  // The calculated velocity with delta x/delta t
-  float calculated_velocity;
-
-  // Components of the control loop output
-  float position_power;
-  float velocity_power;
-  float feedforwards_power;
-
-  // State of the estimator.
-  .frc971.PotAndAbsoluteEncoderEstimatorState estimator_state;
-};
-
-struct IndexProfiledJointStatus {
-  // Is the subsystem zeroed?
-  bool zeroed;
-
-  // The state of the subsystem, if applicable.  -1 otherwise.
-  int32_t state;
-
-  // If true, we have aborted.
-  bool estopped;
-
-  // Position of the joint.
-  float position;
-  // Velocity of the joint in units/second.
-  float velocity;
-  // Profiled goal position of the joint.
-  float goal_position;
-  // Profiled goal velocity of the joint in units/second.
-  float goal_velocity;
-  // Unprofiled goal position from absoulte zero of the joint.
-  float unprofiled_goal_position;
-  // Unprofiled goal velocity of the joint in units/second.
-  float unprofiled_goal_velocity;
-
-  // The estimated voltage error.
-  float voltage_error;
-
-  // The calculated velocity with delta x/delta t
-  float calculated_velocity;
-
-  // Components of the control loop output
-  float position_power;
-  float velocity_power;
-  float feedforwards_power;
-
-  // State of the estimator.
-  .frc971.IndexEstimatorState estimator_state;
-};
-
-struct AbsoluteEncoderProfiledJointStatus {
-  // Is the subsystem zeroed?
-  bool zeroed;
-
-  // The state of the subsystem, if applicable.  -1 otherwise.
-  int32_t state;
-
-  // If true, we have aborted.
-  bool estopped;
-
-  // Position of the joint.
-  float position;
-  // Velocity of the joint in units/second.
-  float velocity;
-  // Profiled goal position of the joint.
-  float goal_position;
-  // Profiled goal velocity of the joint in units/second.
-  float goal_velocity;
-  // Unprofiled goal position from absoulte zero of the joint.
-  float unprofiled_goal_position;
-  // Unprofiled goal velocity of the joint in units/second.
-  float unprofiled_goal_velocity;
-
-  // The estimated voltage error.
-  float voltage_error;
-
-  // The calculated velocity with delta x/delta t
-  float calculated_velocity;
-
-  // Components of the control loop output
-  float position_power;
-  float velocity_power;
-  float feedforwards_power;
-
-  // State of the estimator.
-  .frc971.AbsoluteEncoderEstimatorState estimator_state;
-};
-
-struct StaticZeroingSingleDOFProfiledSubsystemGoal {
-  double unsafe_goal;
-  .frc971.ProfileParameters profile_params;
-};
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
index 748086f..b220581 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
@@ -6,6 +6,12 @@
 namespace frc971 {
 namespace control_loops {
 
+// TODO(austin): Use ProfileParametersT...
+struct ProfileParametersStruct {
+  float max_velocity;
+  float max_acceleration;
+};
+
 template <typename ZeroingEstimator>
 struct StaticZeroingSingleDOFProfiledSubsystemParams {
   // Maximum voltage while the subsystem is zeroing
@@ -15,11 +21,11 @@
   double operating_voltage;
 
   // Maximum velocity (units/s) and acceleration while State::ZEROING
-  ::frc971::ProfileParameters zeroing_profile_params;
+  ProfileParametersStruct zeroing_profile_params;
 
   // Maximum velocity (units/s) and acceleration while State::RUNNING if max
   // velocity or acceleration in goal profile_params is 0
-  ::frc971::ProfileParameters default_profile_params;
+  ProfileParametersStruct default_profile_params;
 
   // Maximum range of the subsystem in meters
   ::frc971::constants::Range range;
@@ -65,9 +71,10 @@
   // Returns the current position
   double position() const { return profiled_subsystem_.position(); }
 
-  void Iterate(const StaticZeroingSingleDOFProfiledSubsystemGoal *goal,
-               const typename ZeroingEstimator::Position *position,
-               double *output, ProfiledJointStatus *status);
+  flatbuffers::Offset<ProfiledJointStatus> Iterate(
+      const StaticZeroingSingleDOFProfiledSubsystemGoal *goal,
+      const typename ZeroingEstimator::Position *position, double *output,
+      flatbuffers::FlatBufferBuilder *status_fbb);
 
   // Resets the profiled subsystem and returns to uninitialized
   void Reset();
@@ -125,11 +132,11 @@
 }
 
 template <typename ZeroingEstimator, typename ProfiledJointStatus>
-void StaticZeroingSingleDOFProfiledSubsystem<ZeroingEstimator,
-                                             ProfiledJointStatus>::
+flatbuffers::Offset<ProfiledJointStatus>
+StaticZeroingSingleDOFProfiledSubsystem<ZeroingEstimator, ProfiledJointStatus>::
     Iterate(const StaticZeroingSingleDOFProfiledSubsystemGoal *goal,
             const typename ZeroingEstimator::Position *position, double *output,
-            ProfiledJointStatus *status) {
+            flatbuffers::FlatBufferBuilder *status_fbb) {
   bool disabled = output == nullptr;
   profiled_subsystem_.Correct(*position);
 
@@ -159,7 +166,9 @@
       // jump.
       profiled_subsystem_.ForceGoal(profiled_subsystem_.position());
       // Set up the profile to be the zeroing profile.
-      profiled_subsystem_.AdjustProfile(params_.zeroing_profile_params);
+      profiled_subsystem_.AdjustProfile(
+          params_.zeroing_profile_params.max_velocity,
+          params_.zeroing_profile_params.max_acceleration);
 
       // We are not ready to start doing anything yet.
       disabled = true;
@@ -181,9 +190,9 @@
       }
 
       if (goal) {
-        profiled_subsystem_.AdjustProfile(goal->profile_params);
+        profiled_subsystem_.AdjustProfile(goal->profile_params());
 
-        double safe_goal = goal->unsafe_goal;
+        double safe_goal = goal->unsafe_goal();
         if (safe_goal < min_position_) {
           AOS_LOG(DEBUG, "Limiting to %f from %f\n", min_position_, safe_goal);
           safe_goal = min_position_;
@@ -217,11 +226,14 @@
     *output = profiled_subsystem_.voltage();
   }
 
-  status->zeroed = profiled_subsystem_.zeroed();
+  typename ProfiledJointStatus::Builder status_builder =
+      profiled_subsystem_
+          .template BuildStatus<typename ProfiledJointStatus::Builder>(
+              status_fbb);
 
-  profiled_subsystem_.PopulateStatus(status);
-  status->estopped = (state_ == State::ESTOP);
-  status->state = static_cast<int32_t>(state_);
+  status_builder.add_estopped(state_ == State::ESTOP);
+  status_builder.add_state(static_cast<int32_t>(state_));
+  return status_builder.Finish();
 }
 
 }  // namespace control_loops
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
index 96cb782..46e9c76 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
@@ -1,3 +1,4 @@
+#include "flatbuffers/flatbuffers.h"
 #include "gtest/gtest.h"
 
 #include "aos/controls/control_loop.h"
@@ -5,9 +6,10 @@
 #include "frc971/control_loops/capped_test_plant.h"
 #include "frc971/control_loops/position_sensor_sim.h"
 #include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
-#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.q.h"
+#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test_generated.h"
 #include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test_integral_plant.h"
 #include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test_plant.h"
+#include "frc971/zeroing/zeroing.h"
 
 using ::frc971::control_loops::PositionSensorSimulator;
 
@@ -20,20 +22,32 @@
 using ::aos::monotonic_clock;
 
 using SZSDPS_PotAndAbsEncoder = StaticZeroingSingleDOFProfiledSubsystem<
-    zeroing::PotAndAbsoluteEncoderZeroingEstimator,
+    ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
     ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;
 
 using SZSDPS_AbsEncoder = StaticZeroingSingleDOFProfiledSubsystem<
-    zeroing::AbsoluteEncoderZeroingEstimator,
+    ::frc971::zeroing::AbsoluteEncoderZeroingEstimator,
     ::frc971::control_loops::AbsoluteEncoderProfiledJointStatus>;
 
+using FBB = flatbuffers::FlatBufferBuilder;
+
+struct PotAndAbsoluteEncoderQueueGroup {
+  typedef PotAndAbsoluteEncoderProfiledJointStatus Status;
+  typedef PotAndAbsolutePosition Position;
+  typedef ::frc971::control_loops::zeroing::testing::SubsystemGoal Goal;
+  typedef ::frc971::control_loops::zeroing::testing::SubsystemOutput Output;
+};
+
+struct AbsoluteEncoderQueueGroup {
+  typedef AbsoluteEncoderProfiledJointStatus Status;
+  typedef AbsolutePosition Position;
+  typedef zeroing::testing::SubsystemGoal Goal;
+  typedef zeroing::testing::SubsystemOutput Output;
+};
+
 typedef ::testing::Types<
-    ::std::pair<
-        SZSDPS_AbsEncoder,
-        StaticZeroingSingleDOFProfiledSubsystemAbsoluteEncoderTestQueueGroup>,
-    ::std::pair<
-        SZSDPS_PotAndAbsEncoder,
-        StaticZeroingSingleDOFProfiledSubsystemPotAndAbsoluteEncoderTestQueueGroup>>
+    ::std::pair<SZSDPS_AbsEncoder, AbsoluteEncoderQueueGroup>,
+    ::std::pair<SZSDPS_PotAndAbsEncoder, PotAndAbsoluteEncoderQueueGroup>>
     TestTypes;
 
 constexpr ::frc971::constants::Range kRange{
@@ -54,14 +68,15 @@
 };
 
 template <>
-const zeroing::PotAndAbsoluteEncoderZeroingEstimator::ZeroingConstants
+const frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator::ZeroingConstants
     TestIntakeSystemValues<
-        zeroing::PotAndAbsoluteEncoderZeroingEstimator>::kZeroing{
+        frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>::kZeroing{
         kZeroingSampleSize, kEncoderIndexDifference, 0, 0.0005, 20, 1.9};
 
 template <>
-const zeroing::AbsoluteEncoderZeroingEstimator::ZeroingConstants
-    TestIntakeSystemValues<zeroing::AbsoluteEncoderZeroingEstimator>::kZeroing{
+const frc971::zeroing::AbsoluteEncoderZeroingEstimator::ZeroingConstants
+    TestIntakeSystemValues<
+        frc971::zeroing::AbsoluteEncoderZeroingEstimator>::kZeroing{
         kZeroingSampleSize, kEncoderIndexDifference, 0.0, 0.2, 0.0005, 20, 1.9};
 
 template <typename ZeroingEstimator>
@@ -83,29 +98,21 @@
 template <typename SZSDPS, typename QueueGroup>
 class TestIntakeSystemSimulation {
  public:
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<QueueGroup *>(NULL)->goal.MakeMessage().get()))>::type
-      GoalType;
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<QueueGroup *>(NULL)->position.MakeMessage().get()))>::type
-      PositionType;
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<QueueGroup *>(NULL)->status.MakeMessage().get()))>::type
-      StatusType;
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<QueueGroup *>(NULL)->output.MakeMessage().get()))>::type
-      OutputType;
+  typedef typename QueueGroup::Goal GoalType;
+  typedef typename QueueGroup::Status StatusType;
+  typedef typename QueueGroup::Position PositionType;
+  typedef typename QueueGroup::Output OutputType;
 
   TestIntakeSystemSimulation(::aos::EventLoop *event_loop,
                              chrono::nanoseconds dt)
       : event_loop_(event_loop),
         dt_(dt),
         subsystem_position_sender_(
-            event_loop_->MakeSender<PositionType>(".position")),
+            event_loop_->MakeSender<PositionType>("/loop")),
         subsystem_status_fetcher_(
-            event_loop_->MakeFetcher<StatusType>(".status")),
+            event_loop_->MakeFetcher<StatusType>("/loop")),
         subsystem_output_fetcher_(
-            event_loop_->MakeFetcher<OutputType>(".output")),
+            event_loop_->MakeFetcher<OutputType>("/loop")),
         subsystem_plant_(new CappedTestPlant(
             ::frc971::control_loops::MakeTestIntakeSystemPlant())),
         subsystem_sensor_sim_(kEncoderIndexDifference) {
@@ -133,8 +140,8 @@
 
   void InitializeSensorSim(double start_pos);
 
-  double subsystem_position() const { return this->subsystem_plant_->X(0, 0); }
-  double subsystem_velocity() const { return this->subsystem_plant_->X(1, 0); }
+  double subsystem_position() const { return subsystem_plant_->X(0, 0); }
+  double subsystem_velocity() const { return subsystem_plant_->X(1, 0); }
 
   // Sets the difference between the commanded and applied powers.
   // This lets us test that the integrators work.
@@ -144,12 +151,13 @@
 
   // Sends a queue message with the position.
   void SendPositionMessage() {
-    typename ::aos::Sender<PositionType>::Message position =
-        subsystem_position_sender_.MakeMessage();
+    typename ::aos::Sender<PositionType>::Builder position =
+        subsystem_position_sender_.MakeBuilder();
 
-    this->subsystem_sensor_sim_.GetSensorValues(&position->position);
-
-    position.Send();
+    auto position_builder = position.template MakeBuilder<PositionType>();
+    position.Send(this->subsystem_sensor_sim_
+                      .template GetSensorValues<typename PositionType::Builder>(
+                          &position_builder));
   }
 
   void set_peak_subsystem_acceleration(double value) {
@@ -168,15 +176,15 @@
 
     const double voltage_check_subsystem =
         (static_cast<typename SZSDPS::State>(
-             subsystem_status_fetcher_->status.state) == SZSDPS::State::RUNNING)
+             subsystem_status_fetcher_->state()) == SZSDPS::State::RUNNING)
             ? kOperatingVoltage
             : kZeroingVoltage;
 
-    EXPECT_LE(::std::abs(subsystem_output_fetcher_->output),
+    EXPECT_LE(::std::abs(subsystem_output_fetcher_->output()),
               voltage_check_subsystem);
 
     ::Eigen::Matrix<double, 1, 1> subsystem_U;
-    subsystem_U << subsystem_output_fetcher_->output +
+    subsystem_U << subsystem_output_fetcher_->output() +
                        subsystem_plant_->voltage_offset();
     subsystem_plant_->Update(subsystem_U);
 
@@ -211,13 +219,14 @@
   double peak_subsystem_acceleration_ = 1e10;
   // The velocity limits to check for while moving.
   double peak_subsystem_velocity_ = 1e10;
+
+  flatbuffers::FlatBufferBuilder fbb;
 };
 
 template <>
 void TestIntakeSystemSimulation<
     SZSDPS_PotAndAbsEncoder,
-    StaticZeroingSingleDOFProfiledSubsystemPotAndAbsoluteEncoderTestQueueGroup>::
-    InitializeSensorSim(double start_pos) {
+    PotAndAbsoluteEncoderQueueGroup>::InitializeSensorSim(double start_pos) {
   subsystem_sensor_sim_.Initialize(
       start_pos, kNoiseScalar, 0.0,
       TestIntakeSystemValues<
@@ -226,9 +235,7 @@
 }
 
 template <>
-void TestIntakeSystemSimulation<
-    SZSDPS_AbsEncoder,
-    StaticZeroingSingleDOFProfiledSubsystemAbsoluteEncoderTestQueueGroup>::
+void TestIntakeSystemSimulation<SZSDPS_AbsEncoder, AbsoluteEncoderQueueGroup>::
     InitializeSensorSim(double start_pos) {
   subsystem_sensor_sim_.Initialize(
       start_pos, kNoiseScalar, 0.0,
@@ -240,46 +247,73 @@
 // Class to represent a module using a subsystem.  This lets us use event loops
 // to wrap it.
 template <typename QueueGroup, typename SZSDPS>
-class Subsystem : public ::aos::controls::ControlLoop<QueueGroup> {
+class Subsystem
+    : public ::aos::controls::ControlLoop<
+          typename QueueGroup::Goal, typename QueueGroup::Position,
+          typename QueueGroup::Status, typename QueueGroup::Output> {
  public:
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<QueueGroup *>(NULL)->goal.MakeMessage().get()))>::type
-      GoalType;
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<QueueGroup *>(NULL)->position.MakeMessage().get()))>::type
-      PositionType;
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<QueueGroup *>(NULL)->status.MakeMessage().get()))>::type
-      StatusType;
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<QueueGroup *>(NULL)->output.MakeMessage().get()))>::type
-      OutputType;
+  typedef typename QueueGroup::Goal GoalType;
+  typedef typename QueueGroup::Status StatusType;
+  typedef typename QueueGroup::Position PositionType;
+  typedef typename QueueGroup::Output OutputType;
 
   Subsystem(::aos::EventLoop *event_loop, const ::std::string &name)
-      : aos::controls::ControlLoop<QueueGroup>(event_loop, name),
+      : aos::controls::ControlLoop<
+            typename QueueGroup::Goal, typename QueueGroup::Position,
+            typename QueueGroup::Status, typename QueueGroup::Output>(
+            event_loop, name),
         subsystem_(TestIntakeSystemValues<
                    typename SZSDPS::ZeroingEstimator>::make_params()) {}
 
   void RunIteration(const GoalType *unsafe_goal, const PositionType *position,
-                    OutputType *output, StatusType *status) {
+                    typename ::aos::Sender<OutputType>::Builder *output,
+                    typename ::aos::Sender<StatusType>::Builder *status) {
     if (this->WasReset()) {
       AOS_LOG(ERROR, "WPILib reset, restarting\n");
       subsystem_.Reset();
     }
 
     // Convert one goal type to another...
-    StaticZeroingSingleDOFProfiledSubsystemGoal goal;
+    // TODO(austin): This mallocs...
+    FBB fbb;
+    ProfileParametersBuilder params_builder(fbb);
     if (unsafe_goal != nullptr ) {
-      goal.unsafe_goal = unsafe_goal->unsafe_goal;
-      goal.profile_params.max_velocity =
-          unsafe_goal->profile_params.max_velocity;
-      goal.profile_params.max_acceleration =
-          unsafe_goal->profile_params.max_acceleration;
+      if (unsafe_goal->profile_params() != nullptr) {
+        params_builder.add_max_velocity(
+            unsafe_goal->profile_params()->max_velocity());
+        params_builder.add_max_acceleration(
+            unsafe_goal->profile_params()->max_acceleration());
+      }
+
+      const auto params_builder_offset = params_builder.Finish();
+      StaticZeroingSingleDOFProfiledSubsystemGoalBuilder goal_builder(fbb);
+      goal_builder.add_unsafe_goal(unsafe_goal->unsafe_goal());
+      goal_builder.add_profile_params(params_builder_offset);
+      fbb.Finish(goal_builder.Finish());
+    } else {
+      params_builder.add_max_velocity(0.0);
+      params_builder.add_max_acceleration(0.0);
+      const auto params_builder_offset = params_builder.Finish();
+      StaticZeroingSingleDOFProfiledSubsystemGoalBuilder goal_builder(fbb);
+      goal_builder.add_profile_params(params_builder_offset);
+      fbb.Finish(goal_builder.Finish());
     }
 
-    subsystem_.Iterate(
-        unsafe_goal == nullptr ? nullptr : &goal, &position->position,
-        output == nullptr ? nullptr : &output->output, &status->status);
+    double output_voltage;
+
+    flatbuffers::Offset<StatusType> status_offset = subsystem_.Iterate(
+        unsafe_goal == nullptr
+            ? nullptr
+            : flatbuffers::GetRoot<StaticZeroingSingleDOFProfiledSubsystemGoal>(
+                  fbb.GetBufferPointer()),
+        position, output == nullptr ? nullptr : &output_voltage, status->fbb());
+    status->Send(status_offset);
+    if (output != nullptr) {
+      typename OutputType::Builder output_builder =
+          output->template MakeBuilder<OutputType>();
+      output_builder.add_output(output_voltage);
+      output->Send(output_builder.Finish());
+    }
   }
 
   SZSDPS *subsystem() { return &subsystem_; }
@@ -296,29 +330,58 @@
   using ZeroingEstimator = typename SZSDPS::ZeroingEstimator;
   using ProfiledJointStatus = typename SZSDPS::ProfiledJointStatus;
 
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<QueueGroup *>(NULL)->goal.MakeMessage().get()))>::type
-      GoalType;
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<QueueGroup *>(NULL)->position.MakeMessage().get()))>::type
-      PositionType;
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<QueueGroup *>(NULL)->status.MakeMessage().get()))>::type
-      StatusType;
-  typedef typename std::remove_reference<decltype(
-      *(static_cast<QueueGroup *>(NULL)->output.MakeMessage().get()))>::type
-      OutputType;
+  typedef typename QueueGroup::Goal GoalType;
+  typedef typename QueueGroup::Status StatusType;
+  typedef typename QueueGroup::Position PositionType;
+  typedef typename QueueGroup::Output OutputType;
 
   IntakeSystemTest()
-      : ::aos::testing::ControlLoopTest(chrono::microseconds(5050)),
+      : ::aos::testing::ControlLoopTest(
+            "{\n"
+            "  \"channels\": [ \n"
+            "    {\n"
+            "      \"name\": \"/aos\",\n"
+            "      \"type\": \"aos.JoystickState\"\n"
+            "    },\n"
+            "    {\n"
+            "      \"name\": \"/aos\",\n"
+            "      \"type\": \"aos.RobotState\"\n"
+            "    },\n"
+            "    {\n"
+            "      \"name\": \"/loop\",\n"
+            "      \"type\": \"frc971.control_loops.zeroing.testing.SubsystemGoal\"\n"
+            "    },\n"
+            "    {\n"
+            "      \"name\": \"/loop\",\n"
+            "      \"type\": \"frc971.control_loops.zeroing.testing.SubsystemOutput\"\n"
+            "    },\n"
+            "    {\n"
+            "      \"name\": \"/loop\",\n"
+            "      \"type\": \"frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus\"\n"
+            "    },\n"
+            "    {\n"
+            "      \"name\": \"/loop\",\n"
+            "      \"type\": \"frc971.AbsolutePosition\"\n"
+            "    },\n"
+            "    {\n"
+            "      \"name\": \"/loop\",\n"
+            "      \"type\": \"frc971.PotAndAbsolutePosition\"\n"
+            "    },\n"
+            "    {\n"
+            "      \"name\": \"/loop\",\n"
+            "      \"type\": \"frc971.control_loops.AbsoluteEncoderProfiledJointStatus\"\n"
+            "    }\n"
+            "  ]\n"
+            "}\n",
+            chrono::microseconds(5050)),
         test_event_loop_(MakeEventLoop()),
-        subsystem_goal_sender_(test_event_loop_->MakeSender<GoalType>(".goal")),
+        subsystem_goal_sender_(test_event_loop_->MakeSender<GoalType>("/loop")),
         subsystem_goal_fetcher_(
-            test_event_loop_->MakeFetcher<GoalType>(".goal")),
+            test_event_loop_->MakeFetcher<GoalType>("/loop")),
         subsystem_status_fetcher_(
-            test_event_loop_->MakeFetcher<StatusType>(".status")),
+            test_event_loop_->MakeFetcher<StatusType>("/loop")),
         subsystem_event_loop_(MakeEventLoop()),
-        subsystem_(subsystem_event_loop_.get(), ""),
+        subsystem_(subsystem_event_loop_.get(), "/loop"),
         subsystem_plant_event_loop_(MakeEventLoop()),
         subsystem_plant_(subsystem_plant_event_loop_.get(), dt()) {}
 
@@ -327,20 +390,20 @@
     EXPECT_TRUE(subsystem_goal_fetcher_.get() != nullptr);
     EXPECT_TRUE(subsystem_status_fetcher_.Fetch());
 
-    EXPECT_NEAR(subsystem_goal_fetcher_->unsafe_goal,
-                subsystem_status_fetcher_->status.position, 0.001);
-    EXPECT_NEAR(subsystem_goal_fetcher_->unsafe_goal,
+    EXPECT_NEAR(subsystem_goal_fetcher_->unsafe_goal(),
+                subsystem_status_fetcher_->position(), 0.001);
+    EXPECT_NEAR(subsystem_goal_fetcher_->unsafe_goal(),
                 subsystem_plant_.subsystem_position(), 0.001);
-    EXPECT_NEAR(subsystem_status_fetcher_->status.velocity, 0, 0.001);
+    EXPECT_NEAR(subsystem_status_fetcher_->velocity(), 0, 0.001);
   }
 
   SZSDPS *subsystem() { return subsystem_.subsystem(); }
 
   void set_peak_subsystem_acceleration(double value) {
-    set_peak_subsystem_acceleration(value);
+    subsystem_plant_.set_peak_subsystem_acceleration(value);
   }
   void set_peak_subsystem_velocity(double value) {
-    set_peak_subsystem_velocity(value);
+    subsystem_plant_.set_peak_subsystem_velocity(value);
   }
 
   ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
@@ -363,9 +426,9 @@
   this->SetEnabled(true);
   // Intake system uses 0.05 to test for 0.
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = 0.05;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    EXPECT_TRUE(message.Send(
+        zeroing::testing::CreateSubsystemGoal(*message.fbb(), 0.05)));
   }
   this->RunFor(chrono::seconds(5));
 
@@ -377,11 +440,13 @@
   this->SetEnabled(true);
   // Set a reasonable goal.
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = 0.1;
-    message->profile_params.max_velocity = 1;
-    message->profile_params.max_acceleration = 0.5;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    auto profile_builder =
+        message.template MakeBuilder<frc971::ProfileParameters>();
+    profile_builder.add_max_velocity(1);
+    profile_builder.add_max_acceleration(0.5);
+    EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
+        *message.fbb(), 0.10, profile_builder.Finish())));
   }
 
   // Give it a lot of time to get there.
@@ -396,9 +461,9 @@
   this->SetEnabled(true);
   // Zero it before we move.
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = kRange.upper;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    EXPECT_TRUE(message.Send(
+        zeroing::testing::CreateSubsystemGoal(*message.fbb(), kRange.upper)));
   }
   this->RunFor(chrono::seconds(8));
   this->VerifyNearGoal();
@@ -406,11 +471,12 @@
   // Try a low acceleration move with a high max velocity and verify the
   // acceleration is capped like expected.
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = kRange.lower;
-    message->profile_params.max_velocity = 20.0;
-    message->profile_params.max_acceleration = 0.1;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    auto profile_builder = message.template MakeBuilder<frc971::ProfileParameters>();
+    profile_builder.add_max_velocity(20.0);
+    profile_builder.add_max_acceleration(0.1);
+    EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
+        *message.fbb(), kRange.lower, profile_builder.Finish())));
   }
   this->set_peak_subsystem_velocity(23.0);
   this->set_peak_subsystem_acceleration(0.2);
@@ -420,11 +486,13 @@
 
   // Now do a high acceleration move with a low velocity limit.
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = kRange.upper;
-    message->profile_params.max_velocity = 0.1;
-    message->profile_params.max_acceleration = 100;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    auto profile_builder =
+        message.template MakeBuilder<frc971::ProfileParameters>();
+    profile_builder.add_max_velocity(0.1);
+    profile_builder.add_max_acceleration(100.0);
+    EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
+        *message.fbb(), kRange.upper, profile_builder.Finish())));
   }
 
   this->set_peak_subsystem_velocity(0.2);
@@ -441,34 +509,34 @@
 
   // Set some ridiculous goals to test upper limits.
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = 100.0;
-    message->profile_params.max_velocity = 1;
-    message->profile_params.max_acceleration = 0.5;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    auto profile_builder = message.template MakeBuilder<frc971::ProfileParameters>();
+    profile_builder.add_max_velocity(1.0);
+    profile_builder.add_max_acceleration(0.5);
+    EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
+        *message.fbb(), 100.0, profile_builder.Finish())));
   }
   this->RunFor(chrono::seconds(10));
 
   // Check that we are near our soft limit.
   EXPECT_TRUE(this->subsystem_status_fetcher_.Fetch());
-  EXPECT_NEAR(kRange.upper, this->subsystem_status_fetcher_->status.position,
-              0.001);
+  EXPECT_NEAR(kRange.upper, this->subsystem_status_fetcher_->position(), 0.001);
 
   // Set some ridiculous goals to test lower limits.
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = -100.0;
-    message->profile_params.max_velocity = 1;
-    message->profile_params.max_acceleration = 0.5;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    auto profile_builder = message.template MakeBuilder<frc971::ProfileParameters>();
+    profile_builder.add_max_velocity(1.0);
+    profile_builder.add_max_acceleration(0.5);
+    EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
+        *message.fbb(), -100.0, profile_builder.Finish())));
   }
 
   this->RunFor(chrono::seconds(10));
 
   // Check that we are near our soft limit.
   EXPECT_TRUE(this->subsystem_status_fetcher_.Fetch());
-  EXPECT_NEAR(kRange.lower, this->subsystem_status_fetcher_->status.position,
-              0.001);
+  EXPECT_NEAR(kRange.lower, this->subsystem_status_fetcher_->position(), 0.001);
 }
 
 // Tests that the subsystem loop zeroes when run for a while.
@@ -476,11 +544,12 @@
   this->SetEnabled(true);
 
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = kRange.upper;
-    message->profile_params.max_velocity = 1;
-    message->profile_params.max_acceleration = 0.5;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    auto profile_builder = message.template MakeBuilder<frc971::ProfileParameters>();
+    profile_builder.add_max_velocity(1.0);
+    profile_builder.add_max_acceleration(0.5);
+    EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
+        *message.fbb(), kRange.upper, profile_builder.Finish())));
   }
 
   this->RunFor(chrono::seconds(10));
@@ -500,9 +569,9 @@
   this->SetEnabled(true);
   this->subsystem_plant_.InitializeSubsystemPosition(kRange.lower_hard);
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = kRange.upper;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    EXPECT_TRUE(message.Send(
+        zeroing::testing::CreateSubsystemGoal(*message.fbb(), kRange.upper)));
   }
   this->RunFor(chrono::seconds(10));
 
@@ -515,9 +584,9 @@
 
   this->subsystem_plant_.InitializeSubsystemPosition(kRange.upper_hard);
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = kRange.upper;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    EXPECT_TRUE(message.Send(
+        zeroing::testing::CreateSubsystemGoal(*message.fbb(), kRange.upper)));
   }
   this->RunFor(chrono::seconds(10));
 
@@ -530,9 +599,9 @@
 
   this->subsystem_plant_.InitializeSubsystemPosition(kRange.upper);
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = kRange.upper - 0.1;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
+        *message.fbb(), kRange.upper - 0.1)));
   }
   this->RunFor(chrono::seconds(10));
 
@@ -554,9 +623,9 @@
 // Tests that the internal goals don't change while disabled.
 TYPED_TEST_P(IntakeSystemTest, DisabledGoalTest) {
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = kRange.lower + 0.03;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
+        *message.fbb(), kRange.lower + 0.03)));
   }
 
   // Checks that the subsystem has not moved from its starting position at 0
@@ -572,9 +641,9 @@
 // Tests that zeroing while disabled works.
 TYPED_TEST_P(IntakeSystemTest, DisabledZeroTest) {
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = kRange.lower;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    EXPECT_TRUE(message.Send(
+        zeroing::testing::CreateSubsystemGoal(*message.fbb(), kRange.lower)));
   }
 
   // Run disabled for 2 seconds
@@ -591,16 +660,16 @@
 TYPED_TEST_P(IntakeSystemTest, MinPositionTest) {
   this->SetEnabled(true);
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = kRange.lower_hard;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    EXPECT_TRUE(message.Send(
+        zeroing::testing::CreateSubsystemGoal(*message.fbb(), kRange.lower_hard)));
   }
   this->RunFor(chrono::seconds(2));
 
   // Check that kRange.lower is used as the default min position
   EXPECT_EQ(this->subsystem()->goal(0), kRange.lower);
   EXPECT_TRUE(this->subsystem_status_fetcher_.Fetch());
-  EXPECT_NEAR(kRange.lower, this->subsystem_status_fetcher_->status.position,
+  EXPECT_NEAR(kRange.lower, this->subsystem_status_fetcher_->position(),
               0.001);
 
   // Set min position and check that the subsystem increases to that position
@@ -608,7 +677,7 @@
   this->RunFor(chrono::seconds(2));
   EXPECT_EQ(this->subsystem()->goal(0), kRange.lower + 0.05);
   EXPECT_TRUE(this->subsystem_status_fetcher_.Fetch());
-  EXPECT_NEAR(kRange.lower + 0.05, this->subsystem_status_fetcher_->status.position,
+  EXPECT_NEAR(kRange.lower + 0.05, this->subsystem_status_fetcher_->position(),
               0.001);
 
   // Clear min position and check that the subsystem returns to kRange.lower
@@ -616,7 +685,7 @@
   this->RunFor(chrono::seconds(2));
   EXPECT_EQ(this->subsystem()->goal(0), kRange.lower);
   EXPECT_TRUE(this->subsystem_status_fetcher_.Fetch());
-  EXPECT_NEAR(kRange.lower, this->subsystem_status_fetcher_->status.position,
+  EXPECT_NEAR(kRange.lower, this->subsystem_status_fetcher_->position(),
               0.001);
 }
 
@@ -625,16 +694,16 @@
   this->SetEnabled(true);
 
   {
-    auto message = this->subsystem_goal_sender_.MakeMessage();
-    message->unsafe_goal = kRange.upper_hard;
-    EXPECT_TRUE(message.Send());
+    auto message = this->subsystem_goal_sender_.MakeBuilder();
+    EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
+        *message.fbb(), kRange.upper_hard)));
   }
   this->RunFor(chrono::seconds(2));
 
   // Check that kRange.upper is used as the default max position
   EXPECT_EQ(this->subsystem()->goal(0), kRange.upper);
   EXPECT_TRUE(this->subsystem_status_fetcher_.Fetch());
-  EXPECT_NEAR(kRange.upper, this->subsystem_status_fetcher_->status.position,
+  EXPECT_NEAR(kRange.upper, this->subsystem_status_fetcher_->position(),
               0.001);
 
   // Set max position and check that the subsystem lowers to that position
@@ -642,7 +711,7 @@
   this->RunFor(chrono::seconds(2));
   EXPECT_EQ(this->subsystem()->goal(0), kRange.upper - 0.05);
   EXPECT_TRUE(this->subsystem_status_fetcher_.Fetch());
-  EXPECT_NEAR(kRange.upper - 0.05, this->subsystem_status_fetcher_->status.position,
+  EXPECT_NEAR(kRange.upper - 0.05, this->subsystem_status_fetcher_->position(),
               0.001);
 
   // Clear max position and check that the subsystem returns to kRange.upper
@@ -650,7 +719,7 @@
   this->RunFor(chrono::seconds(2));
   EXPECT_EQ(this->subsystem()->goal(0), kRange.upper);
   EXPECT_TRUE(this->subsystem_status_fetcher_.Fetch());
-  EXPECT_NEAR(kRange.upper, this->subsystem_status_fetcher_->status.position,
+  EXPECT_NEAR(kRange.upper, this->subsystem_status_fetcher_->position(),
               0.001);
 }
 
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.fbs b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.fbs
new file mode 100644
index 0000000..e39272a
--- /dev/null
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.fbs
@@ -0,0 +1,13 @@
+include "frc971/control_loops/profiled_subsystem.fbs";
+include "frc971/control_loops/control_loops.fbs";
+
+namespace frc971.control_loops.zeroing.testing;
+
+table SubsystemGoal {
+  unsafe_goal:double;
+  profile_params:frc971.ProfileParameters;
+}
+
+table SubsystemOutput {
+  output:double;
+}
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.q b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.q
deleted file mode 100644
index 3b35837..0000000
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.q
+++ /dev/null
@@ -1,46 +0,0 @@
-package frc971.control_loops;
-
-import "frc971/control_loops/profiled_subsystem.q";
-
-message StaticZeroingSingleDOFProfiledSubsystemTestGoal {
-  double unsafe_goal;
-  .frc971.ProfileParameters profile_params;
-};
-
-message StaticZeroingSingleDOFProfiledSubsystemOutput {
-  double output;
-};
-
-queue_group StaticZeroingSingleDOFProfiledSubsystemPotAndAbsoluteEncoderTestQueueGroup {
-  implements aos.control_loops.ControlLoop;
-
-  message Status {
-    PotAndAbsoluteEncoderProfiledJointStatus status;
-  };
-
-  message Position {
-    PotAndAbsolutePosition position;
-  };
-
-  queue StaticZeroingSingleDOFProfiledSubsystemTestGoal goal;
-  queue StaticZeroingSingleDOFProfiledSubsystemOutput output;
-  queue Status status;
-  queue Position position;
-};
-
-queue_group StaticZeroingSingleDOFProfiledSubsystemAbsoluteEncoderTestQueueGroup {
-  implements aos.control_loops.ControlLoop;
-
-  message Status {
-    AbsoluteEncoderProfiledJointStatus status;
-  };
-
-  message Position {
-    AbsolutePosition position;
-  };
-
-  queue StaticZeroingSingleDOFProfiledSubsystemTestGoal goal;
-  queue StaticZeroingSingleDOFProfiledSubsystemOutput output;
-  queue Status status;
-  queue Position position;
-};
diff --git a/frc971/control_loops/voltage_cap/voltage_cap_test.cc b/frc971/control_loops/voltage_cap/voltage_cap_test.cc
index 9ef4036..73898f9 100644
--- a/frc971/control_loops/voltage_cap/voltage_cap_test.cc
+++ b/frc971/control_loops/voltage_cap/voltage_cap_test.cc
@@ -4,7 +4,6 @@
 
 #include "gtest/gtest.h"
 
-#include "aos/queue.h"
 #include "aos/testing/test_shm.h"
 
 namespace frc971 {
diff --git a/frc971/downloader.bzl b/frc971/downloader.bzl
index 2967127..842398f58 100644
--- a/frc971/downloader.bzl
+++ b/frc971/downloader.bzl
@@ -1,37 +1,37 @@
-load('//aos/downloader:downloader.bzl', 'aos_downloader')
-load('//tools/build_rules:label.bzl', 'expand_label')
+load("//frc971/downloader:downloader.bzl", "aos_downloader")
+load("//tools/build_rules:label.bzl", "expand_label")
 
-def robot_downloader(start_binaries, binaries=[], dirs=None, default_target=None):
-  '''Sets up the standard robot download targets.
+def robot_downloader(start_binaries, binaries = [], dirs = None, default_target = None):
+    """Sets up the standard robot download targets.
 
-  Attrs:
-    start_binaries: A list of cc_binary targets to start on the robot.
-    dirs: Passed through to aos_downloader.
-    default_target: Passed through to aos_downloader.
-  '''
+    Attrs:
+      start_binaries: A list of cc_binary targets to start on the robot.
+      dirs: Passed through to aos_downloader.
+      default_target: Passed through to aos_downloader.
+    """
 
-  aos_downloader(
-    name = 'download',
-    start_srcs = [
-      '//aos:prime_start_binaries',
-    ] + start_binaries,
-    srcs = [
-      '//aos:prime_binaries',
-    ] + binaries,
-    dirs = dirs,
-    default_target = default_target,
-    restricted_to = ['//tools:roborio'],
-  )
+    aos_downloader(
+        name = "download",
+        start_srcs = [
+            "//aos:prime_start_binaries",
+        ] + start_binaries,
+        srcs = [
+            "//aos:prime_binaries",
+        ] + binaries,
+        dirs = dirs,
+        default_target = default_target,
+        restricted_to = ["//tools:roborio"],
+    )
 
-  aos_downloader(
-    name = 'download_stripped',
-    start_srcs = [
-      '//aos:prime_start_binaries_stripped',
-    ] + [expand_label(binary) + ".stripped" for binary in start_binaries],
-    srcs = [
-      '//aos:prime_binaries_stripped',
-    ] + [expand_label(binary) + ".stripped" for binary in binaries],
-    dirs = dirs,
-    default_target = default_target,
-    restricted_to = ['//tools:roborio'],
-  )
+    aos_downloader(
+        name = "download_stripped",
+        start_srcs = [
+            "//aos:prime_start_binaries_stripped",
+        ] + [expand_label(binary) + ".stripped" for binary in start_binaries],
+        srcs = [
+            "//aos:prime_binaries_stripped",
+        ] + [expand_label(binary) + ".stripped" for binary in binaries],
+        dirs = dirs,
+        default_target = default_target,
+        restricted_to = ["//tools:roborio"],
+    )
diff --git a/aos/downloader/BUILD b/frc971/downloader/BUILD
similarity index 100%
rename from aos/downloader/BUILD
rename to frc971/downloader/BUILD
diff --git a/frc971/downloader/downloader.bzl b/frc971/downloader/downloader.bzl
new file mode 100644
index 0000000..a5d1bc1
--- /dev/null
+++ b/frc971/downloader/downloader.bzl
@@ -0,0 +1,119 @@
+def _aos_downloader_impl(ctx):
+    all_files = ctx.files.srcs + ctx.files.start_srcs + [ctx.outputs._startlist]
+    ctx.file_action(
+        output = ctx.outputs.executable,
+        executable = True,
+        content = "\n".join([
+            "#!/bin/bash",
+            "set -e",
+            'cd "${BASH_SOURCE[0]}.runfiles/%s"' % ctx.workspace_name,
+        ] + ['%s %s --dirs %s -- %s "$@"' % (
+            ctx.executable._downloader.short_path,
+            " ".join([src.short_path for src in d.downloader_srcs]),
+            d.downloader_dir,
+            ctx.attr.default_target,
+        ) for d in ctx.attr.dirs] + [
+            'exec %s %s -- %s "$@"' % (
+                ctx.executable._downloader.short_path,
+                " ".join([src.short_path for src in all_files]),
+                ctx.attr.default_target,
+            ),
+        ]),
+    )
+
+    ctx.file_action(
+        output = ctx.outputs._startlist,
+        content = "\n".join([f.basename for f in ctx.files.start_srcs]) + "\n",
+    )
+
+    to_download = [ctx.outputs._startlist]
+    to_download += all_files
+    for d in ctx.attr.dirs:
+        to_download += d.downloader_srcs
+
+    return struct(
+        runfiles = ctx.runfiles(
+            files = to_download + ctx.files._downloader,
+            transitive_files = ctx.attr._downloader.default_runfiles.files,
+            collect_data = True,
+            collect_default = True,
+        ),
+        files = depset([ctx.outputs.executable]),
+    )
+
+def _aos_downloader_dir_impl(ctx):
+    return struct(
+        downloader_dir = ctx.attr.dir,
+        downloader_srcs = ctx.files.srcs,
+    )
+
+"""Creates a binary which downloads code to a robot.
+
+Running this with `bazel run` will actually download everything.
+
+This also generates a start_list.txt file with the names of binaries to start.
+
+Attrs:
+  srcs: The files to download. They currently all get shoved into one folder.
+  dirs: A list of aos_downloader_dirs to download too.
+  start_srcs: Like srcs, except they also get put into start_list.txt.
+  default_target: The default host to download to. If not specified, defaults to
+                  roboRIO-971.local.
+"""
+
+aos_downloader = rule(
+    attrs = {
+        "_downloader": attr.label(
+            executable = True,
+            cfg = "host",
+            default = Label("//frc971/downloader"),
+        ),
+        "start_srcs": attr.label_list(
+            mandatory = True,
+            allow_files = True,
+        ),
+        "srcs": attr.label_list(
+            mandatory = True,
+            allow_files = True,
+        ),
+        "dirs": attr.label_list(
+            mandatory = False,
+            providers = [
+                "downloader_dir",
+                "downloader_srcs",
+            ],
+        ),
+        "default_target": attr.string(
+            default = "roboRIO-971-frc.local",
+        ),
+    },
+    executable = True,
+    outputs = {
+        "_startlist": "%{name}.start_list.dir/start_list.txt",
+    },
+    implementation = _aos_downloader_impl,
+)
+
+"""Downloads files to a specific directory.
+
+This rule does nothing by itself. Use it by adding to the dirs attribute of an
+aos_downloader rule.
+
+Attrs:
+  srcs: The files to download. They all go in the same directory.
+  dir: The directory (relative to the standard download directory) to put all
+       the files in.
+"""
+
+aos_downloader_dir = rule(
+    attrs = {
+        "srcs": attr.label_list(
+            mandatory = True,
+            allow_files = True,
+        ),
+        "dir": attr.string(
+            mandatory = True,
+        ),
+    },
+    implementation = _aos_downloader_dir_impl,
+)
diff --git a/aos/downloader/downloader.py b/frc971/downloader/downloader.py
similarity index 100%
rename from aos/downloader/downloader.py
rename to frc971/downloader/downloader.py
diff --git a/frc971/queues/BUILD b/frc971/queues/BUILD
index 83ee252..e440638 100644
--- a/frc971/queues/BUILD
+++ b/frc971/queues/BUILD
@@ -1,10 +1,11 @@
-package(default_visibility = ['//visibility:public'])
+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 = 'gyro',
-  srcs = [
-    'gyro.q',
-  ],
+flatbuffer_cc_library(
+    name = "gyro",
+    srcs = [
+        "gyro.fbs",
+    ],
+    gen_reflections = 1,
 )
diff --git a/frc971/queues/gyro.fbs b/frc971/queues/gyro.fbs
new file mode 100644
index 0000000..8a76678
--- /dev/null
+++ b/frc971/queues/gyro.fbs
@@ -0,0 +1,18 @@
+namespace frc971.sensors;
+
+// Published on "/drivetrain"
+table GyroReading {
+  // Positive is counter-clockwise (Austin says "it's Positive").
+  // Right-hand coordinate system around the Z-axis going up.
+  // The angle is measured in radians.
+  angle:double;
+  // The angular velocity in radians/sec
+  velocity:double;
+}
+
+// Published on "/drivetrain"
+table Uid {
+  uid:uint;
+}
+
+root_type GyroReading;
diff --git a/frc971/queues/gyro.q b/frc971/queues/gyro.q
deleted file mode 100644
index 0885738..0000000
--- a/frc971/queues/gyro.q
+++ /dev/null
@@ -1,16 +0,0 @@
-package frc971.sensors;
-
-// Published on ".frc971.sensors.gyro_reading"
-message GyroReading {
-	// Positive is counter-clockwise (Austin says "it's Positive").
-	// Right-hand coordinate system around the Z-axis going up.
-  // The angle is measured in radians.
-	double angle;
-  // The angular velocity in radians/sec
-	double velocity;
-};
-
-// Published on ".frc971.sensors.gyro_part_id"
-message Uid {
-	uint32_t uid;
-};
diff --git a/frc971/wpilib/ADIS16448.cc b/frc971/wpilib/ADIS16448.cc
index 4fc2c7b..f364d56 100644
--- a/frc971/wpilib/ADIS16448.cc
+++ b/frc971/wpilib/ADIS16448.cc
@@ -8,10 +8,9 @@
 #include <chrono>
 
 #include "aos/init.h"
-#include "aos/logging/queue_logging.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/robot_state/robot_state_generated.h"
 #include "aos/time/time.h"
-#include "frc971/wpilib/imu.q.h"
+#include "frc971/wpilib/imu_generated.h"
 #include "frc971/zeroing/averager.h"
 
 namespace frc971 {
@@ -121,10 +120,9 @@
 ADIS16448::ADIS16448(::aos::EventLoop *event_loop, frc::SPI::Port port,
                      frc::DigitalInput *dio1)
     : event_loop_(event_loop),
-      joystick_state_fetcher_(event_loop_->MakeFetcher<::aos::JoystickState>(
-          ".aos.joystick_state")),
+      robot_state_fetcher_(event_loop_->MakeFetcher<::aos::RobotState>("/aos")),
       imu_values_sender_(
-          event_loop_->MakeSender<::frc971::IMUValues>(".frc971.imu_values")),
+          event_loop_->MakeSender<::frc971::IMUValues>("/drivetrain")),
       spi_(new frc::SPI(port)),
       dio1_(dio1) {
   // 1MHz is the maximum supported for burst reads, but we
@@ -247,31 +245,35 @@
       }
     }
 
-    auto message = imu_values_sender_.MakeMessage();
-    message->fpga_timestamp = ::aos::time::DurationInSeconds(
-        dio1_->ReadRisingTimestamp().time_since_epoch());
-    message->monotonic_timestamp_ns =
-        chrono::duration_cast<chrono::nanoseconds>(read_time.time_since_epoch())
-            .count();
+    auto builder = imu_values_sender_.MakeBuilder();
 
-    message->gyro_x =
+    IMUValues::Builder imu_builder = builder.MakeBuilder<IMUValues>();
+
+    imu_builder.add_fpga_timestamp(::aos::time::DurationInSeconds(
+        dio1_->ReadRisingTimestamp().time_since_epoch()));
+    imu_builder.add_monotonic_timestamp_ns(
+        chrono::duration_cast<chrono::nanoseconds>(read_time.time_since_epoch())
+            .count());
+
+    float gyro_x =
         ConvertValue(&to_receive[4], kGyroLsbDegreeSecond * M_PI / 180.0);
-    message->gyro_y =
+    float gyro_y =
         ConvertValue(&to_receive[6], kGyroLsbDegreeSecond * M_PI / 180.0);
-    message->gyro_z =
+    float gyro_z =
         ConvertValue(&to_receive[8], kGyroLsbDegreeSecond * M_PI / 180.0);
 
     // The first few seconds of samples are averaged and subtracted from
     // subsequent samples for zeroing purposes.
     if (!gyros_are_zeroed_) {
-      average_gyro_x.AddData(message->gyro_x);
-      average_gyro_y.AddData(message->gyro_y);
-      average_gyro_z.AddData(message->gyro_z);
+      average_gyro_x.AddData(gyro_x);
+      average_gyro_y.AddData(gyro_y);
+      average_gyro_z.AddData(gyro_z);
 
       if (average_gyro_x.full() && average_gyro_y.full() &&
           average_gyro_z.full()) {
-        joystick_state_fetcher_.Fetch();
-        if (joystick_state_fetcher_.get() && joystick_state_fetcher_->enabled) {
+        robot_state_fetcher_.Fetch();
+        if (robot_state_fetcher_.get() &&
+            robot_state_fetcher_->outputs_enabled()) {
           gyro_x_zeroed_offset_ = -average_gyro_x.GetAverage();
           gyro_y_zeroed_offset_ = -average_gyro_y.GetAverage();
           gyro_z_zeroed_offset_ = -average_gyro_z.GetAverage();
@@ -282,33 +284,36 @@
         }
       }
     }
+    gyro_x += gyro_x_zeroed_offset_;
+    gyro_y += gyro_y_zeroed_offset_;
+    gyro_z += gyro_z_zeroed_offset_;
 
-    message->gyro_x += gyro_x_zeroed_offset_;
-    message->gyro_y += gyro_y_zeroed_offset_;
-    message->gyro_z += gyro_z_zeroed_offset_;
+    imu_builder.add_gyro_x(gyro_x);
+    imu_builder.add_gyro_y(gyro_y);
+    imu_builder.add_gyro_z(gyro_z);
 
-    message->accelerometer_x =
-        ConvertValue(&to_receive[10], kAccelerometerLsbG);
-    message->accelerometer_y =
-        ConvertValue(&to_receive[12], kAccelerometerLsbG);
-    message->accelerometer_z =
-        ConvertValue(&to_receive[14], kAccelerometerLsbG);
+    imu_builder.add_accelerometer_x(
+        ConvertValue(&to_receive[10], kAccelerometerLsbG));
+    imu_builder.add_accelerometer_y(
+        ConvertValue(&to_receive[12], kAccelerometerLsbG));
+    imu_builder.add_accelerometer_z(
+        ConvertValue(&to_receive[14], kAccelerometerLsbG));
 
-    message->magnetometer_x =
-        ConvertValue(&to_receive[16], kMagnetometerLsbGauss);
-    message->magnetometer_y =
-        ConvertValue(&to_receive[18], kMagnetometerLsbGauss);
-    message->magnetometer_z =
-        ConvertValue(&to_receive[20], kMagnetometerLsbGauss);
+    imu_builder.add_magnetometer_x(
+        ConvertValue(&to_receive[16], kMagnetometerLsbGauss));
+    imu_builder.add_magnetometer_y(
+        ConvertValue(&to_receive[18], kMagnetometerLsbGauss));
+    imu_builder.add_magnetometer_z(
+        ConvertValue(&to_receive[20], kMagnetometerLsbGauss));
 
-    message->barometer =
-        ConvertValue(&to_receive[22], kBarometerLsbPascal, false);
+    imu_builder.add_barometer(
+        ConvertValue(&to_receive[22], kBarometerLsbPascal, false));
 
-    message->temperature =
-        ConvertValue(&to_receive[24], kTemperatureLsbDegree) + kTemperatureZero;
+    imu_builder.add_temperature(
+        ConvertValue(&to_receive[24], kTemperatureLsbDegree) +
+        kTemperatureZero);
 
-    AOS_LOG_STRUCT(DEBUG, "sending", *message);
-    if (!message.Send()) {
+    if (!builder.Send(imu_builder.Finish())) {
       AOS_LOG(WARNING, "sending queue message failed\n");
     }
 
diff --git a/frc971/wpilib/ADIS16448.h b/frc971/wpilib/ADIS16448.h
index 6aeac9d..ce950df 100644
--- a/frc971/wpilib/ADIS16448.h
+++ b/frc971/wpilib/ADIS16448.h
@@ -11,10 +11,10 @@
 #include "frc971/wpilib/ahal/SPI.h"
 #undef ERROR
 
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
 #include "aos/logging/logging.h"
-#include "aos/robot_state/robot_state.q.h"
-#include "frc971/wpilib/imu.q.h"
+#include "aos/robot_state/robot_state_generated.h"
+#include "frc971/wpilib/imu_generated.h"
 #include "frc971/wpilib/spi_rx_clearer.h"
 
 namespace frc971 {
@@ -90,7 +90,7 @@
   bool Initialize();
 
   ::aos::EventLoop *event_loop_;
-  ::aos::Fetcher<::aos::JoystickState> joystick_state_fetcher_;
+  ::aos::Fetcher<::aos::RobotState> robot_state_fetcher_;
   ::aos::Sender<::frc971::IMUValues> imu_values_sender_;
 
   // TODO(Brian): This object has no business owning these ones.
diff --git a/frc971/wpilib/BUILD b/frc971/wpilib/BUILD
index 870e655..b7fe837 100644
--- a/frc971/wpilib/BUILD
+++ b/frc971/wpilib/BUILD
@@ -1,11 +1,11 @@
 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 = "logging_queue",
+flatbuffer_cc_library(
+    name = "logging_fbs",
     srcs = [
-        "logging.q",
+        "logging.fbs",
     ],
 )
 
@@ -107,10 +107,9 @@
     deps = [
         ":gyro_interface",
         "//aos:init",
-        "//aos/events:event-loop",
+        "//aos/events:event_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/time",
         "//aos/util:phased_loop",
         "//frc971/queues:gyro",
@@ -118,10 +117,10 @@
     ],
 )
 
-queue_library(
-    name = "loop_output_handler_test_queue",
+flatbuffer_cc_library(
+    name = "loop_output_handler_test_fbs",
     srcs = [
-        "loop_output_handler_test.q",
+        "loop_output_handler_test.fbs",
     ],
 )
 
@@ -135,8 +134,8 @@
     ],
     deps = [
         "//aos:init",
-        "//aos/events:event-loop",
-        "//aos/robot_state",
+        "//aos/events:event_loop",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/scoped:scoped_fd",
         "//aos/time",
         "//aos/util:log_interval",
@@ -150,9 +149,8 @@
     ],
     deps = [
         ":loop_output_handler",
-        ":loop_output_handler_test_queue",
+        ":loop_output_handler_test_fbs",
         "//aos/events:simulated_event_loop",
-        "//aos/logging:queue_logging",
         "//aos/testing:googletest",
         "//aos/testing:test_logging",
     ],
@@ -169,10 +167,10 @@
     restricted_to = ["//tools:roborio"],
     deps = [
         "//aos:init",
-        "//aos/events:shm-event-loop",
-        "//aos/logging:queue_logging",
+        "//aos/events:shm_event_loop",
+        "//aos/input:driver_station_data",
         "//aos/network:team_number",
-        "//aos/robot_state",
+        "//aos/robot_state:joystick_state_fbs",
         "//third_party:wpilib",
     ],
 )
@@ -187,16 +185,16 @@
     ],
     restricted_to = ["//tools:roborio"],
     deps = [
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/events:event_loop",
+        "//aos/robot_state:robot_state_fbs",
         "//third_party:wpilib",
     ],
 )
 
-queue_library(
+flatbuffer_cc_library(
     name = "pdp_values",
     srcs = [
-        "pdp_values.q",
+        "pdp_values.fbs",
     ],
 )
 
@@ -212,8 +210,7 @@
     deps = [
         ":pdp_values",
         "//aos:init",
-        "//aos/events:event-loop",
-        "//aos/logging:queue_logging",
+        "//aos/events:event_loop",
         "//aos/util:phased_loop",
         "//third_party:wpilib",
     ],
@@ -230,11 +227,12 @@
     ],
 )
 
-queue_library(
-    name = "imu_queue",
+flatbuffer_cc_library(
+    name = "imu_fbs",
     srcs = [
-        "imu.q",
+        "imu.fbs",
     ],
+    gen_reflections = 1,
 )
 
 cc_library(
@@ -247,13 +245,12 @@
     ],
     restricted_to = ["//tools:roborio"],
     deps = [
-        ":imu_queue",
+        ":imu_fbs",
         ":spi_rx_clearer",
         "//aos:init",
-        "//aos/events:event-loop",
+        "//aos/events:event_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/time",
         "//frc971/zeroing:averager",
         "//third_party:wpilib",
@@ -302,11 +299,11 @@
         ":encoder_and_potentiometer",
         ":wpilib_interface",
         "//aos:init",
-        "//aos/events:event-loop",
+        "//aos/events:event_loop",
         "//aos/stl_mutex",
         "//aos/time",
         "//aos/util:phased_loop",
-        "//frc971/control_loops:queues",
+        "//frc971/control_loops:control_loops_fbs",
         "//third_party:wpilib",
     ],
 )
@@ -324,8 +321,7 @@
         ":loop_output_handler",
         "//aos:math",
         "//aos/logging",
-        "//aos/logging:queue_logging",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
         "//third_party:wpilib",
     ],
 )
diff --git a/frc971/wpilib/drivetrain_writer.cc b/frc971/wpilib/drivetrain_writer.cc
index 5c6feb8..0afbe20 100644
--- a/frc971/wpilib/drivetrain_writer.cc
+++ b/frc971/wpilib/drivetrain_writer.cc
@@ -2,8 +2,7 @@
 
 #include "aos/commonmath.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
 #include "frc971/wpilib/ahal/PWM.h"
 #include "frc971/wpilib/loop_output_handler.h"
 
@@ -11,19 +10,19 @@
 namespace wpilib {
 
 void DrivetrainWriter::Write(
-    const ::frc971::control_loops::DrivetrainQueue::Output &output) {
-  AOS_LOG_STRUCT(DEBUG, "will output", output);
-  left_controller0_->SetSpeed(SafeSpeed(reversed_left0_, output.left_voltage));
+    const ::frc971::control_loops::drivetrain::Output &output) {
+  left_controller0_->SetSpeed(
+      SafeSpeed(reversed_left0_, output.left_voltage()));
   right_controller0_->SetSpeed(
-      SafeSpeed(reversed_right0_, output.right_voltage));
+      SafeSpeed(reversed_right0_, output.right_voltage()));
 
   if (left_controller1_) {
     left_controller1_->SetSpeed(
-        SafeSpeed(reversed_left1_, output.left_voltage));
+        SafeSpeed(reversed_left1_, output.left_voltage()));
   }
   if (right_controller1_) {
     right_controller1_->SetSpeed(
-        SafeSpeed(reversed_right1_, output.right_voltage));
+        SafeSpeed(reversed_right1_, output.right_voltage()));
   }
 }
 
diff --git a/frc971/wpilib/drivetrain_writer.h b/frc971/wpilib/drivetrain_writer.h
index 9397230..9cf9a67 100644
--- a/frc971/wpilib/drivetrain_writer.h
+++ b/frc971/wpilib/drivetrain_writer.h
@@ -3,7 +3,7 @@
 
 #include "aos/commonmath.h"
 
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
 #include "frc971/wpilib/ahal/PWM.h"
 #include "frc971/wpilib/loop_output_handler.h"
 
@@ -11,12 +11,12 @@
 namespace wpilib {
 
 class DrivetrainWriter : public ::frc971::wpilib::LoopOutputHandler<
-                             ::frc971::control_loops::DrivetrainQueue::Output> {
+                             ::frc971::control_loops::drivetrain::Output> {
  public:
   DrivetrainWriter(::aos::EventLoop *event_loop)
       : ::frc971::wpilib::LoopOutputHandler<
-            ::frc971::control_loops::DrivetrainQueue::Output>(
-            event_loop, ".frc971.control_loops.drivetrain_queue.output") {}
+            ::frc971::control_loops::drivetrain::Output>(event_loop,
+                                                         "/drivetrain") {}
 
   void set_left_controller0(::std::unique_ptr<::frc::PWM> t, bool reversed) {
     left_controller0_ = ::std::move(t);
@@ -40,12 +40,11 @@
 
  private:
   void Write(
-      const ::frc971::control_loops::DrivetrainQueue::Output &output) override;
+      const ::frc971::control_loops::drivetrain::Output &output) override;
   void Stop() override;
 
   double SafeSpeed(bool reversed, double voltage) {
-    return (::aos::Clip((reversed ? -1.0 : 1.0) * voltage, -12.0, 12.0) /
-            12.0);
+    return (::aos::Clip((reversed ? -1.0 : 1.0) * voltage, -12.0, 12.0) / 12.0);
   }
 
   ::std::unique_ptr<::frc::PWM> left_controller0_, right_controller0_,
diff --git a/frc971/wpilib/encoder_and_potentiometer.cc b/frc971/wpilib/encoder_and_potentiometer.cc
index ac1a4a0..8173d20 100644
--- a/frc971/wpilib/encoder_and_potentiometer.cc
+++ b/frc971/wpilib/encoder_and_potentiometer.cc
@@ -1,7 +1,7 @@
 #include "frc971/wpilib/encoder_and_potentiometer.h"
 
-#include "aos/init.h"
 #include "aos/logging/logging.h"
+#include "aos/realtime.h"
 
 namespace frc971 {
 namespace wpilib {
diff --git a/frc971/wpilib/gyro_sender.cc b/frc971/wpilib/gyro_sender.cc
index 3a9f220..f5297c0 100644
--- a/frc971/wpilib/gyro_sender.cc
+++ b/frc971/wpilib/gyro_sender.cc
@@ -7,14 +7,13 @@
 
 #include <chrono>
 
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/robot_state/robot_state_generated.h"
 #include "aos/time/time.h"
 
-#include "frc971/queues/gyro.q.h"
+#include "frc971/queues/gyro_generated.h"
 #include "frc971/zeroing/averager.h"
 
 namespace frc971 {
@@ -25,13 +24,12 @@
 
 GyroSender::GyroSender(::aos::EventLoop *event_loop)
     : event_loop_(event_loop),
-      joystick_state_fetcher_(event_loop_->MakeFetcher<::aos::JoystickState>(
-          ".aos.joystick_state")),
-      uid_sender_(event_loop_->MakeSender<::frc971::sensors::Uid>(
-          ".frc971.sensors.gyro_part_id")),
+      joystick_state_fetcher_(
+          event_loop_->MakeFetcher<aos::RobotState>("/aos")),
+      uid_sender_(event_loop_->MakeSender<frc971::sensors::Uid>("/drivetrain")),
       gyro_reading_sender_(
-          event_loop_->MakeSender<::frc971::sensors::GyroReading>(
-              ".frc971.sensors.gyro_reading")) {
+          event_loop_->MakeSender<frc971::sensors::GyroReading>(
+              "/drivetrain")) {
   AOS_PCHECK(
       system("ps -ef | grep '\\[spi0\\]' | awk '{print $1}' | xargs chrt -f -p "
              "33") == 0);
@@ -55,12 +53,9 @@
           state_ = State::RUNNING;
           AOS_LOG(INFO, "gyro initialized successfully\n");
 
-          {
-            auto message = uid_sender_.MakeMessage();
-            message->uid = gyro_.ReadPartID();
-            AOS_LOG_STRUCT(INFO, "gyro ID", *message);
-            message.Send();
-          }
+          auto builder = uid_sender_.MakeBuilder();
+          builder.Send(
+              frc971::sensors::CreateUid(*builder.fbb(), gyro_.ReadPartID()));
         }
         last_initialize_time_ = monotonic_now;
       }
@@ -115,30 +110,31 @@
 
       const double angle_rate = gyro_.ExtractAngle(result);
       const double new_angle = angle_rate / static_cast<double>(kReadingRate);
-      auto message = gyro_reading_sender_.MakeMessage();
+      auto builder = gyro_reading_sender_.MakeBuilder();
       if (zeroed_) {
         angle_ += (new_angle + zero_offset_) * iterations;
-        message->angle = angle_;
-        message->velocity = angle_rate + zero_offset_ * kReadingRate;
-        AOS_LOG_STRUCT(DEBUG, "sending", *message);
-        message.Send();
+        sensors::GyroReading::Builder gyro_builder =
+            builder.MakeBuilder<sensors::GyroReading>();
+        gyro_builder.add_angle(angle_);
+        gyro_builder.add_velocity(angle_rate + zero_offset_ * kReadingRate);
+        builder.Send(gyro_builder.Finish());
       } else {
         // TODO(brian): Don't break without 6 seconds of standing still before
         // enabling. Ideas:
         //   Don't allow driving until we have at least some data?
         //   Some kind of indicator light?
         {
-          message->angle = new_angle;
-          message->velocity = angle_rate;
-          AOS_LOG_STRUCT(DEBUG, "collected while zeroing", *message);
-          message->angle = 0.0;
-          message->velocity = 0.0;
-          message.Send();
+          sensors::GyroReading::Builder gyro_builder =
+              builder.MakeBuilder<sensors::GyroReading>();
+          gyro_builder.add_angle(0.0);
+          gyro_builder.add_velocity(0.0);
+          builder.Send(gyro_builder.Finish());
         }
         zeroing_data_.AddData(new_angle);
 
         joystick_state_fetcher_.Fetch();
-        if (joystick_state_fetcher_.get() && joystick_state_fetcher_->enabled &&
+        if (joystick_state_fetcher_.get() &&
+            joystick_state_fetcher_->outputs_enabled() &&
             zeroing_data_.full()) {
           zero_offset_ = -zeroing_data_.GetAverage();
           AOS_LOG(INFO, "total zero offset %f\n", zero_offset_);
diff --git a/frc971/wpilib/gyro_sender.h b/frc971/wpilib/gyro_sender.h
index 3a43391..ec39264 100644
--- a/frc971/wpilib/gyro_sender.h
+++ b/frc971/wpilib/gyro_sender.h
@@ -5,9 +5,9 @@
 
 #include <atomic>
 
-#include "aos/events/event-loop.h"
-#include "aos/robot_state/robot_state.q.h"
-#include "frc971/queues/gyro.q.h"
+#include "aos/events/event_loop.h"
+#include "aos/robot_state/robot_state_generated.h"
+#include "frc971/queues/gyro_generated.h"
 #include "frc971/wpilib/gyro_interface.h"
 #include "frc971/zeroing/averager.h"
 
@@ -30,7 +30,7 @@
   void Loop(const int iterations);
 
   ::aos::EventLoop *event_loop_;
-  ::aos::Fetcher<::aos::JoystickState> joystick_state_fetcher_;
+  ::aos::Fetcher<::aos::RobotState> joystick_state_fetcher_;
   ::aos::Sender<::frc971::sensors::Uid> uid_sender_;
   ::aos::Sender<::frc971::sensors::GyroReading> gyro_reading_sender_;
 
diff --git a/frc971/wpilib/imu.q b/frc971/wpilib/imu.fbs
similarity index 69%
rename from frc971/wpilib/imu.q
rename to frc971/wpilib/imu.fbs
index 4d9dec7..f48f31f 100644
--- a/frc971/wpilib/imu.q
+++ b/frc971/wpilib/imu.fbs
@@ -1,40 +1,42 @@
-package frc971;
+namespace frc971;
 
 // Values returned from an IMU.
 // Published on ".frc971.imu_values"
-message IMUValues {
+table IMUValues {
   // Gyro readings in radians/second.
   // Positive is clockwise looking at the connector.
-  float gyro_x;
+  gyro_x:float;
   // Positive is clockwise looking at the right side (from the connector).
-  float gyro_y;
+  gyro_y:float;
   // Positive is counterclockwise looking at the top.
-  float gyro_z;
+  gyro_z:float;
 
   // Accelerometer readings in Gs.
   // Positive is up.
-  float accelerometer_x;
+  accelerometer_x:float;
   // Positive is away from the right side (from the connector).
-  float accelerometer_y;
+  accelerometer_y:float;
   // Positive is away from the connector.
-  float accelerometer_z;
+  accelerometer_z:float;
 
   // Magnetometer readings in gauss.
   // Positive is up.
-  float magnetometer_x;
+  magnetometer_x:float;
   // Positive is away from the right side (from the connector).
-  float magnetometer_y;
+  magnetometer_y:float;
   // Positive is away from the connector.
-  float magnetometer_z;
+  magnetometer_z:float;
 
   // Barometer readings in pascals.
-  float barometer;
+  barometer:float;
 
   // Temperature readings in degrees Celsius.
-  float temperature;
+  temperature:float;
 
   // FPGA timestamp when the values were captured.
-  double fpga_timestamp;
+  fpga_timestamp:double;
   // CLOCK_MONOTONIC time in nanoseconds when the values were captured.
-  int64_t monotonic_timestamp_ns;
-};
+  monotonic_timestamp_ns:long;
+}
+
+root_type IMUValues;
diff --git a/frc971/wpilib/interrupt_edge_counting.cc b/frc971/wpilib/interrupt_edge_counting.cc
index 546e64b..9b63b84 100644
--- a/frc971/wpilib/interrupt_edge_counting.cc
+++ b/frc971/wpilib/interrupt_edge_counting.cc
@@ -2,8 +2,8 @@
 
 #include <chrono>
 
+#include "aos/realtime.h"
 #include "aos/time/time.h"
-#include "aos/init.h"
 
 namespace frc971 {
 namespace wpilib {
diff --git a/frc971/wpilib/joystick_sender.cc b/frc971/wpilib/joystick_sender.cc
index 31ecc6c..2fec111 100644
--- a/frc971/wpilib/joystick_sender.cc
+++ b/frc971/wpilib/joystick_sender.cc
@@ -1,9 +1,10 @@
 #include "frc971/wpilib/joystick_sender.h"
 
-#include "aos/init.h"
-#include "aos/logging/queue_logging.h"
+#include "aos/input/driver_station_data.h"
+#include "aos/logging/logging.h"
 #include "aos/network/team_number.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/realtime.h"
+#include "aos/robot_state/joystick_state_generated.h"
 
 #include "frc971/wpilib/ahal/DriverStation.h"
 #include "hal/HAL.h"
@@ -11,12 +12,13 @@
 namespace frc971 {
 namespace wpilib {
 
+using aos::Joystick;
+
 JoystickSender::JoystickSender(::aos::EventLoop *event_loop)
     : event_loop_(event_loop),
       joystick_state_sender_(
-          event_loop_->MakeSender<::aos::JoystickState>(".aos.joystick_state")),
+          event_loop_->MakeSender<::aos::JoystickState>("/aos")),
       team_id_(::aos::network::GetTeamNumber()) {
-
   event_loop_->SetRuntimeRealtimePriority(29);
 
   event_loop_->OnRun([this]() {
@@ -27,36 +29,65 @@
     // variable / mutex needs to get exposed all the way out or something).
     while (event_loop_->is_running()) {
       ds->RunIteration([&]() {
-        auto new_state = joystick_state_sender_.MakeMessage();
+        auto builder = joystick_state_sender_.MakeBuilder();
 
         HAL_MatchInfo match_info;
         auto status = HAL_GetMatchInfo(&match_info);
-        if (status == 0) {
-          new_state->switch_left = match_info.gameSpecificMessage[0] == 'L' ||
-                                   match_info.gameSpecificMessage[0] == 'l';
-          new_state->scale_left = match_info.gameSpecificMessage[1] == 'L' ||
-                                  match_info.gameSpecificMessage[1] == 'l';
-        }
 
-        new_state->test_mode = ds->IsTestMode();
-        new_state->fms_attached = ds->IsFmsAttached();
-        new_state->enabled = ds->IsEnabled();
-        new_state->autonomous = ds->IsAutonomous();
-        new_state->team_id = team_id_;
-        new_state->fake = false;
+        std::array<flatbuffers::Offset<Joystick>,
+                   aos::input::driver_station::JoystickFeature::kJoysticks>
+            joysticks;
 
-        for (uint8_t i = 0;
-             i < sizeof(new_state->joysticks) / sizeof(::aos::Joystick); ++i) {
-          new_state->joysticks[i].buttons = ds->GetStickButtons(i);
-          for (int j = 0; j < 6; ++j) {
-            new_state->joysticks[i].axis[j] = ds->GetStickAxis(i, j);
+        for (size_t i = 0;
+             i < aos::input::driver_station::JoystickFeature::kJoysticks; ++i) {
+          std::array<double, aos::input::driver_station::JoystickAxis::kAxes>
+              axis;
+          for (int j = 0; j < aos::input::driver_station::JoystickAxis::kAxes;
+               ++j) {
+            axis[j] = ds->GetStickAxis(i, j);
           }
+
+          flatbuffers::Offset<flatbuffers::Vector<double>> axis_offset =
+              builder.fbb()->CreateVector(axis.begin(), axis.size());
+
+          Joystick::Builder joystick_builder = builder.MakeBuilder<Joystick>();
+
+          joystick_builder.add_buttons(ds->GetStickButtons(i));
+
           if (ds->GetStickPOVCount(i) > 0) {
-            new_state->joysticks[i].pov = ds->GetStickPOV(i, 0);
+            joystick_builder.add_pov(ds->GetStickPOV(i, 0));
           }
-          AOS_LOG_STRUCT(DEBUG, "joystick_state", *new_state);
+
+          joystick_builder.add_axis(axis_offset);
+
+          joysticks[i] = joystick_builder.Finish();
         }
-        if (!new_state.Send()) {
+
+        flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Joystick>>>
+            joysticks_offset = builder.fbb()->CreateVector(joysticks.begin(),
+                                                           joysticks.size());
+
+        aos::JoystickState::Builder joystick_state_builder =
+            builder.MakeBuilder<aos::JoystickState>();
+
+        joystick_state_builder.add_joysticks(joysticks_offset);
+
+        if (status == 0) {
+          joystick_state_builder.add_switch_left(
+              match_info.gameSpecificMessage[0] == 'L' ||
+              match_info.gameSpecificMessage[0] == 'l');
+          joystick_state_builder.add_scale_left(
+              match_info.gameSpecificMessage[1] == 'L' ||
+              match_info.gameSpecificMessage[1] == 'l');
+        }
+
+        joystick_state_builder.add_test_mode(ds->IsTestMode());
+        joystick_state_builder.add_fms_attached(ds->IsFmsAttached());
+        joystick_state_builder.add_enabled(ds->IsEnabled());
+        joystick_state_builder.add_autonomous(ds->IsAutonomous());
+        joystick_state_builder.add_team_id(team_id_);
+
+        if (!builder.Send(joystick_state_builder.Finish())) {
           AOS_LOG(WARNING, "sending joystick_state failed\n");
         }
       });
diff --git a/frc971/wpilib/joystick_sender.h b/frc971/wpilib/joystick_sender.h
index 34c6bf4..e2609e8 100644
--- a/frc971/wpilib/joystick_sender.h
+++ b/frc971/wpilib/joystick_sender.h
@@ -3,8 +3,8 @@
 
 #include <atomic>
 
-#include "aos/events/event-loop.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/events/event_loop.h"
+#include "aos/robot_state/joystick_state_generated.h"
 
 namespace frc971 {
 namespace wpilib {
diff --git a/frc971/wpilib/logging.fbs b/frc971/wpilib/logging.fbs
new file mode 100644
index 0000000..473526f
--- /dev/null
+++ b/frc971/wpilib/logging.fbs
@@ -0,0 +1,7 @@
+namespace frc971.wpilib;
+
+// Information about the current state of the pneumatics system to log.
+table PneumaticsToLog {
+  compressor_on:bool;
+  read_solenoids:ubyte;
+}
diff --git a/frc971/wpilib/logging.q b/frc971/wpilib/logging.q
deleted file mode 100644
index a2b3799..0000000
--- a/frc971/wpilib/logging.q
+++ /dev/null
@@ -1,7 +0,0 @@
-package frc971.wpilib;
-
-// Information about the current state of the pneumatics system to log.
-struct PneumaticsToLog {
-  bool compressor_on;
-  uint8_t read_solenoids;
-};
diff --git a/frc971/wpilib/loop_output_handler.h b/frc971/wpilib/loop_output_handler.h
index 81baa68..a697339 100644
--- a/frc971/wpilib/loop_output_handler.h
+++ b/frc971/wpilib/loop_output_handler.h
@@ -4,8 +4,7 @@
 #include <atomic>
 #include <chrono>
 
-#include "aos/events/event-loop.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/events/event_loop.h"
 #include "aos/scoped/scoped_fd.h"
 #include "aos/time/time.h"
 #include "aos/util/log_interval.h"
diff --git a/frc971/wpilib/loop_output_handler_test.cc b/frc971/wpilib/loop_output_handler_test.cc
index 12c3f96..d7ef8cd 100644
--- a/frc971/wpilib/loop_output_handler_test.cc
+++ b/frc971/wpilib/loop_output_handler_test.cc
@@ -4,12 +4,11 @@
 
 #include "gtest/gtest.h"
 
-#include "aos/events/simulated-event-loop.h"
+#include "aos/events/simulated_event_loop.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/testing/test_logging.h"
 #include "aos/time/time.h"
-#include "frc971/wpilib/loop_output_handler_test.q.h"
+#include "frc971/wpilib/loop_output_handler_test_generated.h"
 
 namespace frc971 {
 namespace wpilib {
@@ -23,11 +22,26 @@
  public:
   LoopOutputHandlerTest()
       : ::testing::Test(),
+        configuration_(aos::configuration::MergeConfiguration(
+            aos::FlatbufferDetachedBuffer<aos::Configuration>(
+                aos::JsonToFlatbuffer(
+                    "{\n"
+                    "  \"channels\": [ \n"
+                    "    {\n"
+                    "      \"name\": \"/test\",\n"
+                    "      \"type\": "
+                    "\"frc971.wpilib.LoopOutputHandlerTestOutput\"\n"
+                    "    }\n"
+                    "  ]\n"
+                    "}\n",
+                    aos::Configuration::MiniReflectTypeTable())))),
+        event_loop_factory_(&configuration_.message()),
         loop_output_hander_event_loop_(event_loop_factory_.MakeEventLoop()),
         test_event_loop_(event_loop_factory_.MakeEventLoop()) {
     ::aos::testing::EnableTestLogging();
   }
 
+  aos::FlatbufferDetachedBuffer<aos::Configuration> configuration_;
   ::aos::SimulatedEventLoopFactory event_loop_factory_;
   ::std::unique_ptr<::aos::EventLoop> loop_output_hander_event_loop_;
   ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
@@ -49,14 +63,14 @@
 
  protected:
   void Write(const LoopOutputHandlerTestOutput &output) override {
-    AOS_LOG_STRUCT(DEBUG, "output", output);
+    LOG(INFO) << "output " << aos::FlatbufferToJson(&output);
     ++count_;
     last_time_ = event_loop()->monotonic_now();
   }
 
   void Stop() override {
     stop_time_ = event_loop()->monotonic_now();
-    AOS_LOG(DEBUG, "Stopping\n");
+    LOG(INFO) << "Stopping";
   }
 
  private:
@@ -71,10 +85,10 @@
 // Test that the watchdog calls Stop at the right time.
 TEST_F(LoopOutputHandlerTest, WatchdogTest) {
   TestLoopOutputHandler loop_output(loop_output_hander_event_loop_.get(),
-                                    ".test");
+                                    "/test");
 
   ::aos::Sender<LoopOutputHandlerTestOutput> output_sender =
-      test_event_loop_->MakeSender<LoopOutputHandlerTestOutput>(".test");
+      test_event_loop_->MakeSender<LoopOutputHandlerTestOutput>("/test");
 
   const monotonic_clock::time_point start_time =
       test_event_loop_->monotonic_now();
@@ -86,13 +100,15 @@
         EXPECT_EQ(count, loop_output.count());
         if (test_event_loop_->monotonic_now() <
             start_time + chrono::seconds(1)) {
-          auto output = output_sender.MakeMessage();
-          output->voltage = 5.0;
-          EXPECT_TRUE(output.Send());
+          auto builder = output_sender.MakeBuilder();
+          LoopOutputHandlerTestOutput::Builder output_builder =
+              builder.MakeBuilder<LoopOutputHandlerTestOutput>();
+          output_builder.add_voltage(5.0);
+          EXPECT_TRUE(builder.Send(output_builder.Finish()));
 
           ++count;
         }
-        AOS_LOG(INFO, "Ping\n");
+        LOG(INFO) << "Ping";
       });
 
   // Kick off the ping timer handler.
diff --git a/frc971/wpilib/loop_output_handler_test.fbs b/frc971/wpilib/loop_output_handler_test.fbs
new file mode 100644
index 0000000..6cb2cf1
--- /dev/null
+++ b/frc971/wpilib/loop_output_handler_test.fbs
@@ -0,0 +1,6 @@
+namespace frc971.wpilib;
+
+// Test output message.
+table LoopOutputHandlerTestOutput {
+  voltage:double;
+}
diff --git a/frc971/wpilib/loop_output_handler_test.q b/frc971/wpilib/loop_output_handler_test.q
deleted file mode 100644
index 81336ef..0000000
--- a/frc971/wpilib/loop_output_handler_test.q
+++ /dev/null
@@ -1,6 +0,0 @@
-package frc971.wpilib;
-
-// Test output message.
-message LoopOutputHandlerTestOutput {
-  double voltage;
-};
diff --git a/frc971/wpilib/pdp_fetcher.cc b/frc971/wpilib/pdp_fetcher.cc
index aa85184..cd17d89 100644
--- a/frc971/wpilib/pdp_fetcher.cc
+++ b/frc971/wpilib/pdp_fetcher.cc
@@ -2,11 +2,10 @@
 
 #include <chrono>
 
-#include "aos/events/event-loop.h"
-#include "aos/init.h"
-#include "aos/logging/queue_logging.h"
+#include "aos/events/event_loop.h"
+#include "aos/logging/logging.h"
 #include "frc971/wpilib/ahal/PowerDistributionPanel.h"
-#include "frc971/wpilib/pdp_values.q.h"
+#include "frc971/wpilib/pdp_values_generated.h"
 
 namespace frc971 {
 namespace wpilib {
@@ -15,8 +14,7 @@
 
 PDPFetcher::PDPFetcher(::aos::EventLoop *event_loop)
     : event_loop_(event_loop),
-      pdp_values_sender_(
-          event_loop_->MakeSender<::frc971::PDPValues>(".frc971.pdp_values")),
+      pdp_values_sender_(event_loop_->MakeSender<::frc971::PDPValues>("/aos")),
       pdp_(new frc::PowerDistributionPanel()) {
   event_loop_->set_name("PDPFetcher");
 
@@ -31,15 +29,22 @@
   if (iterations != 1) {
     AOS_LOG(DEBUG, "PDPFetcher skipped %d iterations\n", iterations - 1);
   }
-  auto message = pdp_values_sender_.MakeMessage();
-  message->voltage = pdp_->GetVoltage();
-  message->temperature = pdp_->GetTemperature();
-  message->power = pdp_->GetTotalPower();
-  for (int i = 0; i < 16; ++i) {
-    message->currents[i] = pdp_->GetCurrent(i);
+  std::array<double, 16> currents;
+  for (size_t i = 0; i < currents.size(); ++i) {
+    currents[i] = pdp_->GetCurrent(i);
   }
-  AOS_LOG_STRUCT(DEBUG, "got", *message);
-  if (!message.Send()) {
+
+  auto builder = pdp_values_sender_.MakeBuilder();
+  flatbuffers::Offset<flatbuffers::Vector<double>> currents_offset =
+      builder.fbb()->CreateVector(currents.begin(), currents.size());
+
+  PDPValues::Builder pdp_builder = builder.MakeBuilder<PDPValues>();
+  pdp_builder.add_voltage(pdp_->GetVoltage());
+  pdp_builder.add_temperature(pdp_->GetTemperature());
+  pdp_builder.add_power(pdp_->GetTotalPower());
+  pdp_builder.add_currents(currents_offset);
+
+  if (!builder.Send(pdp_builder.Finish())) {
     AOS_LOG(WARNING, "sending pdp values failed\n");
   }
 }
diff --git a/frc971/wpilib/pdp_fetcher.h b/frc971/wpilib/pdp_fetcher.h
index fd05d67..d034473 100644
--- a/frc971/wpilib/pdp_fetcher.h
+++ b/frc971/wpilib/pdp_fetcher.h
@@ -4,8 +4,8 @@
 #include <atomic>
 #include <memory>
 
-#include "aos/events/event-loop.h"
-#include "frc971/wpilib/pdp_values.q.h"
+#include "aos/events/event_loop.h"
+#include "frc971/wpilib/pdp_values_generated.h"
 
 namespace frc {
 class PowerDistributionPanel;
diff --git a/frc971/wpilib/pdp_values.fbs b/frc971/wpilib/pdp_values.fbs
new file mode 100644
index 0000000..4db2ade
--- /dev/null
+++ b/frc971/wpilib/pdp_values.fbs
@@ -0,0 +1,13 @@
+namespace frc971;
+
+// Values retrieved from the PDP.
+// Published on ".frc971.pdp_values"
+table PDPValues {
+  voltage:double;
+  temperature:double;
+  power:double;
+  // Array of 16 currents.
+  currents:[double];
+}
+
+root_type PDPValues;
diff --git a/frc971/wpilib/pdp_values.q b/frc971/wpilib/pdp_values.q
deleted file mode 100644
index 4c326ab..0000000
--- a/frc971/wpilib/pdp_values.q
+++ /dev/null
@@ -1,10 +0,0 @@
-package frc971;
-
-// Values retrieved from the PDP.
-// Published on ".frc971.pdp_values"
-message PDPValues {
-  double voltage;
-  double temperature;
-  double power;
-  double[16] currents;
-};
diff --git a/frc971/wpilib/sensor_reader.cc b/frc971/wpilib/sensor_reader.cc
index 63d3992..8610105 100644
--- a/frc971/wpilib/sensor_reader.cc
+++ b/frc971/wpilib/sensor_reader.cc
@@ -4,7 +4,6 @@
 #include <unistd.h>
 
 #include "aos/init.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/util/compiler_memory_barrier.h"
 #include "aos/util/phased_loop.h"
 #include "frc971/wpilib/ahal/DigitalInput.h"
@@ -124,10 +123,8 @@
       event_loop_->monotonic_now();
 
   {
-    auto new_state = robot_state_sender_.MakeMessage();
-    ::frc971::wpilib::PopulateRobotState(new_state.get(), my_pid_);
-    AOS_LOG_STRUCT(DEBUG, "robot_state", *new_state);
-    new_state.Send();
+    auto builder = robot_state_sender_.MakeBuilder();
+    builder.Send(::frc971::wpilib::PopulateRobotState(&builder, my_pid_));
   }
   RunIteration();
   if (dma_synchronizer_) {
diff --git a/frc971/wpilib/sensor_reader.h b/frc971/wpilib/sensor_reader.h
index 7a63444..ae1d580 100644
--- a/frc971/wpilib/sensor_reader.h
+++ b/frc971/wpilib/sensor_reader.h
@@ -4,11 +4,11 @@
 #include <atomic>
 #include <chrono>
 
-#include "aos/events/event-loop.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/events/event_loop.h"
+#include "aos/robot_state/robot_state_generated.h"
 #include "aos/stl_mutex/stl_mutex.h"
 #include "aos/time/time.h"
-#include "frc971/control_loops/control_loops.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
 #include "frc971/wpilib/ahal/DigitalInput.h"
 #include "frc971/wpilib/ahal/DriverStation.h"
@@ -63,7 +63,7 @@
   // Copies a DMAEncoder to a IndexPosition with the correct unit and direction
   // changes.
   void CopyPosition(const ::frc971::wpilib::DMAEncoder &encoder,
-                    ::frc971::IndexPosition *position,
+                    ::frc971::IndexPositionT *position,
                     double encoder_counts_per_revolution, double encoder_ratio,
                     bool reverse) {
     const double multiplier = reverse ? -1.0 : 1.0;
@@ -82,7 +82,7 @@
   // the correct unit and direction changes.
   void CopyPosition(
       const ::frc971::wpilib::AbsoluteEncoderAndPotentiometer &encoder,
-      ::frc971::PotAndAbsolutePosition *position,
+      ::frc971::PotAndAbsolutePositionT *position,
       double encoder_counts_per_revolution, double encoder_ratio,
       ::std::function<double(double)> potentiometer_translate, bool reverse,
       double pot_offset) {
@@ -104,7 +104,7 @@
   // Copies a DMAEdgeCounter to a HallEffectAndPosition with the correct unit
   // and direction changes.
   void CopyPosition(const ::frc971::wpilib::DMAEdgeCounter &counter,
-                    ::frc971::HallEffectAndPosition *position,
+                    ::frc971::HallEffectAndPositionT *position,
                     double encoder_counts_per_revolution, double encoder_ratio,
                     bool reverse) {
     const double multiplier = reverse ? -1.0 : 1.0;
@@ -129,7 +129,7 @@
   // and direction changes.
   void CopyPosition(
       const ::frc971::wpilib::AbsoluteEncoder &encoder,
-      ::frc971::AbsolutePosition *position,
+      ::frc971::AbsolutePositionT *position,
       double encoder_counts_per_revolution, double encoder_ratio,
       bool reverse) {
     const double multiplier = reverse ? -1.0 : 1.0;
@@ -146,7 +146,7 @@
 
   void CopyPosition(
       const ::frc971::wpilib::DMAEncoderAndPotentiometer &encoder,
-      ::frc971::PotAndIndexPosition *position,
+      ::frc971::PotAndIndexPositionT *position,
       ::std::function<double(int32_t)> encoder_translate,
       ::std::function<double(double)> potentiometer_translate, bool reverse,
       double pot_offset) {
diff --git a/frc971/wpilib/wpilib_interface.cc b/frc971/wpilib/wpilib_interface.cc
index 4216e3b..8772af1 100644
--- a/frc971/wpilib/wpilib_interface.cc
+++ b/frc971/wpilib/wpilib_interface.cc
@@ -1,30 +1,38 @@
 #include "frc971/wpilib/wpilib_interface.h"
 
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/events/event_loop.h"
+#include "aos/logging/logging.h"
+#include "aos/robot_state/robot_state_generated.h"
 
 #include "hal/HAL.h"
 
 namespace frc971 {
 namespace wpilib {
 
-void PopulateRobotState(::aos::RobotState *robot_state, int32_t my_pid) {
+flatbuffers::Offset<aos::RobotState> PopulateRobotState(
+    aos::Sender<::aos::RobotState>::Builder *builder, int32_t my_pid) {
   int32_t status = 0;
 
-  robot_state->reader_pid = my_pid;
-  robot_state->outputs_enabled = HAL_GetSystemActive(&status);
-  robot_state->browned_out = HAL_GetBrownedOut(&status);
+  aos::RobotState::Builder robot_state_builder =
+      builder->MakeBuilder<aos::RobotState>();
 
-  robot_state->is_3v3_active = HAL_GetUserActive3V3(&status);
-  robot_state->is_5v_active = HAL_GetUserActive5V(&status);
-  robot_state->voltage_3v3 = HAL_GetUserVoltage3V3(&status);
-  robot_state->voltage_5v = HAL_GetUserVoltage5V(&status);
+  robot_state_builder.add_reader_pid(my_pid);
+  robot_state_builder.add_outputs_enabled(HAL_GetSystemActive(&status));
+  robot_state_builder.add_browned_out(HAL_GetBrownedOut(&status));
 
-  robot_state->voltage_roborio_in = HAL_GetVinVoltage(&status);
-  robot_state->voltage_battery = HAL_GetVinVoltage(&status);
+  robot_state_builder.add_is_3v3_active(HAL_GetUserActive3V3(&status));
+  robot_state_builder.add_is_5v_active(HAL_GetUserActive5V(&status));
+  robot_state_builder.add_voltage_3v3(HAL_GetUserVoltage3V3(&status));
+  robot_state_builder.add_voltage_5v(HAL_GetUserVoltage5V(&status));
+
+  robot_state_builder.add_voltage_roborio_in(HAL_GetVinVoltage(&status));
+  robot_state_builder.add_voltage_battery(HAL_GetVinVoltage(&status));
 
   if (status != 0) {
     AOS_LOG(FATAL, "Failed to get robot state: %d\n", status);
   }
+
+  return robot_state_builder.Finish();
 }
 
 }  // namespace wpilib
diff --git a/frc971/wpilib/wpilib_interface.h b/frc971/wpilib/wpilib_interface.h
index 5db852a..104ab84 100644
--- a/frc971/wpilib/wpilib_interface.h
+++ b/frc971/wpilib/wpilib_interface.h
@@ -3,13 +3,15 @@
 
 #include <stdint.h>
 
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/events/event_loop.h"
+#include "aos/robot_state/robot_state_generated.h"
 
 namespace frc971 {
 namespace wpilib {
 
 // Sends out a message on ::aos::robot_state.
-void PopulateRobotState(::aos::RobotState *robot_state, int32_t my_pid);
+flatbuffers::Offset<aos::RobotState> PopulateRobotState(
+    aos::Sender<::aos::RobotState>::Builder *builder, int32_t my_pid);
 
 }  // namespace wpilib
 }  // namespace frc971
diff --git a/frc971/wpilib/wpilib_robot_base.h b/frc971/wpilib/wpilib_robot_base.h
index 86672c4..978c48e 100644
--- a/frc971/wpilib/wpilib_robot_base.h
+++ b/frc971/wpilib/wpilib_robot_base.h
@@ -1,8 +1,9 @@
 #ifndef FRC971_WPILIB_NEWROBOTBASE_H_
 #define FRC971_WPILIB_NEWROBOTBASE_H_
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
+#include "aos/logging/logging.h"
 #include "frc971/wpilib/ahal/RobotBase.h"
 
 namespace frc971 {
diff --git a/frc971/zeroing/BUILD b/frc971/zeroing/BUILD
index db5507b..fe95bdc 100644
--- a/frc971/zeroing/BUILD
+++ b/frc971/zeroing/BUILD
@@ -1,6 +1,5 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
 load("//tools:environments.bzl", "mcu_cpus")
 
 cc_library(
@@ -31,8 +30,10 @@
     ],
     deps = [
         ":wrap",
+        "//aos/logging",
         "//frc971:constants",
-        "//frc971/control_loops:queues",
+        "//frc971/control_loops:control_loops_fbs",
+        "@com_github_google_glog//:glog",
     ],
 )
 
@@ -44,11 +45,10 @@
     deps = [
         ":zeroing",
         "//aos:die",
-        "//aos/util:thread",
         "//aos/testing:googletest",
         "//aos/testing:test_shm",
+        "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:position_sensor_sim",
-        "//frc971/control_loops:queues",
     ],
 )
 
diff --git a/frc971/zeroing/zeroing.cc b/frc971/zeroing/zeroing.cc
index 1399efd..f0aab23 100644
--- a/frc971/zeroing/zeroing.cc
+++ b/frc971/zeroing/zeroing.cc
@@ -8,6 +8,9 @@
 
 #include "frc971/zeroing/wrap.h"
 
+#include "flatbuffers/flatbuffers.h"
+#include "glog/logging.h"
+
 namespace frc971 {
 namespace zeroing {
 
@@ -30,7 +33,7 @@
 
 void PotAndIndexPulseZeroingEstimator::TriggerError() {
   if (!error_) {
-    AOS_LOG(ERROR, "Manually triggered zeroing error.\n");
+    VLOG(1) << "Manually triggered zeroing error.";
     error_ = true;
   }
 }
@@ -57,14 +60,14 @@
   // reset and wait for that count to change before we consider ourselves
   // zeroed.
   if (wait_for_index_pulse_) {
-    last_used_index_pulse_count_ = info.index_pulses;
+    last_used_index_pulse_count_ = info.index_pulses();
     wait_for_index_pulse_ = false;
   }
 
   if (start_pos_samples_.size() < constants_.average_filter_size) {
-    start_pos_samples_.push_back(info.pot - info.encoder);
+    start_pos_samples_.push_back(info.pot() - info.encoder());
   } else {
-    start_pos_samples_[samples_idx_] = info.pot - info.encoder;
+    start_pos_samples_[samples_idx_] = info.pot() - info.encoder();
   }
 
   // Drop the oldest sample when we run this function the next time around.
@@ -83,14 +86,14 @@
   // have a well-filtered starting position then we use the filtered value as
   // our best guess.
   if (!zeroed_ &&
-      (info.index_pulses == last_used_index_pulse_count_ || !offset_ready())) {
+      (info.index_pulses() == last_used_index_pulse_count_ || !offset_ready())) {
     offset_ = start_average;
-  } else if (!zeroed_ || last_used_index_pulse_count_ != info.index_pulses) {
+  } else if (!zeroed_ || last_used_index_pulse_count_ != info.index_pulses()) {
     // Note the accurate start position and the current index pulse count so
     // that we only run this logic once per index pulse. That should be more
     // resilient to corrupted intermediate data.
-    offset_ = CalculateStartPosition(start_average, info.latched_encoder);
-    last_used_index_pulse_count_ = info.index_pulses;
+    offset_ = CalculateStartPosition(start_average, info.latched_encoder());
+    last_used_index_pulse_count_ = info.index_pulses();
 
     // TODO(austin): Reject encoder positions which have x% error rather than
     // rounding to the closest index pulse.
@@ -98,7 +101,7 @@
     // Save the first starting position.
     if (!zeroed_) {
       first_start_pos_ = offset_;
-      AOS_LOG(INFO, "latching start position %f\n", first_start_pos_);
+      VLOG(2) << "latching start position" << first_start_pos_;
     }
 
     // Now that we have an accurate starting position we can consider ourselves
@@ -109,29 +112,30 @@
     if (::std::abs(first_start_pos_ - offset_) >
         constants_.allowable_encoder_error * constants_.index_difference) {
       if (!error_) {
-        AOS_LOG(
-            ERROR,
-            "Encoder ticks out of range since last index pulse. first start "
-            "position: %f recent starting position: %f, allowable error: %f\n",
-            first_start_pos_, offset_,
-            constants_.allowable_encoder_error * constants_.index_difference);
+        VLOG(1)
+            << "Encoder ticks out of range since last index pulse. first start "
+               "position: "
+            << first_start_pos_ << " recent starting position: " << offset_
+            << ", allowable error: "
+            << constants_.allowable_encoder_error * constants_.index_difference;
         error_ = true;
       }
     }
   }
 
-  position_ = offset_ + info.encoder;
-  filtered_position_ = start_average + info.encoder;
+  position_ = offset_ + info.encoder();
+  filtered_position_ = start_average + info.encoder();
 }
 
-PotAndIndexPulseZeroingEstimator::State
-PotAndIndexPulseZeroingEstimator::GetEstimatorState() const {
-  State r;
-  r.error = error_;
-  r.zeroed = zeroed_;
-  r.position = position_;
-  r.pot_position = filtered_position_;
-  return r;
+flatbuffers::Offset<PotAndIndexPulseZeroingEstimator::State>
+PotAndIndexPulseZeroingEstimator::GetEstimatorState(
+    flatbuffers::FlatBufferBuilder *fbb) const {
+  State::Builder builder(*fbb);
+  builder.add_error(error_);
+  builder.add_zeroed(zeroed_);
+  builder.add_position(position_);
+  builder.add_pot_position(filtered_position_);
+  return builder.Finish();
 }
 
 HallEffectAndPositionZeroingEstimator::HallEffectAndPositionZeroingEstimator(
@@ -157,7 +161,7 @@
 
 void HallEffectAndPositionZeroingEstimator::TriggerError() {
   if (!error_) {
-    AOS_LOG(ERROR, "Manually triggered zeroing error.\n");
+    VLOG(1) << "Manually triggered zeroing error.\n";
     error_ = true;
   }
 }
@@ -165,15 +169,15 @@
 void HallEffectAndPositionZeroingEstimator::StoreEncoderMaxAndMin(
     const HallEffectAndPosition &info) {
   // If we have a new posedge.
-  if (!info.current) {
+  if (!info.current()) {
     if (last_hall_) {
-      min_low_position_ = max_low_position_ = info.encoder;
+      min_low_position_ = max_low_position_ = info.encoder();
     } else {
-      min_low_position_ = ::std::min(min_low_position_, info.encoder);
-      max_low_position_ = ::std::max(max_low_position_, info.encoder);
+      min_low_position_ = ::std::min(min_low_position_, info.encoder());
+      max_low_position_ = ::std::max(max_low_position_, info.encoder());
     }
   }
-  last_hall_ = info.current;
+  last_hall_ = info.current();
 }
 
 void HallEffectAndPositionZeroingEstimator::UpdateEstimate(
@@ -183,49 +187,49 @@
   // that count to change and for the hall effect to stay high before we
   // consider ourselves zeroed.
   if (!initialized_) {
-    last_used_posedge_count_ = info.posedge_count;
+    last_used_posedge_count_ = info.posedge_count();
     initialized_ = true;
-    last_hall_ = info.current;
+    last_hall_ = info.current();
   }
 
   StoreEncoderMaxAndMin(info);
 
-  if (info.current) {
+  if (info.current()) {
     cycles_high_++;
   } else {
     cycles_high_ = 0;
-    last_used_posedge_count_ = info.posedge_count;
+    last_used_posedge_count_ = info.posedge_count();
   }
 
   high_long_enough_ = cycles_high_ >= constants_.hall_trigger_zeroing_length;
 
   bool moving_backward = false;
   if (constants_.zeroing_move_direction) {
-    moving_backward = info.encoder > min_low_position_;
+    moving_backward = info.encoder() > min_low_position_;
   } else {
-    moving_backward = info.encoder < max_low_position_;
+    moving_backward = info.encoder() < max_low_position_;
   }
 
   // If there are no posedges to use or we don't have enough samples yet to
   // have a well-filtered starting position then we use the filtered value as
   // our best guess.
-  if (last_used_posedge_count_ != info.posedge_count && high_long_enough_ &&
+  if (last_used_posedge_count_ != info.posedge_count() && high_long_enough_ &&
       moving_backward) {
     // Note the offset and the current posedge count so that we only run this
     // logic once per posedge. That should be more resilient to corrupted
     // intermediate data.
-    offset_ = -info.posedge_value;
+    offset_ = -info.posedge_value();
     if (constants_.zeroing_move_direction) {
       offset_ += constants_.lower_hall_position;
     } else {
       offset_ += constants_.upper_hall_position;
     }
-    last_used_posedge_count_ = info.posedge_count;
+    last_used_posedge_count_ = info.posedge_count();
 
     // Save the first starting position.
     if (!zeroed_) {
       first_start_pos_ = offset_;
-      AOS_LOG(INFO, "latching start position %f\n", first_start_pos_);
+      VLOG(2) << "latching start position" << first_start_pos_;
     }
 
     // Now that we have an accurate starting position we can consider ourselves
@@ -233,18 +237,19 @@
     zeroed_ = true;
   }
 
-  position_ = info.encoder - offset_;
+  position_ = info.encoder() - offset_;
 }
 
-HallEffectAndPositionZeroingEstimator::State
-HallEffectAndPositionZeroingEstimator::GetEstimatorState() const {
-  State r;
-  r.error = error_;
-  r.zeroed = zeroed_;
-  r.encoder = position_;
-  r.high_long_enough = high_long_enough_;
-  r.offset = offset_;
-  return r;
+flatbuffers::Offset<HallEffectAndPositionZeroingEstimator::State>
+HallEffectAndPositionZeroingEstimator::GetEstimatorState(
+    flatbuffers::FlatBufferBuilder *fbb) const {
+  State::Builder builder(*fbb);
+  builder.add_error(error_);
+  builder.add_zeroed(zeroed_);
+  builder.add_encoder(position_);
+  builder.add_high_long_enough(high_long_enough_);
+  builder.add_offset(offset_);
+  return builder.Finish();
 }
 
 PotAndAbsoluteEncoderZeroingEstimator::PotAndAbsoluteEncoderZeroingEstimator(
@@ -291,23 +296,22 @@
     const PotAndAbsolutePosition &info) {
   // Check for Abs Encoder NaN value that would mess up the rest of the zeroing
   // code below. NaN values are given when the Absolute Encoder is disconnected.
-  if (::std::isnan(info.absolute_encoder)) {
+  if (::std::isnan(info.absolute_encoder())) {
     if (zeroed_) {
-      AOS_LOG(ERROR, "NAN on absolute encoder\n");
+      VLOG(1) << "NAN on absolute encoder.";
       error_ = true;
     } else {
       ++nan_samples_;
-      AOS_LOG(ERROR, "NAN on absolute encoder while zeroing %d\n",
-              static_cast<int>(nan_samples_));
+      VLOG(1) << "NAN on absolute encoder while zeroing" << nan_samples_;
       if (nan_samples_ >= constants_.average_filter_size) {
         error_ = true;
         zeroed_ = true;
       }
     }
     // Throw some dummy values in for now.
-    filtered_absolute_encoder_ = info.absolute_encoder;
-    filtered_position_ = pot_relative_encoder_offset_ + info.encoder;
-    position_ = offset_ + info.encoder;
+    filtered_absolute_encoder_ = info.absolute_encoder();
+    filtered_position_ = pot_relative_encoder_offset_ + info.encoder();
+    position_ = offset_ + info.encoder();
     return;
   }
 
@@ -315,7 +319,7 @@
                                             constants_.zeroing_threshold);
 
   if (!moving) {
-    const PotAndAbsolutePosition &sample = move_detector_.GetSample();
+    const PositionStruct &sample = move_detector_.GetSample();
 
     // Compute the average offset between the absolute encoder and relative
     // encoder.  If we have 0 samples, assume it is 0.
@@ -402,13 +406,10 @@
       if (::std::abs(first_offset_ - offset_) >
           constants_.allowable_encoder_error *
               constants_.one_revolution_distance) {
-        AOS_LOG(
-            ERROR,
-            "Offset moved too far. Initial: %f, current %f, allowable change: "
-            "%f\n",
-            first_offset_, offset_,
-            constants_.allowable_encoder_error *
-                constants_.one_revolution_distance);
+        VLOG(1) << "Offset moved too far. Initial: " << first_offset_
+                << ", current " << offset_ << ", allowable change: "
+                << constants_.allowable_encoder_error *
+                       constants_.one_revolution_distance;
         error_ = true;
       }
 
@@ -417,19 +418,20 @@
   }
 
   // Update the position.
-  filtered_position_ = pot_relative_encoder_offset_ + info.encoder;
-  position_ = offset_ + info.encoder;
+  filtered_position_ = pot_relative_encoder_offset_ + info.encoder();
+  position_ = offset_ + info.encoder();
 }
 
-PotAndAbsoluteEncoderZeroingEstimator::State
-PotAndAbsoluteEncoderZeroingEstimator::GetEstimatorState() const {
-  State r;
-  r.error = error_;
-  r.zeroed = zeroed_;
-  r.position = position_;
-  r.pot_position = filtered_position_;
-  r.absolute_position = filtered_absolute_encoder_;
-  return r;
+flatbuffers::Offset<PotAndAbsoluteEncoderZeroingEstimator::State>
+PotAndAbsoluteEncoderZeroingEstimator::GetEstimatorState(
+    flatbuffers::FlatBufferBuilder *fbb) const {
+  State::Builder builder(*fbb);
+  builder.add_error(error_);
+  builder.add_zeroed(zeroed_);
+  builder.add_position(position_);
+  builder.add_pot_position(filtered_position_);
+  builder.add_absolute_position(filtered_absolute_encoder_);
+  return builder.Finish();
 }
 
 void PulseIndexZeroingEstimator::Reset() {
@@ -444,16 +446,16 @@
 void PulseIndexZeroingEstimator::StoreIndexPulseMaxAndMin(
     const IndexPosition &info) {
   // If we have a new index pulse.
-  if (last_used_index_pulse_count_ != info.index_pulses) {
+  if (last_used_index_pulse_count_ != info.index_pulses()) {
     // If the latest pulses's position is outside the range we've currently
     // seen, record it appropriately.
-    if (info.latched_encoder > max_index_position_) {
-      max_index_position_ = info.latched_encoder;
+    if (info.latched_encoder() > max_index_position_) {
+      max_index_position_ = info.latched_encoder();
     }
-    if (info.latched_encoder < min_index_position_) {
-      min_index_position_ = info.latched_encoder;
+    if (info.latched_encoder() < min_index_position_) {
+      min_index_position_ = info.latched_encoder();
     }
-    last_used_index_pulse_count_ = info.index_pulses;
+    last_used_index_pulse_count_ = info.index_pulses();
   }
 }
 
@@ -474,9 +476,9 @@
   const int index_pulse_count = IndexPulseCount();
   if (index_pulse_count > constants_.index_pulse_count) {
     if (!error_) {
-      AOS_LOG(ERROR,
-              "Got more index pulses than expected. Got %d expected %d.\n",
-              index_pulse_count, constants_.index_pulse_count);
+      VLOG(1) << "Got more index pulses than expected. Got "
+              << index_pulse_count << " expected "
+              << constants_.index_pulse_count;
       error_ = true;
     }
   }
@@ -493,7 +495,7 @@
     // Detect whether the index pulse is somewhere other than where we expect
     // it to be. First we compute the position of the most recent index pulse.
     double index_pulse_distance =
-        info.latched_encoder + offset_ - constants_.measured_index_position;
+        info.latched_encoder() + offset_ - constants_.measured_index_position;
     // Second we compute the position of the index pulse in terms of
     // the index difference. I.e. if this index pulse is two pulses away from
     // the index pulse that we know about then this number should be positive
@@ -506,32 +508,34 @@
     // This lets us check if the index pulse is within an acceptable error
     // margin of where we expected it to be.
     if (::std::abs(error) > constants_.allowable_encoder_error) {
-      AOS_LOG(ERROR,
-              "Encoder ticks out of range since last index pulse. known index "
-              "pulse: %f, expected index pulse: %f, actual index pulse: %f, "
-              "allowable error: %f\n",
-              constants_.measured_index_position,
-              round(relative_distance) * constants_.index_difference +
-                  constants_.measured_index_position,
-              info.latched_encoder + offset_,
-              constants_.allowable_encoder_error * constants_.index_difference);
+      VLOG(1)
+          << "Encoder ticks out of range since last index pulse. known index "
+             "pulse: "
+          << constants_.measured_index_position << ", expected index pulse: "
+          << round(relative_distance) * constants_.index_difference +
+                 constants_.measured_index_position
+          << ", actual index pulse: " << info.latched_encoder() + offset_
+          << ", "
+             "allowable error: "
+          << constants_.allowable_encoder_error * constants_.index_difference;
       error_ = true;
     }
   }
 
-  position_ = info.encoder + offset_;
+  position_ = info.encoder() + offset_;
 }
 
-PulseIndexZeroingEstimator::State
-PulseIndexZeroingEstimator::GetEstimatorState() const {
-  State r;
-  r.error = error_;
-  r.zeroed = zeroed_;
-  r.position = position_;
-  r.min_index_position = min_index_position_;
-  r.max_index_position = max_index_position_;
-  r.index_pulses_seen = IndexPulseCount();
-  return r;
+flatbuffers::Offset<PulseIndexZeroingEstimator::State>
+PulseIndexZeroingEstimator::GetEstimatorState(
+    flatbuffers::FlatBufferBuilder *fbb) const {
+  State::Builder builder(*fbb);
+  builder.add_error(error_);
+  builder.add_zeroed(zeroed_);
+  builder.add_position(position_);
+  builder.add_min_index_position(min_index_position_);
+  builder.add_max_index_position(max_index_position_);
+  builder.add_index_pulses_seen(IndexPulseCount());
+  return builder.Finish();
 }
 
 AbsoluteEncoderZeroingEstimator::AbsoluteEncoderZeroingEstimator(
@@ -570,22 +574,21 @@
     const AbsolutePosition &info) {
   // Check for Abs Encoder NaN value that would mess up the rest of the zeroing
   // code below. NaN values are given when the Absolute Encoder is disconnected.
-  if (::std::isnan(info.absolute_encoder)) {
+  if (::std::isnan(info.absolute_encoder())) {
     if (zeroed_) {
-      AOS_LOG(ERROR, "NAN on absolute encoder\n");
+      VLOG(1) << "NAN on absolute encoder.";
       error_ = true;
     } else {
       ++nan_samples_;
-      AOS_LOG(ERROR, "NAN on absolute encoder while zeroing %d\n",
-              static_cast<int>(nan_samples_));
+      VLOG(1) << "NAN on absolute encoder while zeroing " << nan_samples_;
       if (nan_samples_ >= constants_.average_filter_size) {
         error_ = true;
         zeroed_ = true;
       }
     }
     // Throw some dummy values in for now.
-    filtered_absolute_encoder_ = info.absolute_encoder;
-    position_ = offset_ + info.encoder;
+    filtered_absolute_encoder_ = info.absolute_encoder();
+    position_ = offset_ + info.encoder();
     return;
   }
 
@@ -593,7 +596,7 @@
                                             constants_.zeroing_threshold);
 
   if (!moving) {
-    const AbsolutePosition &sample = move_detector_.GetSample();
+    const PositionStruct &sample = move_detector_.GetSample();
 
     // Compute the average offset between the absolute encoder and relative
     // encoder.  If we have 0 samples, assume it is 0.
@@ -673,13 +676,10 @@
       if (::std::abs(first_offset_ - offset_) >
           constants_.allowable_encoder_error *
               constants_.one_revolution_distance) {
-        AOS_LOG(
-            ERROR,
-            "Offset moved too far. Initial: %f, current %f, allowable change: "
-            "%f\n",
-            first_offset_, offset_,
-            constants_.allowable_encoder_error *
-                constants_.one_revolution_distance);
+        VLOG(1) << "Offset moved too far. Initial: " << first_offset_
+                << ", current " << offset_ << ", allowable change: "
+                << constants_.allowable_encoder_error *
+                       constants_.one_revolution_distance;
         error_ = true;
       }
 
@@ -688,17 +688,18 @@
   }
 
   // Update the position.
-  position_ = offset_ + info.encoder;
+  position_ = offset_ + info.encoder();
 }
 
-AbsoluteEncoderZeroingEstimator::State
-  AbsoluteEncoderZeroingEstimator::GetEstimatorState() const {
-  State r;
-  r.error = error_;
-  r.zeroed = zeroed_;
-  r.position = position_;
-  r.absolute_position = filtered_absolute_encoder_;
-  return r;
+flatbuffers::Offset<AbsoluteEncoderZeroingEstimator::State>
+AbsoluteEncoderZeroingEstimator::GetEstimatorState(
+    flatbuffers::FlatBufferBuilder *fbb) const {
+  State::Builder builder(*fbb);
+  builder.add_error(error_);
+  builder.add_zeroed(zeroed_);
+  builder.add_position(position_);
+  builder.add_absolute_position(filtered_absolute_encoder_);
+  return builder.Finish();
 }
 
 }  // namespace zeroing
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index e0c6169..1c6bb77 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -6,9 +6,11 @@
 #include <cstdint>
 #include <vector>
 
-#include "frc971/control_loops/control_loops.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/constants.h"
 
+#include "flatbuffers/flatbuffers.h"
+
 // TODO(pschrader): Flag an error if encoder index pulse is not n revolutions
 // away from the last one (i.e. got extra counts from noise, etc..)
 //
@@ -53,7 +55,8 @@
   virtual void UpdateEstimate(const Position &) = 0;
 
   // Returns the state of the estimator
-  virtual State GetEstimatorState() const = 0;
+  virtual flatbuffers::Offset<State> GetEstimatorState(
+      flatbuffers::FlatBufferBuilder *fbb) const = 0;
 };
 
 // Estimates the position with an incremental encoder with an index pulse and a
@@ -98,7 +101,8 @@
   }
 
   // Returns information about our current state.
-  State GetEstimatorState() const override;
+  virtual flatbuffers::Offset<State> GetEstimatorState(
+      flatbuffers::FlatBufferBuilder *fbb) const override;
 
  private:
   // This function calculates the start position given the internal state and
@@ -168,7 +172,8 @@
   bool offset_ready() const override { return zeroed_; }
 
   // Returns information about our current state.
-  State GetEstimatorState() const override;
+  virtual flatbuffers::Offset<State> GetEstimatorState(
+      flatbuffers::FlatBufferBuilder *fbb) const override;
 
  private:
   // Sets the minimum and maximum posedge position values.
@@ -217,7 +222,7 @@
 
 // Class to encapsulate the logic to decide when we are moving and which samples
 // are safe to use.
-template <typename Position>
+template <typename Position, typename PositionBuffer>
 class MoveDetector {
  public:
   MoveDetector(size_t filter_size) {
@@ -235,9 +240,10 @@
   // buffer_size is the number of samples in the moving buffer, and
   // zeroing_threshold is the max amount we can move within the period specified
   // by buffer_size.
-  bool Update(const Position &position, size_t buffer_size,
+  bool Update(const PositionBuffer &position_buffer, size_t buffer_size,
               double zeroing_threshold) {
     bool moving = true;
+    Position position(position_buffer);
     if (buffered_samples_.size() < buffer_size) {
       // Not enough samples to start determining if the robot is moving or not,
       // don't use the samples yet.
@@ -312,9 +318,20 @@
   }
 
   // Returns information about our current state.
-  State GetEstimatorState() const override;
+  virtual flatbuffers::Offset<State> GetEstimatorState(
+      flatbuffers::FlatBufferBuilder *fbb) const override;
 
  private:
+  struct PositionStruct {
+    PositionStruct(const PotAndAbsolutePosition &position_buffer)
+        : absolute_encoder(position_buffer.absolute_encoder()),
+          encoder(position_buffer.encoder()),
+          pot(position_buffer.pot()) {}
+    double absolute_encoder;
+    double encoder;
+    double pot;
+  };
+
   // The zeroing constants used to describe the configuration of the system.
   const constants::PotAndAbsoluteEncoderZeroingConstants constants_;
 
@@ -335,7 +352,7 @@
   // Offset between the Pot and Relative encoder position.
   ::std::vector<double> offset_samples_;
 
-  MoveDetector<PotAndAbsolutePosition> move_detector_;
+  MoveDetector<PositionStruct, PotAndAbsolutePosition> move_detector_;
 
   // Estimated offset between the pot and relative encoder.
   double pot_relative_encoder_offset_ = 0;
@@ -380,7 +397,8 @@
   void UpdateEstimate(const IndexPosition &info) override;
 
   // Returns information about our current state.
-  State GetEstimatorState() const override;
+  virtual flatbuffers::Offset<State> GetEstimatorState(
+      flatbuffers::FlatBufferBuilder *fbb) const override;
 
   void TriggerError() override { error_ = true; }
 
@@ -453,9 +471,18 @@
   }
 
   // Returns information about our current state.
-  State GetEstimatorState() const override;
+  virtual flatbuffers::Offset<State> GetEstimatorState(
+      flatbuffers::FlatBufferBuilder *fbb) const override;
 
  private:
+  struct PositionStruct {
+    PositionStruct(const AbsolutePosition &position_buffer)
+        : absolute_encoder(position_buffer.absolute_encoder()),
+          encoder(position_buffer.encoder()) {}
+    double absolute_encoder;
+    double encoder;
+  };
+
   // The zeroing constants used to describe the configuration of the system.
   const constants::AbsoluteEncoderZeroingConstants constants_;
 
@@ -474,7 +501,7 @@
   // absolute encoder.
   ::std::vector<double> relative_to_absolute_offset_samples_;
 
-  MoveDetector<AbsolutePosition> move_detector_;
+  MoveDetector<PositionStruct, AbsolutePosition> move_detector_;
 
   // Estimated start position of the mechanism
   double offset_ = 0;
diff --git a/frc971/zeroing/zeroing_test.cc b/frc971/zeroing/zeroing_test.cc
index cca0585..61d2d0c 100644
--- a/frc971/zeroing/zeroing_test.cc
+++ b/frc971/zeroing/zeroing_test.cc
@@ -5,21 +5,20 @@
 #include <random>
 
 #include "gtest/gtest.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/zeroing/zeroing.h"
-#include "frc971/control_loops/control_loops.q.h"
-#include "aos/testing/test_shm.h"
-#include "aos/util/thread.h"
 #include "aos/die.h"
 #include "frc971/control_loops/position_sensor_sim.h"
 
 namespace frc971 {
 namespace zeroing {
 
-using control_loops::PositionSensorSimulator;
 using constants::AbsoluteEncoderZeroingConstants;
 using constants::EncoderPlusIndexZeroingConstants;
 using constants::PotAndAbsoluteEncoderZeroingConstants;
 using constants::PotAndIndexPulseZeroingConstants;
+using control_loops::PositionSensorSimulator;
+using FBB = flatbuffers::FlatBufferBuilder;
 
 static const size_t kSampleSize = 30;
 static const double kAcceptableUnzeroedError = 0.2;
@@ -28,53 +27,58 @@
 
 class ZeroingTest : public ::testing::Test {
  protected:
-  void SetUp() override { aos::SetDieTestMode(true); }
+  void SetUp() override {}
 
   void MoveTo(PositionSensorSimulator *simulator,
               PotAndIndexPulseZeroingEstimator *estimator,
               double new_position) {
-    PotAndIndexPosition sensor_values;
     simulator->MoveTo(new_position);
-    simulator->GetSensorValues(&sensor_values);
-    estimator->UpdateEstimate(sensor_values);
+    FBB fbb;
+    estimator->UpdateEstimate(
+        *simulator->FillSensorValues<PotAndIndexPosition>(&fbb));
   }
 
   void MoveTo(PositionSensorSimulator *simulator,
-              AbsoluteEncoderZeroingEstimator *estimator,
-              double new_position) {
-    AbsolutePosition sensor_values_;
+              AbsoluteEncoderZeroingEstimator *estimator, double new_position) {
     simulator->MoveTo(new_position);
-    simulator->GetSensorValues(&sensor_values_);
-    estimator->UpdateEstimate(sensor_values_);
+    FBB fbb;
+    estimator->UpdateEstimate(
+        *simulator->FillSensorValues<AbsolutePosition>(&fbb));
   }
 
   void MoveTo(PositionSensorSimulator *simulator,
               PotAndAbsoluteEncoderZeroingEstimator *estimator,
               double new_position) {
-    PotAndAbsolutePosition sensor_values_;
     simulator->MoveTo(new_position);
-    simulator->GetSensorValues(&sensor_values_);
-    estimator->UpdateEstimate(sensor_values_);
+    FBB fbb;
+    estimator->UpdateEstimate(
+        *simulator->FillSensorValues<PotAndAbsolutePosition>(&fbb));
   }
 
   void MoveTo(PositionSensorSimulator *simulator,
               PulseIndexZeroingEstimator *estimator, double new_position) {
-    IndexPosition sensor_values_;
     simulator->MoveTo(new_position);
-    simulator->GetSensorValues(&sensor_values_);
-    estimator->UpdateEstimate(sensor_values_);
+    FBB fbb;
+    estimator->UpdateEstimate(
+        *simulator->FillSensorValues<IndexPosition>(&fbb));
   }
 
   void MoveTo(PositionSensorSimulator *simulator,
               HallEffectAndPositionZeroingEstimator *estimator,
               double new_position) {
-    HallEffectAndPosition sensor_values_;
     simulator->MoveTo(new_position);
-    simulator->GetSensorValues(&sensor_values_);
-    estimator->UpdateEstimate(sensor_values_);
+    FBB fbb;
+    estimator->UpdateEstimate(
+        *simulator->FillSensorValues<HallEffectAndPosition>(&fbb));
   }
 
-  ::aos::testing::TestSharedMemory my_shm_;
+  template <typename T>
+  double GetEstimatorPosition(T *estimator) {
+    FBB fbb;
+    fbb.Finish(estimator->GetEstimatorState(&fbb));
+    return flatbuffers::GetRoot<typename T::State>(fbb.GetBufferPointer())
+        ->position();
+  }
 };
 
 TEST_F(ZeroingTest, TestMovingAverageFilter) {
@@ -90,13 +94,13 @@
   for (int i = 0; i < 300; i++) {
     MoveTo(&sim, &estimator, 3.3 * index_diff);
   }
-  ASSERT_NEAR(3.3 * index_diff, estimator.GetEstimatorState().position,
+  ASSERT_NEAR(3.3 * index_diff, GetEstimatorPosition(&estimator),
               kAcceptableUnzeroedError * index_diff);
 
   for (int i = 0; i < 300; i++) {
     MoveTo(&sim, &estimator, 3.9 * index_diff);
   }
-  ASSERT_NEAR(3.9 * index_diff, estimator.GetEstimatorState().position,
+  ASSERT_NEAR(3.9 * index_diff, GetEstimatorPosition(&estimator),
               kAcceptableUnzeroedError * index_diff);
 }
 
@@ -133,25 +137,25 @@
   for (int i = 0; i < 300; i++) {
     MoveTo(&sim, &estimator, 3.6);
   }
-  ASSERT_NEAR(3.6, estimator.GetEstimatorState().position,
+  ASSERT_NEAR(3.6, GetEstimatorPosition(&estimator),
               kAcceptableUnzeroedError * index_diff);
 
   // With a single index pulse the zeroing estimator should be able to lock
   // onto the true value of the position.
   MoveTo(&sim, &estimator, 4.01);
-  ASSERT_NEAR(4.01, estimator.GetEstimatorState().position, 0.001);
+  ASSERT_NEAR(4.01, GetEstimatorPosition(&estimator), 0.001);
 
   MoveTo(&sim, &estimator, 4.99);
-  ASSERT_NEAR(4.99, estimator.GetEstimatorState().position, 0.001);
+  ASSERT_NEAR(4.99, GetEstimatorPosition(&estimator), 0.001);
 
   MoveTo(&sim, &estimator, 3.99);
-  ASSERT_NEAR(3.99, estimator.GetEstimatorState().position, 0.001);
+  ASSERT_NEAR(3.99, GetEstimatorPosition(&estimator), 0.001);
 
   MoveTo(&sim, &estimator, 3.01);
-  ASSERT_NEAR(3.01, estimator.GetEstimatorState().position, 0.001);
+  ASSERT_NEAR(3.01, GetEstimatorPosition(&estimator), 0.001);
 
   MoveTo(&sim, &estimator, 13.55);
-  ASSERT_NEAR(13.55, estimator.GetEstimatorState().position, 0.001);
+  ASSERT_NEAR(13.55, GetEstimatorPosition(&estimator), 0.001);
 }
 
 TEST_F(ZeroingTest, TestDifferentIndexDiffs) {
@@ -167,25 +171,25 @@
   for (int i = 0; i < 300; i++) {
     MoveTo(&sim, &estimator, 3.5 * index_diff);
   }
-  ASSERT_NEAR(3.5 * index_diff, estimator.GetEstimatorState().position,
+  ASSERT_NEAR(3.5 * index_diff, GetEstimatorPosition(&estimator),
               kAcceptableUnzeroedError * index_diff);
 
   // With a single index pulse the zeroing estimator should be able to lock
   // onto the true value of the position.
   MoveTo(&sim, &estimator, 4.01);
-  ASSERT_NEAR(4.01, estimator.GetEstimatorState().position, 0.001);
+  ASSERT_NEAR(4.01, GetEstimatorPosition(&estimator), 0.001);
 
   MoveTo(&sim, &estimator, 4.99);
-  ASSERT_NEAR(4.99, estimator.GetEstimatorState().position, 0.001);
+  ASSERT_NEAR(4.99, GetEstimatorPosition(&estimator), 0.001);
 
   MoveTo(&sim, &estimator, 3.99);
-  ASSERT_NEAR(3.99, estimator.GetEstimatorState().position, 0.001);
+  ASSERT_NEAR(3.99, GetEstimatorPosition(&estimator), 0.001);
 
   MoveTo(&sim, &estimator, 3.01);
-  ASSERT_NEAR(3.01, estimator.GetEstimatorState().position, 0.001);
+  ASSERT_NEAR(3.01, GetEstimatorPosition(&estimator), 0.001);
 
   MoveTo(&sim, &estimator, 13.55);
-  ASSERT_NEAR(13.55, estimator.GetEstimatorState().position, 0.001);
+  ASSERT_NEAR(13.55, GetEstimatorPosition(&estimator), 0.001);
 }
 
 TEST_F(ZeroingTest, TestPercentage) {
@@ -278,12 +282,12 @@
   MoveTo(&sim, &estimator, 3.7 * index_diff);
   ASSERT_TRUE(estimator.zeroed());
   ASSERT_DOUBLE_EQ(3.3 * index_diff, estimator.offset());
-  ASSERT_DOUBLE_EQ(3.7 * index_diff, estimator.GetEstimatorState().position);
+  ASSERT_DOUBLE_EQ(3.7 * index_diff, GetEstimatorPosition(&estimator));
 
   // Trigger one more index pulse and check the offset.
   MoveTo(&sim, &estimator, 4.7 * index_diff);
   ASSERT_DOUBLE_EQ(3.3 * index_diff, estimator.offset());
-  ASSERT_DOUBLE_EQ(4.7 * index_diff, estimator.GetEstimatorState().position);
+  ASSERT_DOUBLE_EQ(4.7 * index_diff, GetEstimatorPosition(&estimator));
 }
 
 TEST_F(ZeroingTest, BasicErrorAPITest) {
@@ -379,12 +383,12 @@
   PotAndAbsoluteEncoderZeroingEstimator estimator(constants);
 
   // We tolerate a couple NANs before we start.
-  PotAndAbsolutePosition sensor_values;
-  sensor_values.absolute_encoder = ::std::numeric_limits<double>::quiet_NaN();
-  sensor_values.encoder = 0.0;
-  sensor_values.pot = 0.0;
+  FBB fbb;
+  fbb.Finish(CreatePotAndAbsolutePosition(
+      fbb, 0.0, ::std::numeric_limits<double>::quiet_NaN(), 0.0));
   for (size_t i = 0; i < kSampleSize - 1; ++i) {
-    estimator.UpdateEstimate(sensor_values);
+    estimator.UpdateEstimate(
+        *flatbuffers::GetRoot<PotAndAbsolutePosition>(fbb.GetBufferPointer()));
   }
 
   for (size_t i = 0; i < kSampleSize + kMovingBufferSize - 1; ++i) {
@@ -431,17 +435,17 @@
 
   PotAndAbsoluteEncoderZeroingEstimator estimator(constants);
 
-  PotAndAbsolutePosition sensor_values;
-  sensor_values.absolute_encoder = ::std::numeric_limits<double>::quiet_NaN();
-  sensor_values.encoder = 0.0;
-  sensor_values.pot = 0.0;
-  // We tolerate a couple NANs before we start.
+  FBB fbb;
+  fbb.Finish(CreatePotAndAbsolutePosition(
+      fbb, 0.0, ::std::numeric_limits<double>::quiet_NaN(), 0.0));
+  const auto sensor_values =
+      flatbuffers::GetRoot<PotAndAbsolutePosition>(fbb.GetBufferPointer());
   for (size_t i = 0; i < kSampleSize - 1; ++i) {
-    estimator.UpdateEstimate(sensor_values);
+    estimator.UpdateEstimate(*sensor_values);
   }
   ASSERT_FALSE(estimator.error());
 
-  estimator.UpdateEstimate(sensor_values);
+  estimator.UpdateEstimate(*sensor_values);
   ASSERT_TRUE(estimator.error());
 }
 
@@ -493,11 +497,11 @@
 
   ASSERT_DOUBLE_EQ(start_pos, estimator.offset());
   ASSERT_DOUBLE_EQ(3.5 * constants.index_difference,
-                   estimator.GetEstimatorState().position);
+                   GetEstimatorPosition(&estimator));
 
   MoveTo(&sim, &estimator, 0.5 * constants.index_difference);
   ASSERT_DOUBLE_EQ(0.5 * constants.index_difference,
-                   estimator.GetEstimatorState().position);
+                   GetEstimatorPosition(&estimator));
 }
 
 // Tests that we can detect when an index pulse occurs where we didn't expect
@@ -716,11 +720,13 @@
   AbsoluteEncoderZeroingEstimator estimator(constants);
 
   // We tolerate a couple NANs before we start.
-  AbsolutePosition sensor_values;
-  sensor_values.absolute_encoder = ::std::numeric_limits<double>::quiet_NaN();
-  sensor_values.encoder = 0.0;
+  FBB fbb;
+  fbb.Finish(CreateAbsolutePosition(
+      fbb, 0.0, ::std::numeric_limits<double>::quiet_NaN()));
+  const auto sensor_values =
+      flatbuffers::GetRoot<AbsolutePosition>(fbb.GetBufferPointer());
   for (size_t i = 0; i < kSampleSize - 1; ++i) {
-    estimator.UpdateEstimate(sensor_values);
+    estimator.UpdateEstimate(*sensor_values);
   }
 
   for (size_t i = 0; i < kSampleSize + kMovingBufferSize - 1; ++i) {
@@ -769,16 +775,17 @@
 
   AbsoluteEncoderZeroingEstimator estimator(constants);
 
-  AbsolutePosition sensor_values;
-  sensor_values.absolute_encoder = ::std::numeric_limits<double>::quiet_NaN();
-  sensor_values.encoder = 0.0;
-  // We tolerate a couple NANs before we start.
+  FBB fbb;
+  fbb.Finish(CreateAbsolutePosition(
+      fbb, 0.0, ::std::numeric_limits<double>::quiet_NaN()));
+  const auto sensor_values =
+      flatbuffers::GetRoot<AbsolutePosition>(fbb.GetBufferPointer());
   for (size_t i = 0; i < kSampleSize - 1; ++i) {
-    estimator.UpdateEstimate(sensor_values);
+    estimator.UpdateEstimate(*sensor_values);
   }
   ASSERT_FALSE(estimator.error());
 
-  estimator.UpdateEstimate(sensor_values);
+  estimator.UpdateEstimate(*sensor_values);
   ASSERT_TRUE(estimator.error());
 }
 
diff --git a/motors/BUILD b/motors/BUILD
index d7dc456..8fe5ff6 100644
--- a/motors/BUILD
+++ b/motors/BUILD
@@ -131,6 +131,7 @@
     srcs = [
         "simple_receiver.cc",
     ],
+    copts = ["-Wno-type-limits"],
     restricted_to = mcu_cpus,
     deps = [
         ":util",
@@ -153,6 +154,7 @@
     srcs = [
         "simpler_receiver.cc",
     ],
+    copts = ["-Wno-type-limits"],
     restricted_to = mcu_cpus,
     deps = [
         ":util",
diff --git a/motors/big/BUILD b/motors/big/BUILD
index 8ce81f1..062828f 100644
--- a/motors/big/BUILD
+++ b/motors/big/BUILD
@@ -36,6 +36,6 @@
         "//motors:math",
         "//motors:motor",
         "//motors/peripheral:configuration",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
diff --git a/motors/fet12/BUILD b/motors/fet12/BUILD
index 673e1a7..5d25c41 100644
--- a/motors/fet12/BUILD
+++ b/motors/fet12/BUILD
@@ -76,7 +76,7 @@
         "//motors:math",
         "//motors:motor",
         "//motors/peripheral:configuration",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
diff --git a/motors/pistol_grip/BUILD b/motors/pistol_grip/BUILD
index 1946c55..d00404e 100644
--- a/motors/pistol_grip/BUILD
+++ b/motors/pistol_grip/BUILD
@@ -102,6 +102,6 @@
         "//motors:math",
         "//motors:motor",
         "//motors/peripheral:configuration",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
diff --git a/motors/simple_receiver.cc b/motors/simple_receiver.cc
index 0470c31..5f3af0a 100644
--- a/motors/simple_receiver.cc
+++ b/motors/simple_receiver.cc
@@ -22,11 +22,10 @@
 namespace motors {
 namespace {
 
-using ::frc971::control_loops::drivetrain::DrivetrainConfig;
-using ::frc971::control_loops::drivetrain::PolyDrivetrain;
 using ::frc971::constants::ShifterHallEffect;
-using ::frc971::control_loops::DrivetrainQueue_Goal;
-using ::frc971::control_loops::DrivetrainQueue_Output;
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+using ::frc971::control_loops::drivetrain::OutputT;
+using ::frc971::control_loops::drivetrain::PolyDrivetrain;
 using ::motors::seems_reasonable::Spring;
 
 namespace chrono = ::std::chrono;
@@ -547,20 +546,20 @@
                                   (::std::abs(convert_input_width(4)) < 0.5f);
 
   if (polydrivetrain != nullptr && spring != nullptr) {
-    DrivetrainQueue_Goal goal;
-    goal.control_loop_driving = false;
+    float throttle;
+    float wheel;
     if (lost_drive_channel) {
-      goal.throttle = 0.0f;
-      goal.wheel = 0.0f;
+      throttle = 0.0f;
+      wheel = 0.0f;
     } else {
-      goal.throttle = convert_input_width(1);
-      goal.wheel = -convert_input_width(0);
+      throttle = convert_input_width(1);
+      wheel = -convert_input_width(0);
     }
-    goal.quickturn = ::std::abs(polydrivetrain->velocity()) < 0.25f;
+    const bool quickturn = ::std::abs(polydrivetrain->velocity()) < 0.25f;
 
-    DrivetrainQueue_Output output;
+    OutputT output;
 
-    polydrivetrain->SetGoal(goal);
+    polydrivetrain->SetGoal(wheel, throttle, quickturn, false);
     polydrivetrain->Update(12.0f);
     polydrivetrain->SetOutput(&output);
 
diff --git a/motors/simpler_receiver.cc b/motors/simpler_receiver.cc
index 71d7e73..c3fcec9 100644
--- a/motors/simpler_receiver.cc
+++ b/motors/simpler_receiver.cc
@@ -20,11 +20,10 @@
 namespace motors {
 namespace {
 
-using ::frc971::control_loops::drivetrain::DrivetrainConfig;
-using ::frc971::control_loops::drivetrain::PolyDrivetrain;
 using ::frc971::constants::ShifterHallEffect;
-using ::frc971::control_loops::DrivetrainQueue_Goal;
-using ::frc971::control_loops::DrivetrainQueue_Output;
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+using ::frc971::control_loops::drivetrain::OutputT;
+using ::frc971::control_loops::drivetrain::PolyDrivetrain;
 
 namespace chrono = ::std::chrono;
 
@@ -286,29 +285,29 @@
   }
 
   if (polydrivetrain != nullptr) {
-    DrivetrainQueue_Goal goal;
-    goal.control_loop_driving = false;
+    float throttle;
+    float wheel;
     if (lost_drive_channel) {
-      goal.throttle = 0.0f;
-      goal.wheel = 0.0f;
+      throttle = 0.0f;
+      wheel = 0.0f;
     } else {
-      goal.throttle = convert_input_width(1);
-      goal.wheel = -convert_input_width(3);
+      throttle = convert_input_width(1);
+      wheel = -convert_input_width(3);
     }
-    goal.quickturn = ::std::abs(polydrivetrain->velocity()) < 0.25f;
+    const bool quickturn = ::std::abs(polydrivetrain->velocity()) < 0.25f;
 
     if (false) {
       static int count = 0;
       if (++count == 50) {
         count = 0;
-        printf("throttle: %d wheel: %d\n", (int)(goal.throttle * 100),
-               (int)(goal.wheel * 100));
+        printf("throttle: %d wheel: %d\n", (int)(throttle * 100),
+               (int)(wheel * 100));
       }
     }
 
-    DrivetrainQueue_Output output;
+    OutputT output;
 
-    polydrivetrain->SetGoal(goal);
+    polydrivetrain->SetGoal(wheel, throttle, quickturn, false);
     polydrivetrain->Update(12.0f);
     polydrivetrain->SetOutput(&output);
 
diff --git a/third_party/ceres/BUILD b/third_party/ceres/BUILD
index 8bc1dde..2a4028a 100644
--- a/third_party/ceres/BUILD
+++ b/third_party/ceres/BUILD
@@ -179,7 +179,7 @@
 TEST_DEPS = [
     "//:ceres",
     "//:test_util",
-    "@//third_party/eigen",
+    "@org_tuxfamily_eigen//:eigen",
     "@com_github_gflags_gflags//:gflags",
 ]
 
diff --git a/third_party/ceres/bazel/ceres.bzl b/third_party/ceres/bazel/ceres.bzl
index b9bedf5..d99046a 100644
--- a/third_party/ceres/bazel/ceres.bzl
+++ b/third_party/ceres/bazel/ceres.bzl
@@ -209,7 +209,7 @@
         ],
         visibility = ["//visibility:public"],
         deps = [
-            "@//third_party/eigen",
             "@com_github_google_glog//:glog",
+            "@org_tuxfamily_eigen//:eigen",
         ],
     )
diff --git a/third_party/ceres/examples/BUILD b/third_party/ceres/examples/BUILD
index 1986932..80d9a67 100644
--- a/third_party/ceres/examples/BUILD
+++ b/third_party/ceres/examples/BUILD
@@ -37,7 +37,7 @@
 
 EXAMPLE_DEPS = [
     "//:ceres",
-    "@//third_party/eigen",
+    "@org_tuxfamily_eigen//:eigen",
     "@com_github_gflags_gflags//:gflags",
 ]
 
diff --git a/third_party/ct/BUILD b/third_party/ct/BUILD
index 97e8111..ad7ce4b 100644
--- a/third_party/ct/BUILD
+++ b/third_party/ct/BUILD
@@ -275,7 +275,7 @@
         "//third_party/boostorg/config",
         "//third_party/boostorg/odeint",
         "//third_party/boostorg/property_tree",
-        "//third_party/eigen",
         "//third_party/hpipm",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
diff --git a/third_party/eigen/BUILD b/third_party/eigen/BUILD
index e66382c..54c5cd1 100644
--- a/third_party/eigen/BUILD
+++ b/third_party/eigen/BUILD
@@ -1,6 +1,6 @@
 licenses(["notice"])
 
-load("//tools:environments.bzl", "mcu_cpus")
+load("@//tools:environments.bzl", "mcu_cpus")
 
 cc_library(
     name = "eigen",
diff --git a/third_party/eigen/WORKSPACE b/third_party/eigen/WORKSPACE
new file mode 100644
index 0000000..6f155bf
--- /dev/null
+++ b/third_party/eigen/WORKSPACE
@@ -0,0 +1 @@
+workspace(name = "org_tuxfamily_eigen")
diff --git a/third_party/flatbuffers/BUILD b/third_party/flatbuffers/BUILD
index 17f5b8c..67a3a14 100644
--- a/third_party/flatbuffers/BUILD
+++ b/third_party/flatbuffers/BUILD
@@ -1,5 +1,7 @@
 licenses(["notice"])
 
+load("@//tools:environments.bzl", "mcu_cpus")
+
 package(
     default_visibility = ["//visibility:public"],
     features = [
@@ -100,6 +102,9 @@
         "src/idl_gen_text.cpp",
         "src/util.cpp",
     ],
+    data = [
+        "reflection/reflection.fbs",
+    ],
     includes = [
         "grpc/",
         "include/",
@@ -118,6 +123,7 @@
         "include/flatbuffers/stl_emulation.h",
         "include/flatbuffers/util.h",
     ],
+    compatible_with = mcu_cpus,
     includes = ["include/"],
     linkstatic = 1,
 )
diff --git a/third_party/flatbuffers/build_defs.bzl b/third_party/flatbuffers/build_defs.bzl
index a92f0ed..743c666 100644
--- a/third_party/flatbuffers/build_defs.bzl
+++ b/third_party/flatbuffers/build_defs.bzl
@@ -11,15 +11,18 @@
     "./",
     "$(GENDIR)",
     "$(BINDIR)",
+    "$(execpath @com_github_google_flatbuffers//:flatc).runfiles/com_github_google_flatbuffers",
 ]
 
 DEFAULT_FLATC_ARGS = [
     "--gen-object-api",
     "--gen-compare",
-    "--no-includes",
+    "--keep-prefix",
     "--gen-mutable",
     "--reflect-names",
     "--cpp-ptr-type flatbuffers::unique_ptr",
+    "--force-empty",
+    "--gen-name-strings",
 ]
 
 def flatbuffer_library_public(
@@ -33,6 +36,7 @@
         flatc_args = DEFAULT_FLATC_ARGS,
         reflection_name = "",
         reflection_visibility = None,
+        compatible_with = None,
         output_to_bindir = False):
     """Generates code files for reading/writing the given flatbuffers in the requested language using the public compiler.
 
@@ -83,6 +87,7 @@
         tools = [flatc_path],
         cmd = genrule_cmd,
         message = "Generating flatbuffer files for %s:" % (name),
+        compatible_with = compatible_with,
     )
     if reflection_name:
         reflection_genrule_cmd = " ".join([
@@ -109,20 +114,20 @@
             tools = [flatc_path],
             cmd = reflection_genrule_cmd,
             message = "Generating flatbuffer reflection binary for %s:" % (name),
+            compatible_with = compatible_with,
         )
-        native.Fileset(
-            name = reflection_name,
-            out = "%s_out" % reflection_name,
-            entries = [
-                native.FilesetEntry(files = reflection_outs),
-            ],
+        native.filegroup(
+            name = "%s_out" % reflection_name,
+            srcs = reflection_outs,
             visibility = reflection_visibility,
+            compatible_with = compatible_with,
         )
 
 def flatbuffer_cc_library(
         name,
         srcs,
         srcs_filegroup_name = "",
+        compatible_with = None,
         out_prefix = "",
         includes = [],
         include_paths = DEFAULT_INCLUDE_PATHS,
@@ -208,6 +213,7 @@
         flatc_args = flatc_args,
         reflection_name = reflection_name,
         reflection_visibility = visibility,
+        compatible_with = compatible_with,
     )
     native.cc_library(
         name = name,
@@ -226,6 +232,7 @@
         includes = [],
         linkstatic = 1,
         visibility = visibility,
+        compatible_with = compatible_with,
     )
 
     # A filegroup for the `srcs`. That is, all the schema files for this
@@ -234,4 +241,5 @@
         name = srcs_filegroup_name if srcs_filegroup_name else "%s_includes" % (name),
         srcs = srcs,
         visibility = srcs_filegroup_visibility if srcs_filegroup_visibility != None else visibility,
+        compatible_with = compatible_with,
     )
diff --git a/third_party/flatbuffers/include/flatbuffers/reflection_generated.h b/third_party/flatbuffers/include/flatbuffers/reflection_generated.h
index 0e73a0f..e80b0c9 100644
--- a/third_party/flatbuffers/include/flatbuffers/reflection_generated.h
+++ b/third_party/flatbuffers/include/flatbuffers/reflection_generated.h
@@ -9,22 +9,58 @@
 namespace reflection {
 
 struct Type;
+struct TypeBuilder;
+struct TypeT;
 
 struct KeyValue;
+struct KeyValueBuilder;
+struct KeyValueT;
 
 struct EnumVal;
+struct EnumValBuilder;
+struct EnumValT;
 
 struct Enum;
+struct EnumBuilder;
+struct EnumT;
 
 struct Field;
+struct FieldBuilder;
+struct FieldT;
 
 struct Object;
+struct ObjectBuilder;
+struct ObjectT;
 
 struct RPCCall;
+struct RPCCallBuilder;
+struct RPCCallT;
 
 struct Service;
+struct ServiceBuilder;
+struct ServiceT;
 
 struct Schema;
+struct SchemaBuilder;
+struct SchemaT;
+
+inline const flatbuffers::TypeTable *TypeTypeTable();
+
+inline const flatbuffers::TypeTable *KeyValueTypeTable();
+
+inline const flatbuffers::TypeTable *EnumValTypeTable();
+
+inline const flatbuffers::TypeTable *EnumTypeTable();
+
+inline const flatbuffers::TypeTable *FieldTypeTable();
+
+inline const flatbuffers::TypeTable *ObjectTypeTable();
+
+inline const flatbuffers::TypeTable *RPCCallTypeTable();
+
+inline const flatbuffers::TypeTable *ServiceTypeTable();
+
+inline const flatbuffers::TypeTable *SchemaTypeTable();
 
 enum BaseType {
   None = 0,
@@ -102,7 +138,26 @@
   return EnumNamesBaseType()[index];
 }
 
+struct TypeT : public flatbuffers::NativeTable {
+  typedef Type TableType;
+  reflection::BaseType base_type;
+  reflection::BaseType element;
+  int32_t index;
+  uint16_t fixed_length;
+  TypeT()
+      : base_type(reflection::None),
+        element(reflection::None),
+        index(-1),
+        fixed_length(0) {
+  }
+};
+
 struct Type FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  typedef TypeT NativeTableType;
+  typedef TypeBuilder Builder;
+  static const flatbuffers::TypeTable *MiniReflectTypeTable() {
+    return TypeTypeTable();
+  }
   enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
     VT_BASE_TYPE = 4,
     VT_ELEMENT = 6,
@@ -129,9 +184,13 @@
            VerifyField<uint16_t>(verifier, VT_FIXED_LENGTH) &&
            verifier.EndTable();
   }
+  TypeT *UnPack(const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  void UnPackTo(TypeT *_o, const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  static flatbuffers::Offset<Type> Pack(flatbuffers::FlatBufferBuilder &_fbb, const TypeT* _o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
 };
 
 struct TypeBuilder {
+  typedef Type Table;
   flatbuffers::FlatBufferBuilder &fbb_;
   flatbuffers::uoffset_t start_;
   void add_base_type(reflection::BaseType base_type) {
@@ -172,7 +231,22 @@
   return builder_.Finish();
 }
 
+flatbuffers::Offset<Type> CreateType(flatbuffers::FlatBufferBuilder &_fbb, const TypeT *_o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
+
+struct KeyValueT : public flatbuffers::NativeTable {
+  typedef KeyValue TableType;
+  std::string key;
+  std::string value;
+  KeyValueT() {
+  }
+};
+
 struct KeyValue FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  typedef KeyValueT NativeTableType;
+  typedef KeyValueBuilder Builder;
+  static const flatbuffers::TypeTable *MiniReflectTypeTable() {
+    return KeyValueTypeTable();
+  }
   enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
     VT_KEY = 4,
     VT_VALUE = 6
@@ -197,9 +271,13 @@
            verifier.VerifyString(value()) &&
            verifier.EndTable();
   }
+  KeyValueT *UnPack(const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  void UnPackTo(KeyValueT *_o, const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  static flatbuffers::Offset<KeyValue> Pack(flatbuffers::FlatBufferBuilder &_fbb, const KeyValueT* _o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
 };
 
 struct KeyValueBuilder {
+  typedef KeyValue Table;
   flatbuffers::FlatBufferBuilder &fbb_;
   flatbuffers::uoffset_t start_;
   void add_key(flatbuffers::Offset<flatbuffers::String> key) {
@@ -243,7 +321,26 @@
       value__);
 }
 
+flatbuffers::Offset<KeyValue> CreateKeyValue(flatbuffers::FlatBufferBuilder &_fbb, const KeyValueT *_o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
+
+struct EnumValT : public flatbuffers::NativeTable {
+  typedef EnumVal TableType;
+  std::string name;
+  int64_t value;
+  std::unique_ptr<reflection::ObjectT> object;
+  std::unique_ptr<reflection::TypeT> union_type;
+  std::vector<std::string> documentation;
+  EnumValT()
+      : value(0) {
+  }
+};
+
 struct EnumVal FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  typedef EnumValT NativeTableType;
+  typedef EnumValBuilder Builder;
+  static const flatbuffers::TypeTable *MiniReflectTypeTable() {
+    return EnumValTypeTable();
+  }
   enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
     VT_NAME = 4,
     VT_VALUE = 6,
@@ -286,9 +383,13 @@
            verifier.VerifyVectorOfStrings(documentation()) &&
            verifier.EndTable();
   }
+  EnumValT *UnPack(const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  void UnPackTo(EnumValT *_o, const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  static flatbuffers::Offset<EnumVal> Pack(flatbuffers::FlatBufferBuilder &_fbb, const EnumValT* _o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
 };
 
 struct EnumValBuilder {
+  typedef EnumVal Table;
   flatbuffers::FlatBufferBuilder &fbb_;
   flatbuffers::uoffset_t start_;
   void add_name(flatbuffers::Offset<flatbuffers::String> name) {
@@ -353,7 +454,27 @@
       documentation__);
 }
 
+flatbuffers::Offset<EnumVal> CreateEnumVal(flatbuffers::FlatBufferBuilder &_fbb, const EnumValT *_o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
+
+struct EnumT : public flatbuffers::NativeTable {
+  typedef Enum TableType;
+  std::string name;
+  std::vector<std::unique_ptr<reflection::EnumValT>> values;
+  bool is_union;
+  std::unique_ptr<reflection::TypeT> underlying_type;
+  std::vector<std::unique_ptr<reflection::KeyValueT>> attributes;
+  std::vector<std::string> documentation;
+  EnumT()
+      : is_union(false) {
+  }
+};
+
 struct Enum FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  typedef EnumT NativeTableType;
+  typedef EnumBuilder Builder;
+  static const flatbuffers::TypeTable *MiniReflectTypeTable() {
+    return EnumTypeTable();
+  }
   enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
     VT_NAME = 4,
     VT_VALUES = 6,
@@ -404,9 +525,13 @@
            verifier.VerifyVectorOfStrings(documentation()) &&
            verifier.EndTable();
   }
+  EnumT *UnPack(const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  void UnPackTo(EnumT *_o, const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  static flatbuffers::Offset<Enum> Pack(flatbuffers::FlatBufferBuilder &_fbb, const EnumT* _o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
 };
 
 struct EnumBuilder {
+  typedef Enum Table;
   flatbuffers::FlatBufferBuilder &fbb_;
   flatbuffers::uoffset_t start_;
   void add_name(flatbuffers::Offset<flatbuffers::String> name) {
@@ -482,7 +607,38 @@
       documentation__);
 }
 
+flatbuffers::Offset<Enum> CreateEnum(flatbuffers::FlatBufferBuilder &_fbb, const EnumT *_o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
+
+struct FieldT : public flatbuffers::NativeTable {
+  typedef Field TableType;
+  std::string name;
+  std::unique_ptr<reflection::TypeT> type;
+  uint16_t id;
+  uint16_t offset;
+  int64_t default_integer;
+  double default_real;
+  bool deprecated;
+  bool required;
+  bool key;
+  std::vector<std::unique_ptr<reflection::KeyValueT>> attributes;
+  std::vector<std::string> documentation;
+  FieldT()
+      : id(0),
+        offset(0),
+        default_integer(0),
+        default_real(0.0),
+        deprecated(false),
+        required(false),
+        key(false) {
+  }
+};
+
 struct Field FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  typedef FieldT NativeTableType;
+  typedef FieldBuilder Builder;
+  static const flatbuffers::TypeTable *MiniReflectTypeTable() {
+    return FieldTypeTable();
+  }
   enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
     VT_NAME = 4,
     VT_TYPE = 6,
@@ -556,9 +712,13 @@
            verifier.VerifyVectorOfStrings(documentation()) &&
            verifier.EndTable();
   }
+  FieldT *UnPack(const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  void UnPackTo(FieldT *_o, const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  static flatbuffers::Offset<Field> Pack(flatbuffers::FlatBufferBuilder &_fbb, const FieldT* _o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
 };
 
 struct FieldBuilder {
+  typedef Field Table;
   flatbuffers::FlatBufferBuilder &fbb_;
   flatbuffers::uoffset_t start_;
   void add_name(flatbuffers::Offset<flatbuffers::String> name) {
@@ -667,7 +827,30 @@
       documentation__);
 }
 
+flatbuffers::Offset<Field> CreateField(flatbuffers::FlatBufferBuilder &_fbb, const FieldT *_o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
+
+struct ObjectT : public flatbuffers::NativeTable {
+  typedef Object TableType;
+  std::string name;
+  std::vector<std::unique_ptr<reflection::FieldT>> fields;
+  bool is_struct;
+  int32_t minalign;
+  int32_t bytesize;
+  std::vector<std::unique_ptr<reflection::KeyValueT>> attributes;
+  std::vector<std::string> documentation;
+  ObjectT()
+      : is_struct(false),
+        minalign(0),
+        bytesize(0) {
+  }
+};
+
 struct Object FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  typedef ObjectT NativeTableType;
+  typedef ObjectBuilder Builder;
+  static const flatbuffers::TypeTable *MiniReflectTypeTable() {
+    return ObjectTypeTable();
+  }
   enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
     VT_NAME = 4,
     VT_FIELDS = 6,
@@ -722,9 +905,13 @@
            verifier.VerifyVectorOfStrings(documentation()) &&
            verifier.EndTable();
   }
+  ObjectT *UnPack(const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  void UnPackTo(ObjectT *_o, const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  static flatbuffers::Offset<Object> Pack(flatbuffers::FlatBufferBuilder &_fbb, const ObjectT* _o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
 };
 
 struct ObjectBuilder {
+  typedef Object Table;
   flatbuffers::FlatBufferBuilder &fbb_;
   flatbuffers::uoffset_t start_;
   void add_name(flatbuffers::Offset<flatbuffers::String> name) {
@@ -806,7 +993,25 @@
       documentation__);
 }
 
+flatbuffers::Offset<Object> CreateObject(flatbuffers::FlatBufferBuilder &_fbb, const ObjectT *_o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
+
+struct RPCCallT : public flatbuffers::NativeTable {
+  typedef RPCCall TableType;
+  std::string name;
+  std::unique_ptr<reflection::ObjectT> request;
+  std::unique_ptr<reflection::ObjectT> response;
+  std::vector<std::unique_ptr<reflection::KeyValueT>> attributes;
+  std::vector<std::string> documentation;
+  RPCCallT() {
+  }
+};
+
 struct RPCCall FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  typedef RPCCallT NativeTableType;
+  typedef RPCCallBuilder Builder;
+  static const flatbuffers::TypeTable *MiniReflectTypeTable() {
+    return RPCCallTypeTable();
+  }
   enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
     VT_NAME = 4,
     VT_REQUEST = 6,
@@ -851,9 +1056,13 @@
            verifier.VerifyVectorOfStrings(documentation()) &&
            verifier.EndTable();
   }
+  RPCCallT *UnPack(const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  void UnPackTo(RPCCallT *_o, const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  static flatbuffers::Offset<RPCCall> Pack(flatbuffers::FlatBufferBuilder &_fbb, const RPCCallT* _o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
 };
 
 struct RPCCallBuilder {
+  typedef RPCCall Table;
   flatbuffers::FlatBufferBuilder &fbb_;
   flatbuffers::uoffset_t start_;
   void add_name(flatbuffers::Offset<flatbuffers::String> name) {
@@ -921,7 +1130,24 @@
       documentation__);
 }
 
+flatbuffers::Offset<RPCCall> CreateRPCCall(flatbuffers::FlatBufferBuilder &_fbb, const RPCCallT *_o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
+
+struct ServiceT : public flatbuffers::NativeTable {
+  typedef Service TableType;
+  std::string name;
+  std::vector<std::unique_ptr<reflection::RPCCallT>> calls;
+  std::vector<std::unique_ptr<reflection::KeyValueT>> attributes;
+  std::vector<std::string> documentation;
+  ServiceT() {
+  }
+};
+
 struct Service FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  typedef ServiceT NativeTableType;
+  typedef ServiceBuilder Builder;
+  static const flatbuffers::TypeTable *MiniReflectTypeTable() {
+    return ServiceTypeTable();
+  }
   enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
     VT_NAME = 4,
     VT_CALLS = 6,
@@ -961,9 +1187,13 @@
            verifier.VerifyVectorOfStrings(documentation()) &&
            verifier.EndTable();
   }
+  ServiceT *UnPack(const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  void UnPackTo(ServiceT *_o, const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  static flatbuffers::Offset<Service> Pack(flatbuffers::FlatBufferBuilder &_fbb, const ServiceT* _o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
 };
 
 struct ServiceBuilder {
+  typedef Service Table;
   flatbuffers::FlatBufferBuilder &fbb_;
   flatbuffers::uoffset_t start_;
   void add_name(flatbuffers::Offset<flatbuffers::String> name) {
@@ -1023,7 +1253,26 @@
       documentation__);
 }
 
+flatbuffers::Offset<Service> CreateService(flatbuffers::FlatBufferBuilder &_fbb, const ServiceT *_o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
+
+struct SchemaT : public flatbuffers::NativeTable {
+  typedef Schema TableType;
+  std::vector<std::unique_ptr<reflection::ObjectT>> objects;
+  std::vector<std::unique_ptr<reflection::EnumT>> enums;
+  std::string file_ident;
+  std::string file_ext;
+  std::unique_ptr<reflection::ObjectT> root_table;
+  std::vector<std::unique_ptr<reflection::ServiceT>> services;
+  SchemaT() {
+  }
+};
+
 struct Schema FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  typedef SchemaT NativeTableType;
+  typedef SchemaBuilder Builder;
+  static const flatbuffers::TypeTable *MiniReflectTypeTable() {
+    return SchemaTypeTable();
+  }
   enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
     VT_OBJECTS = 4,
     VT_ENUMS = 6,
@@ -1069,9 +1318,13 @@
            verifier.VerifyVectorOfTables(services()) &&
            verifier.EndTable();
   }
+  SchemaT *UnPack(const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  void UnPackTo(SchemaT *_o, const flatbuffers::resolver_function_t *_resolver = nullptr) const;
+  static flatbuffers::Offset<Schema> Pack(flatbuffers::FlatBufferBuilder &_fbb, const SchemaT* _o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
 };
 
 struct SchemaBuilder {
+  typedef Schema Table;
   flatbuffers::FlatBufferBuilder &fbb_;
   flatbuffers::uoffset_t start_;
   void add_objects(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<reflection::Object>>> objects) {
@@ -1147,6 +1400,647 @@
       services__);
 }
 
+flatbuffers::Offset<Schema> CreateSchema(flatbuffers::FlatBufferBuilder &_fbb, const SchemaT *_o, const flatbuffers::rehasher_function_t *_rehasher = nullptr);
+
+inline TypeT *Type::UnPack(const flatbuffers::resolver_function_t *_resolver) const {
+  auto _o = new TypeT();
+  UnPackTo(_o, _resolver);
+  return _o;
+}
+
+inline void Type::UnPackTo(TypeT *_o, const flatbuffers::resolver_function_t *_resolver) const {
+  (void)_o;
+  (void)_resolver;
+  { auto _e = base_type(); _o->base_type = _e; };
+  { auto _e = element(); _o->element = _e; };
+  { auto _e = index(); _o->index = _e; };
+  { auto _e = fixed_length(); _o->fixed_length = _e; };
+}
+
+inline flatbuffers::Offset<Type> Type::Pack(flatbuffers::FlatBufferBuilder &_fbb, const TypeT* _o, const flatbuffers::rehasher_function_t *_rehasher) {
+  return CreateType(_fbb, _o, _rehasher);
+}
+
+inline flatbuffers::Offset<Type> CreateType(flatbuffers::FlatBufferBuilder &_fbb, const TypeT *_o, const flatbuffers::rehasher_function_t *_rehasher) {
+  (void)_rehasher;
+  (void)_o;
+  struct _VectorArgs { flatbuffers::FlatBufferBuilder *__fbb; const TypeT* __o; const flatbuffers::rehasher_function_t *__rehasher; } _va = { &_fbb, _o, _rehasher}; (void)_va;
+  auto _base_type = _o->base_type;
+  auto _element = _o->element;
+  auto _index = _o->index;
+  auto _fixed_length = _o->fixed_length;
+  return reflection::CreateType(
+      _fbb,
+      _base_type,
+      _element,
+      _index,
+      _fixed_length);
+}
+
+inline KeyValueT *KeyValue::UnPack(const flatbuffers::resolver_function_t *_resolver) const {
+  auto _o = new KeyValueT();
+  UnPackTo(_o, _resolver);
+  return _o;
+}
+
+inline void KeyValue::UnPackTo(KeyValueT *_o, const flatbuffers::resolver_function_t *_resolver) const {
+  (void)_o;
+  (void)_resolver;
+  { auto _e = key(); if (_e) _o->key = _e->str(); };
+  { auto _e = value(); if (_e) _o->value = _e->str(); };
+}
+
+inline flatbuffers::Offset<KeyValue> KeyValue::Pack(flatbuffers::FlatBufferBuilder &_fbb, const KeyValueT* _o, const flatbuffers::rehasher_function_t *_rehasher) {
+  return CreateKeyValue(_fbb, _o, _rehasher);
+}
+
+inline flatbuffers::Offset<KeyValue> CreateKeyValue(flatbuffers::FlatBufferBuilder &_fbb, const KeyValueT *_o, const flatbuffers::rehasher_function_t *_rehasher) {
+  (void)_rehasher;
+  (void)_o;
+  struct _VectorArgs { flatbuffers::FlatBufferBuilder *__fbb; const KeyValueT* __o; const flatbuffers::rehasher_function_t *__rehasher; } _va = { &_fbb, _o, _rehasher}; (void)_va;
+  auto _key = _fbb.CreateString(_o->key);
+  auto _value = _o->value.empty() ? 0 : _fbb.CreateString(_o->value);
+  return reflection::CreateKeyValue(
+      _fbb,
+      _key,
+      _value);
+}
+
+inline EnumValT *EnumVal::UnPack(const flatbuffers::resolver_function_t *_resolver) const {
+  auto _o = new EnumValT();
+  UnPackTo(_o, _resolver);
+  return _o;
+}
+
+inline void EnumVal::UnPackTo(EnumValT *_o, const flatbuffers::resolver_function_t *_resolver) const {
+  (void)_o;
+  (void)_resolver;
+  { auto _e = name(); if (_e) _o->name = _e->str(); };
+  { auto _e = value(); _o->value = _e; };
+  { auto _e = object(); if (_e) _o->object = std::unique_ptr<reflection::ObjectT>(_e->UnPack(_resolver)); };
+  { auto _e = union_type(); if (_e) _o->union_type = std::unique_ptr<reflection::TypeT>(_e->UnPack(_resolver)); };
+  { auto _e = documentation(); if (_e) { _o->documentation.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->documentation[_i] = _e->Get(_i)->str(); } } };
+}
+
+inline flatbuffers::Offset<EnumVal> EnumVal::Pack(flatbuffers::FlatBufferBuilder &_fbb, const EnumValT* _o, const flatbuffers::rehasher_function_t *_rehasher) {
+  return CreateEnumVal(_fbb, _o, _rehasher);
+}
+
+inline flatbuffers::Offset<EnumVal> CreateEnumVal(flatbuffers::FlatBufferBuilder &_fbb, const EnumValT *_o, const flatbuffers::rehasher_function_t *_rehasher) {
+  (void)_rehasher;
+  (void)_o;
+  struct _VectorArgs { flatbuffers::FlatBufferBuilder *__fbb; const EnumValT* __o; const flatbuffers::rehasher_function_t *__rehasher; } _va = { &_fbb, _o, _rehasher}; (void)_va;
+  auto _name = _fbb.CreateString(_o->name);
+  auto _value = _o->value;
+  auto _object = _o->object ? CreateObject(_fbb, _o->object.get(), _rehasher) : 0;
+  auto _union_type = _o->union_type ? CreateType(_fbb, _o->union_type.get(), _rehasher) : 0;
+  auto _documentation = _o->documentation.size() ? _fbb.CreateVectorOfStrings(_o->documentation) : 0;
+  return reflection::CreateEnumVal(
+      _fbb,
+      _name,
+      _value,
+      _object,
+      _union_type,
+      _documentation);
+}
+
+inline EnumT *Enum::UnPack(const flatbuffers::resolver_function_t *_resolver) const {
+  auto _o = new EnumT();
+  UnPackTo(_o, _resolver);
+  return _o;
+}
+
+inline void Enum::UnPackTo(EnumT *_o, const flatbuffers::resolver_function_t *_resolver) const {
+  (void)_o;
+  (void)_resolver;
+  { auto _e = name(); if (_e) _o->name = _e->str(); };
+  { auto _e = values(); if (_e) { _o->values.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->values[_i] = std::unique_ptr<reflection::EnumValT>(_e->Get(_i)->UnPack(_resolver)); } } };
+  { auto _e = is_union(); _o->is_union = _e; };
+  { auto _e = underlying_type(); if (_e) _o->underlying_type = std::unique_ptr<reflection::TypeT>(_e->UnPack(_resolver)); };
+  { auto _e = attributes(); if (_e) { _o->attributes.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->attributes[_i] = std::unique_ptr<reflection::KeyValueT>(_e->Get(_i)->UnPack(_resolver)); } } };
+  { auto _e = documentation(); if (_e) { _o->documentation.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->documentation[_i] = _e->Get(_i)->str(); } } };
+}
+
+inline flatbuffers::Offset<Enum> Enum::Pack(flatbuffers::FlatBufferBuilder &_fbb, const EnumT* _o, const flatbuffers::rehasher_function_t *_rehasher) {
+  return CreateEnum(_fbb, _o, _rehasher);
+}
+
+inline flatbuffers::Offset<Enum> CreateEnum(flatbuffers::FlatBufferBuilder &_fbb, const EnumT *_o, const flatbuffers::rehasher_function_t *_rehasher) {
+  (void)_rehasher;
+  (void)_o;
+  struct _VectorArgs { flatbuffers::FlatBufferBuilder *__fbb; const EnumT* __o; const flatbuffers::rehasher_function_t *__rehasher; } _va = { &_fbb, _o, _rehasher}; (void)_va;
+  auto _name = _fbb.CreateString(_o->name);
+  auto _values = _fbb.CreateVector<flatbuffers::Offset<reflection::EnumVal>> (_o->values.size(), [](size_t i, _VectorArgs *__va) { return CreateEnumVal(*__va->__fbb, __va->__o->values[i].get(), __va->__rehasher); }, &_va );
+  auto _is_union = _o->is_union;
+  auto _underlying_type = _o->underlying_type ? CreateType(_fbb, _o->underlying_type.get(), _rehasher) : 0;
+  auto _attributes = _o->attributes.size() ? _fbb.CreateVector<flatbuffers::Offset<reflection::KeyValue>> (_o->attributes.size(), [](size_t i, _VectorArgs *__va) { return CreateKeyValue(*__va->__fbb, __va->__o->attributes[i].get(), __va->__rehasher); }, &_va ) : 0;
+  auto _documentation = _o->documentation.size() ? _fbb.CreateVectorOfStrings(_o->documentation) : 0;
+  return reflection::CreateEnum(
+      _fbb,
+      _name,
+      _values,
+      _is_union,
+      _underlying_type,
+      _attributes,
+      _documentation);
+}
+
+inline FieldT *Field::UnPack(const flatbuffers::resolver_function_t *_resolver) const {
+  auto _o = new FieldT();
+  UnPackTo(_o, _resolver);
+  return _o;
+}
+
+inline void Field::UnPackTo(FieldT *_o, const flatbuffers::resolver_function_t *_resolver) const {
+  (void)_o;
+  (void)_resolver;
+  { auto _e = name(); if (_e) _o->name = _e->str(); };
+  { auto _e = type(); if (_e) _o->type = std::unique_ptr<reflection::TypeT>(_e->UnPack(_resolver)); };
+  { auto _e = id(); _o->id = _e; };
+  { auto _e = offset(); _o->offset = _e; };
+  { auto _e = default_integer(); _o->default_integer = _e; };
+  { auto _e = default_real(); _o->default_real = _e; };
+  { auto _e = deprecated(); _o->deprecated = _e; };
+  { auto _e = required(); _o->required = _e; };
+  { auto _e = key(); _o->key = _e; };
+  { auto _e = attributes(); if (_e) { _o->attributes.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->attributes[_i] = std::unique_ptr<reflection::KeyValueT>(_e->Get(_i)->UnPack(_resolver)); } } };
+  { auto _e = documentation(); if (_e) { _o->documentation.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->documentation[_i] = _e->Get(_i)->str(); } } };
+}
+
+inline flatbuffers::Offset<Field> Field::Pack(flatbuffers::FlatBufferBuilder &_fbb, const FieldT* _o, const flatbuffers::rehasher_function_t *_rehasher) {
+  return CreateField(_fbb, _o, _rehasher);
+}
+
+inline flatbuffers::Offset<Field> CreateField(flatbuffers::FlatBufferBuilder &_fbb, const FieldT *_o, const flatbuffers::rehasher_function_t *_rehasher) {
+  (void)_rehasher;
+  (void)_o;
+  struct _VectorArgs { flatbuffers::FlatBufferBuilder *__fbb; const FieldT* __o; const flatbuffers::rehasher_function_t *__rehasher; } _va = { &_fbb, _o, _rehasher}; (void)_va;
+  auto _name = _fbb.CreateString(_o->name);
+  auto _type = _o->type ? CreateType(_fbb, _o->type.get(), _rehasher) : 0;
+  auto _id = _o->id;
+  auto _offset = _o->offset;
+  auto _default_integer = _o->default_integer;
+  auto _default_real = _o->default_real;
+  auto _deprecated = _o->deprecated;
+  auto _required = _o->required;
+  auto _key = _o->key;
+  auto _attributes = _o->attributes.size() ? _fbb.CreateVector<flatbuffers::Offset<reflection::KeyValue>> (_o->attributes.size(), [](size_t i, _VectorArgs *__va) { return CreateKeyValue(*__va->__fbb, __va->__o->attributes[i].get(), __va->__rehasher); }, &_va ) : 0;
+  auto _documentation = _o->documentation.size() ? _fbb.CreateVectorOfStrings(_o->documentation) : 0;
+  return reflection::CreateField(
+      _fbb,
+      _name,
+      _type,
+      _id,
+      _offset,
+      _default_integer,
+      _default_real,
+      _deprecated,
+      _required,
+      _key,
+      _attributes,
+      _documentation);
+}
+
+inline ObjectT *Object::UnPack(const flatbuffers::resolver_function_t *_resolver) const {
+  auto _o = new ObjectT();
+  UnPackTo(_o, _resolver);
+  return _o;
+}
+
+inline void Object::UnPackTo(ObjectT *_o, const flatbuffers::resolver_function_t *_resolver) const {
+  (void)_o;
+  (void)_resolver;
+  { auto _e = name(); if (_e) _o->name = _e->str(); };
+  { auto _e = fields(); if (_e) { _o->fields.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->fields[_i] = std::unique_ptr<reflection::FieldT>(_e->Get(_i)->UnPack(_resolver)); } } };
+  { auto _e = is_struct(); _o->is_struct = _e; };
+  { auto _e = minalign(); _o->minalign = _e; };
+  { auto _e = bytesize(); _o->bytesize = _e; };
+  { auto _e = attributes(); if (_e) { _o->attributes.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->attributes[_i] = std::unique_ptr<reflection::KeyValueT>(_e->Get(_i)->UnPack(_resolver)); } } };
+  { auto _e = documentation(); if (_e) { _o->documentation.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->documentation[_i] = _e->Get(_i)->str(); } } };
+}
+
+inline flatbuffers::Offset<Object> Object::Pack(flatbuffers::FlatBufferBuilder &_fbb, const ObjectT* _o, const flatbuffers::rehasher_function_t *_rehasher) {
+  return CreateObject(_fbb, _o, _rehasher);
+}
+
+inline flatbuffers::Offset<Object> CreateObject(flatbuffers::FlatBufferBuilder &_fbb, const ObjectT *_o, const flatbuffers::rehasher_function_t *_rehasher) {
+  (void)_rehasher;
+  (void)_o;
+  struct _VectorArgs { flatbuffers::FlatBufferBuilder *__fbb; const ObjectT* __o; const flatbuffers::rehasher_function_t *__rehasher; } _va = { &_fbb, _o, _rehasher}; (void)_va;
+  auto _name = _fbb.CreateString(_o->name);
+  auto _fields = _fbb.CreateVector<flatbuffers::Offset<reflection::Field>> (_o->fields.size(), [](size_t i, _VectorArgs *__va) { return CreateField(*__va->__fbb, __va->__o->fields[i].get(), __va->__rehasher); }, &_va );
+  auto _is_struct = _o->is_struct;
+  auto _minalign = _o->minalign;
+  auto _bytesize = _o->bytesize;
+  auto _attributes = _o->attributes.size() ? _fbb.CreateVector<flatbuffers::Offset<reflection::KeyValue>> (_o->attributes.size(), [](size_t i, _VectorArgs *__va) { return CreateKeyValue(*__va->__fbb, __va->__o->attributes[i].get(), __va->__rehasher); }, &_va ) : 0;
+  auto _documentation = _o->documentation.size() ? _fbb.CreateVectorOfStrings(_o->documentation) : 0;
+  return reflection::CreateObject(
+      _fbb,
+      _name,
+      _fields,
+      _is_struct,
+      _minalign,
+      _bytesize,
+      _attributes,
+      _documentation);
+}
+
+inline RPCCallT *RPCCall::UnPack(const flatbuffers::resolver_function_t *_resolver) const {
+  auto _o = new RPCCallT();
+  UnPackTo(_o, _resolver);
+  return _o;
+}
+
+inline void RPCCall::UnPackTo(RPCCallT *_o, const flatbuffers::resolver_function_t *_resolver) const {
+  (void)_o;
+  (void)_resolver;
+  { auto _e = name(); if (_e) _o->name = _e->str(); };
+  { auto _e = request(); if (_e) _o->request = std::unique_ptr<reflection::ObjectT>(_e->UnPack(_resolver)); };
+  { auto _e = response(); if (_e) _o->response = std::unique_ptr<reflection::ObjectT>(_e->UnPack(_resolver)); };
+  { auto _e = attributes(); if (_e) { _o->attributes.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->attributes[_i] = std::unique_ptr<reflection::KeyValueT>(_e->Get(_i)->UnPack(_resolver)); } } };
+  { auto _e = documentation(); if (_e) { _o->documentation.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->documentation[_i] = _e->Get(_i)->str(); } } };
+}
+
+inline flatbuffers::Offset<RPCCall> RPCCall::Pack(flatbuffers::FlatBufferBuilder &_fbb, const RPCCallT* _o, const flatbuffers::rehasher_function_t *_rehasher) {
+  return CreateRPCCall(_fbb, _o, _rehasher);
+}
+
+inline flatbuffers::Offset<RPCCall> CreateRPCCall(flatbuffers::FlatBufferBuilder &_fbb, const RPCCallT *_o, const flatbuffers::rehasher_function_t *_rehasher) {
+  (void)_rehasher;
+  (void)_o;
+  struct _VectorArgs { flatbuffers::FlatBufferBuilder *__fbb; const RPCCallT* __o; const flatbuffers::rehasher_function_t *__rehasher; } _va = { &_fbb, _o, _rehasher}; (void)_va;
+  auto _name = _fbb.CreateString(_o->name);
+  auto _request = _o->request ? CreateObject(_fbb, _o->request.get(), _rehasher) : 0;
+  auto _response = _o->response ? CreateObject(_fbb, _o->response.get(), _rehasher) : 0;
+  auto _attributes = _o->attributes.size() ? _fbb.CreateVector<flatbuffers::Offset<reflection::KeyValue>> (_o->attributes.size(), [](size_t i, _VectorArgs *__va) { return CreateKeyValue(*__va->__fbb, __va->__o->attributes[i].get(), __va->__rehasher); }, &_va ) : 0;
+  auto _documentation = _o->documentation.size() ? _fbb.CreateVectorOfStrings(_o->documentation) : 0;
+  return reflection::CreateRPCCall(
+      _fbb,
+      _name,
+      _request,
+      _response,
+      _attributes,
+      _documentation);
+}
+
+inline ServiceT *Service::UnPack(const flatbuffers::resolver_function_t *_resolver) const {
+  auto _o = new ServiceT();
+  UnPackTo(_o, _resolver);
+  return _o;
+}
+
+inline void Service::UnPackTo(ServiceT *_o, const flatbuffers::resolver_function_t *_resolver) const {
+  (void)_o;
+  (void)_resolver;
+  { auto _e = name(); if (_e) _o->name = _e->str(); };
+  { auto _e = calls(); if (_e) { _o->calls.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->calls[_i] = std::unique_ptr<reflection::RPCCallT>(_e->Get(_i)->UnPack(_resolver)); } } };
+  { auto _e = attributes(); if (_e) { _o->attributes.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->attributes[_i] = std::unique_ptr<reflection::KeyValueT>(_e->Get(_i)->UnPack(_resolver)); } } };
+  { auto _e = documentation(); if (_e) { _o->documentation.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->documentation[_i] = _e->Get(_i)->str(); } } };
+}
+
+inline flatbuffers::Offset<Service> Service::Pack(flatbuffers::FlatBufferBuilder &_fbb, const ServiceT* _o, const flatbuffers::rehasher_function_t *_rehasher) {
+  return CreateService(_fbb, _o, _rehasher);
+}
+
+inline flatbuffers::Offset<Service> CreateService(flatbuffers::FlatBufferBuilder &_fbb, const ServiceT *_o, const flatbuffers::rehasher_function_t *_rehasher) {
+  (void)_rehasher;
+  (void)_o;
+  struct _VectorArgs { flatbuffers::FlatBufferBuilder *__fbb; const ServiceT* __o; const flatbuffers::rehasher_function_t *__rehasher; } _va = { &_fbb, _o, _rehasher}; (void)_va;
+  auto _name = _fbb.CreateString(_o->name);
+  auto _calls = _o->calls.size() ? _fbb.CreateVector<flatbuffers::Offset<reflection::RPCCall>> (_o->calls.size(), [](size_t i, _VectorArgs *__va) { return CreateRPCCall(*__va->__fbb, __va->__o->calls[i].get(), __va->__rehasher); }, &_va ) : 0;
+  auto _attributes = _o->attributes.size() ? _fbb.CreateVector<flatbuffers::Offset<reflection::KeyValue>> (_o->attributes.size(), [](size_t i, _VectorArgs *__va) { return CreateKeyValue(*__va->__fbb, __va->__o->attributes[i].get(), __va->__rehasher); }, &_va ) : 0;
+  auto _documentation = _o->documentation.size() ? _fbb.CreateVectorOfStrings(_o->documentation) : 0;
+  return reflection::CreateService(
+      _fbb,
+      _name,
+      _calls,
+      _attributes,
+      _documentation);
+}
+
+inline SchemaT *Schema::UnPack(const flatbuffers::resolver_function_t *_resolver) const {
+  auto _o = new SchemaT();
+  UnPackTo(_o, _resolver);
+  return _o;
+}
+
+inline void Schema::UnPackTo(SchemaT *_o, const flatbuffers::resolver_function_t *_resolver) const {
+  (void)_o;
+  (void)_resolver;
+  { auto _e = objects(); if (_e) { _o->objects.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->objects[_i] = std::unique_ptr<reflection::ObjectT>(_e->Get(_i)->UnPack(_resolver)); } } };
+  { auto _e = enums(); if (_e) { _o->enums.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->enums[_i] = std::unique_ptr<reflection::EnumT>(_e->Get(_i)->UnPack(_resolver)); } } };
+  { auto _e = file_ident(); if (_e) _o->file_ident = _e->str(); };
+  { auto _e = file_ext(); if (_e) _o->file_ext = _e->str(); };
+  { auto _e = root_table(); if (_e) _o->root_table = std::unique_ptr<reflection::ObjectT>(_e->UnPack(_resolver)); };
+  { auto _e = services(); if (_e) { _o->services.resize(_e->size()); for (flatbuffers::uoffset_t _i = 0; _i < _e->size(); _i++) { _o->services[_i] = std::unique_ptr<reflection::ServiceT>(_e->Get(_i)->UnPack(_resolver)); } } };
+}
+
+inline flatbuffers::Offset<Schema> Schema::Pack(flatbuffers::FlatBufferBuilder &_fbb, const SchemaT* _o, const flatbuffers::rehasher_function_t *_rehasher) {
+  return CreateSchema(_fbb, _o, _rehasher);
+}
+
+inline flatbuffers::Offset<Schema> CreateSchema(flatbuffers::FlatBufferBuilder &_fbb, const SchemaT *_o, const flatbuffers::rehasher_function_t *_rehasher) {
+  (void)_rehasher;
+  (void)_o;
+  struct _VectorArgs { flatbuffers::FlatBufferBuilder *__fbb; const SchemaT* __o; const flatbuffers::rehasher_function_t *__rehasher; } _va = { &_fbb, _o, _rehasher}; (void)_va;
+  auto _objects = _fbb.CreateVector<flatbuffers::Offset<reflection::Object>> (_o->objects.size(), [](size_t i, _VectorArgs *__va) { return CreateObject(*__va->__fbb, __va->__o->objects[i].get(), __va->__rehasher); }, &_va );
+  auto _enums = _fbb.CreateVector<flatbuffers::Offset<reflection::Enum>> (_o->enums.size(), [](size_t i, _VectorArgs *__va) { return CreateEnum(*__va->__fbb, __va->__o->enums[i].get(), __va->__rehasher); }, &_va );
+  auto _file_ident = _o->file_ident.empty() ? 0 : _fbb.CreateString(_o->file_ident);
+  auto _file_ext = _o->file_ext.empty() ? 0 : _fbb.CreateString(_o->file_ext);
+  auto _root_table = _o->root_table ? CreateObject(_fbb, _o->root_table.get(), _rehasher) : 0;
+  auto _services = _o->services.size() ? _fbb.CreateVector<flatbuffers::Offset<reflection::Service>> (_o->services.size(), [](size_t i, _VectorArgs *__va) { return CreateService(*__va->__fbb, __va->__o->services[i].get(), __va->__rehasher); }, &_va ) : 0;
+  return reflection::CreateSchema(
+      _fbb,
+      _objects,
+      _enums,
+      _file_ident,
+      _file_ext,
+      _root_table,
+      _services);
+}
+
+inline const flatbuffers::TypeTable *BaseTypeTypeTable() {
+  static const flatbuffers::TypeCode type_codes[] = {
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 }
+  };
+  static const flatbuffers::TypeFunction type_refs[] = {
+    reflection::BaseTypeTypeTable
+  };
+  static const char * const names[] = {
+    "None",
+    "UType",
+    "Bool",
+    "Byte",
+    "UByte",
+    "Short",
+    "UShort",
+    "Int",
+    "UInt",
+    "Long",
+    "ULong",
+    "Float",
+    "Double",
+    "String",
+    "Vector",
+    "Obj",
+    "Union",
+    "Array"
+  };
+  static const flatbuffers::TypeTable tt = {
+    flatbuffers::ST_ENUM, 18, type_codes, type_refs, nullptr, names
+  };
+  return &tt;
+}
+
+inline const flatbuffers::TypeTable *TypeTypeTable() {
+  static const flatbuffers::TypeCode type_codes[] = {
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_CHAR, 0, 0 },
+    { flatbuffers::ET_INT, 0, -1 },
+    { flatbuffers::ET_USHORT, 0, -1 }
+  };
+  static const flatbuffers::TypeFunction type_refs[] = {
+    reflection::BaseTypeTypeTable
+  };
+  static const char * const names[] = {
+    "base_type",
+    "element",
+    "index",
+    "fixed_length"
+  };
+  static const flatbuffers::TypeTable tt = {
+    flatbuffers::ST_TABLE, 4, type_codes, type_refs, nullptr, names
+  };
+  return &tt;
+}
+
+inline const flatbuffers::TypeTable *KeyValueTypeTable() {
+  static const flatbuffers::TypeCode type_codes[] = {
+    { flatbuffers::ET_STRING, 0, -1 },
+    { flatbuffers::ET_STRING, 0, -1 }
+  };
+  static const char * const names[] = {
+    "key",
+    "value"
+  };
+  static const flatbuffers::TypeTable tt = {
+    flatbuffers::ST_TABLE, 2, type_codes, nullptr, nullptr, names
+  };
+  return &tt;
+}
+
+inline const flatbuffers::TypeTable *EnumValTypeTable() {
+  static const flatbuffers::TypeCode type_codes[] = {
+    { flatbuffers::ET_STRING, 0, -1 },
+    { flatbuffers::ET_LONG, 0, -1 },
+    { flatbuffers::ET_SEQUENCE, 0, 0 },
+    { flatbuffers::ET_SEQUENCE, 0, 1 },
+    { flatbuffers::ET_STRING, 1, -1 }
+  };
+  static const flatbuffers::TypeFunction type_refs[] = {
+    reflection::ObjectTypeTable,
+    reflection::TypeTypeTable
+  };
+  static const char * const names[] = {
+    "name",
+    "value",
+    "object",
+    "union_type",
+    "documentation"
+  };
+  static const flatbuffers::TypeTable tt = {
+    flatbuffers::ST_TABLE, 5, type_codes, type_refs, nullptr, names
+  };
+  return &tt;
+}
+
+inline const flatbuffers::TypeTable *EnumTypeTable() {
+  static const flatbuffers::TypeCode type_codes[] = {
+    { flatbuffers::ET_STRING, 0, -1 },
+    { flatbuffers::ET_SEQUENCE, 1, 0 },
+    { flatbuffers::ET_BOOL, 0, -1 },
+    { flatbuffers::ET_SEQUENCE, 0, 1 },
+    { flatbuffers::ET_SEQUENCE, 1, 2 },
+    { flatbuffers::ET_STRING, 1, -1 }
+  };
+  static const flatbuffers::TypeFunction type_refs[] = {
+    reflection::EnumValTypeTable,
+    reflection::TypeTypeTable,
+    reflection::KeyValueTypeTable
+  };
+  static const char * const names[] = {
+    "name",
+    "values",
+    "is_union",
+    "underlying_type",
+    "attributes",
+    "documentation"
+  };
+  static const flatbuffers::TypeTable tt = {
+    flatbuffers::ST_TABLE, 6, type_codes, type_refs, nullptr, names
+  };
+  return &tt;
+}
+
+inline const flatbuffers::TypeTable *FieldTypeTable() {
+  static const flatbuffers::TypeCode type_codes[] = {
+    { flatbuffers::ET_STRING, 0, -1 },
+    { flatbuffers::ET_SEQUENCE, 0, 0 },
+    { flatbuffers::ET_USHORT, 0, -1 },
+    { flatbuffers::ET_USHORT, 0, -1 },
+    { flatbuffers::ET_LONG, 0, -1 },
+    { flatbuffers::ET_DOUBLE, 0, -1 },
+    { flatbuffers::ET_BOOL, 0, -1 },
+    { flatbuffers::ET_BOOL, 0, -1 },
+    { flatbuffers::ET_BOOL, 0, -1 },
+    { flatbuffers::ET_SEQUENCE, 1, 1 },
+    { flatbuffers::ET_STRING, 1, -1 }
+  };
+  static const flatbuffers::TypeFunction type_refs[] = {
+    reflection::TypeTypeTable,
+    reflection::KeyValueTypeTable
+  };
+  static const char * const names[] = {
+    "name",
+    "type",
+    "id",
+    "offset",
+    "default_integer",
+    "default_real",
+    "deprecated",
+    "required",
+    "key",
+    "attributes",
+    "documentation"
+  };
+  static const flatbuffers::TypeTable tt = {
+    flatbuffers::ST_TABLE, 11, type_codes, type_refs, nullptr, names
+  };
+  return &tt;
+}
+
+inline const flatbuffers::TypeTable *ObjectTypeTable() {
+  static const flatbuffers::TypeCode type_codes[] = {
+    { flatbuffers::ET_STRING, 0, -1 },
+    { flatbuffers::ET_SEQUENCE, 1, 0 },
+    { flatbuffers::ET_BOOL, 0, -1 },
+    { flatbuffers::ET_INT, 0, -1 },
+    { flatbuffers::ET_INT, 0, -1 },
+    { flatbuffers::ET_SEQUENCE, 1, 1 },
+    { flatbuffers::ET_STRING, 1, -1 }
+  };
+  static const flatbuffers::TypeFunction type_refs[] = {
+    reflection::FieldTypeTable,
+    reflection::KeyValueTypeTable
+  };
+  static const char * const names[] = {
+    "name",
+    "fields",
+    "is_struct",
+    "minalign",
+    "bytesize",
+    "attributes",
+    "documentation"
+  };
+  static const flatbuffers::TypeTable tt = {
+    flatbuffers::ST_TABLE, 7, type_codes, type_refs, nullptr, names
+  };
+  return &tt;
+}
+
+inline const flatbuffers::TypeTable *RPCCallTypeTable() {
+  static const flatbuffers::TypeCode type_codes[] = {
+    { flatbuffers::ET_STRING, 0, -1 },
+    { flatbuffers::ET_SEQUENCE, 0, 0 },
+    { flatbuffers::ET_SEQUENCE, 0, 0 },
+    { flatbuffers::ET_SEQUENCE, 1, 1 },
+    { flatbuffers::ET_STRING, 1, -1 }
+  };
+  static const flatbuffers::TypeFunction type_refs[] = {
+    reflection::ObjectTypeTable,
+    reflection::KeyValueTypeTable
+  };
+  static const char * const names[] = {
+    "name",
+    "request",
+    "response",
+    "attributes",
+    "documentation"
+  };
+  static const flatbuffers::TypeTable tt = {
+    flatbuffers::ST_TABLE, 5, type_codes, type_refs, nullptr, names
+  };
+  return &tt;
+}
+
+inline const flatbuffers::TypeTable *ServiceTypeTable() {
+  static const flatbuffers::TypeCode type_codes[] = {
+    { flatbuffers::ET_STRING, 0, -1 },
+    { flatbuffers::ET_SEQUENCE, 1, 0 },
+    { flatbuffers::ET_SEQUENCE, 1, 1 },
+    { flatbuffers::ET_STRING, 1, -1 }
+  };
+  static const flatbuffers::TypeFunction type_refs[] = {
+    reflection::RPCCallTypeTable,
+    reflection::KeyValueTypeTable
+  };
+  static const char * const names[] = {
+    "name",
+    "calls",
+    "attributes",
+    "documentation"
+  };
+  static const flatbuffers::TypeTable tt = {
+    flatbuffers::ST_TABLE, 4, type_codes, type_refs, nullptr, names
+  };
+  return &tt;
+}
+
+inline const flatbuffers::TypeTable *SchemaTypeTable() {
+  static const flatbuffers::TypeCode type_codes[] = {
+    { flatbuffers::ET_SEQUENCE, 1, 0 },
+    { flatbuffers::ET_SEQUENCE, 1, 1 },
+    { flatbuffers::ET_STRING, 0, -1 },
+    { flatbuffers::ET_STRING, 0, -1 },
+    { flatbuffers::ET_SEQUENCE, 0, 0 },
+    { flatbuffers::ET_SEQUENCE, 1, 2 }
+  };
+  static const flatbuffers::TypeFunction type_refs[] = {
+    reflection::ObjectTypeTable,
+    reflection::EnumTypeTable,
+    reflection::ServiceTypeTable
+  };
+  static const char * const names[] = {
+    "objects",
+    "enums",
+    "file_ident",
+    "file_ext",
+    "root_table",
+    "services"
+  };
+  static const flatbuffers::TypeTable tt = {
+    flatbuffers::ST_TABLE, 6, type_codes, type_refs, nullptr, names
+  };
+  return &tt;
+}
+
 inline const reflection::Schema *GetSchema(const void *buf) {
   return flatbuffers::GetRoot<reflection::Schema>(buf);
 }
@@ -1190,6 +2084,18 @@
   fbb.FinishSizePrefixed(root, SchemaIdentifier());
 }
 
+inline std::unique_ptr<reflection::SchemaT> UnPackSchema(
+    const void *buf,
+    const flatbuffers::resolver_function_t *res = nullptr) {
+  return std::unique_ptr<reflection::SchemaT>(GetSchema(buf)->UnPack(res));
+}
+
+inline std::unique_ptr<reflection::SchemaT> UnPackSizePrefixedSchema(
+    const void *buf,
+    const flatbuffers::resolver_function_t *res = nullptr) {
+  return std::unique_ptr<reflection::SchemaT>(GetSizePrefixedSchema(buf)->UnPack(res));
+}
+
 }  // namespace reflection
 
 #endif  // FLATBUFFERS_GENERATED_REFLECTION_REFLECTION_H_
diff --git a/third_party/flatbuffers/reflection/generate_code.sh b/third_party/flatbuffers/reflection/generate_code.sh
index f186b73..6e12c3d 100755
--- a/third_party/flatbuffers/reflection/generate_code.sh
+++ b/third_party/flatbuffers/reflection/generate_code.sh
@@ -15,4 +15,4 @@
 # limitations under the License.
 set -e
 
-../flatc -c --no-prefix -o ../include/flatbuffers reflection.fbs
+../../../bazel-out/host/bin/external/com_github_google_flatbuffers/flatc -c --gen-object-api --reflect-names --no-prefix -o ../include/flatbuffers reflection.fbs
diff --git a/third_party/flatbuffers/src/idl_gen_cpp.cpp b/third_party/flatbuffers/src/idl_gen_cpp.cpp
index 0f9950d..a646d91 100644
--- a/third_party/flatbuffers/src/idl_gen_cpp.cpp
+++ b/third_party/flatbuffers/src/idl_gen_cpp.cpp
@@ -196,9 +196,19 @@
       auto noext = flatbuffers::StripExtension(it->second);
       auto basename = flatbuffers::StripPath(noext);
 
-      code_ += "#include \"" + parser_.opts.include_prefix +
-               (parser_.opts.keep_include_path ? noext : basename) +
-               "_generated.h\"";
+      // TODO(austin): Clean this up.
+      // The reflection_generated.h header is not in the reflection folder like
+      // it's include path and namespace suggests.  Detect this special case and
+      // rewrite it.
+      std::string include =
+          parser_.opts.include_prefix +
+          (parser_.opts.keep_include_path ? noext : basename) + "_generated.h";
+
+      if (include == "reflection/reflection_generated.h") {
+        include = "flatbuffers/reflection_generated.h";
+      }
+
+      code_ += "#include \"" + include + "\"";
       num_includes++;
     }
     if (num_includes) code_ += "";
@@ -251,12 +261,14 @@
 
     // Generate forward declarations for all structs/tables, since they may
     // have circular references.
+    // LOCAL_MOD: Add builders to forward declares
     for (auto it = parser_.structs_.vec.begin();
          it != parser_.structs_.vec.end(); ++it) {
       const auto &struct_def = **it;
       if (!struct_def.generated) {
         SetNameSpace(struct_def.defined_namespace);
         code_ += "struct " + Name(struct_def) + ";";
+        code_ += "struct " + Name(struct_def) + "Builder;";
         if (parser_.opts.generate_object_based_api) {
           auto nativeName =
               NativeName(Name(struct_def), &struct_def, parser_.opts);
@@ -1803,6 +1815,8 @@
     if (parser_.opts.generate_object_based_api) {
       code_ += "  typedef {{NATIVE_NAME}} NativeTableType;";
     }
+    // LOCAL_MOD: Add builder typedef.
+    code_ += "  typedef {{STRUCT_NAME}}Builder Builder;";
     if (parser_.opts.mini_reflect != IDLOptions::kNone) {
       code_ +=
           "  static const flatbuffers::TypeTable *MiniReflectTypeTable() {";
@@ -2065,6 +2079,7 @@
 
     // Generate a builder struct:
     code_ += "struct {{STRUCT_NAME}}Builder {";
+    code_ += "  typedef {{STRUCT_NAME}} Table;";
     code_ += "  flatbuffers::FlatBufferBuilder &fbb_;";
     code_ += "  flatbuffers::uoffset_t start_;";
 
diff --git a/third_party/gperftools/BUILD b/third_party/gperftools/BUILD
index 3798a29..f9cf185 100644
--- a/third_party/gperftools/BUILD
+++ b/third_party/gperftools/BUILD
@@ -4,7 +4,7 @@
 load("//tools/build_rules:empty_main.bzl", "empty_main_if_asan")
 
 common_copts = [
-    # Stuff from their Makefile.
+#Stuff from their Makefile.
     "-Wno-cast-align",
     "-Wno-sign-compare",
     "-fno-builtin-malloc",
@@ -20,7 +20,7 @@
     "-fno-omit-frame-pointer",
     "-DNDEBUG",
 
-    # Stuff to make it work for us.
+#Stuff to make it work for us.
     "-Ithird_party/gperftools/src/",
     "-Ithird_party/empty_config_h",
     "-Wno-unused-parameter",
@@ -32,7 +32,7 @@
     "-Wno-error=cast-align",
     "-Wno-error=cast-qual",
 
-    # Stuff pulled out of config.h.
+#Stuff pulled out of config.h.
     "-DHAVE_BUILTIN_EXPECT=1",
     "-DHAVE_DECL_CFREE=1",
     "-DHAVE_DECL_MEMALIGN=1",
@@ -145,6 +145,7 @@
     deps = [
         "//third_party/empty_config_h",
     ],
+    includes = ["src"],
     alwayslink = True,
 )
 
@@ -209,8 +210,8 @@
     ]),
     copts = common_copts + [
         "-fno-builtin",
-        # Add this back in when we upgrade clang.
-        #'-Wno-mismatched-new-delete',
+#Add this back in when we upgrade clang.
+#'-Wno-mismatched-new-delete',
     ],
     deps = [
         ":tcmalloc",
diff --git a/tools/build_rules/ruby.bzl b/tools/build_rules/ruby.bzl
deleted file mode 100644
index cfab2e9..0000000
--- a/tools/build_rules/ruby.bzl
+++ /dev/null
@@ -1,94 +0,0 @@
-ZIP_PATH = '/usr/bin/zip'
-
-ruby_file_types = FileType(['.rb'])
-
-def _collect_transitive_sources(ctx):
-  source_files = depset(order='postorder')
-  for dep in ctx.attr.deps:
-    source_files += dep.transitive_ruby_files
-
-  source_files += ruby_file_types.filter(ctx.files.srcs)
-  return source_files
-
-def _ruby_library_impl(ctx):
-  transitive_sources = _collect_transitive_sources(ctx)
-  return struct(
-    transitive_ruby_files = transitive_sources,
-  )
-
-def _ruby_binary_impl(ctx):
-  main_file = ctx.files.srcs[0]
-  transitive_sources = _collect_transitive_sources(ctx)
-  executable = ctx.outputs.executable
-  manifest_file = ctx.outputs.manifest
-
-  path_map = '\n'.join([('%s|%s' % (item.short_path, item.path))
-                        for item in transitive_sources])
-  ctx.file_action(output=manifest_file, content=path_map)
-
-  ctx.action(
-    inputs = list(transitive_sources) + [manifest_file],
-    outputs = [ executable ],
-    arguments = [ manifest_file.path, executable.path, main_file.path ],
-    executable = ctx.executable._ruby_linker,
-  )
-
-  return struct(
-    files = depset([executable]),
-    runfiles = ctx.runfiles(collect_data = True),
-  )
-
-
-_ruby_attrs = {
-  'srcs': attr.label_list(
-    allow_files = ruby_file_types,
-    mandatory = True,
-    non_empty = True,
-  ),
-  'deps': attr.label_list(
-    providers = ['transitive_ruby_files'],
-    allow_files = False,
-  ),
-  'data': attr.label_list(
-    allow_files = True,
-    cfg = 'data',
-  ),
-}
-
-'''Packages ruby code into a library.
-
-The files can use require with paths from the base of the workspace and/or
-require_relative with other files that are part of the library.
-require also works from the filesystem as usual.
-
-Attrs:
-  srcs: Ruby source files to include.
-  deps: Other ruby_library rules to include.
-'''
-ruby_library = rule(
-  implementation = _ruby_library_impl,
-  attrs = _ruby_attrs,
-)
-
-'''Packages ruby code into a binary which can be run.
-
-See ruby_library for details on how require works.
-
-Attrs:
-  srcs: Ruby source files to include. The first one is loaded to at startup.
-  deps: ruby_library rules to include.
-'''
-ruby_binary = rule(
-  implementation = _ruby_binary_impl,
-  executable = True,
-  attrs = _ruby_attrs + {
-    '_ruby_linker': attr.label(
-      executable = True,
-      cfg = 'host',
-      default = Label('//tools/ruby:standalone_ruby'),
-    )
-  },
-  outputs = {
-    'manifest': '%{name}.tar_manifest',
-  },
-)
diff --git a/y2012/BUILD b/y2012/BUILD
index 401beac..ff6d3f2 100644
--- a/y2012/BUILD
+++ b/y2012/BUILD
@@ -12,9 +12,10 @@
         "//aos/logging",
         "//aos/time",
         "//aos/util:log_interval",
-        "//frc971/autonomous:auto_queue",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
-        "//y2012/control_loops/accessories:accessories_queue",
+        "//frc971/autonomous:auto_fbs",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_goal_fbs",
+        "//y2012/control_loops/accessories:accessories_fbs",
     ],
 )
 
@@ -37,17 +38,18 @@
         "//aos:init",
         "//aos:make_unique",
         "//aos/controls:control_loop",
-        "//aos/events:shm-event-loop",
+        "//aos/controls:control_loop_fbs",
+        "//aos/events:shm_event_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/stl_mutex",
         "//aos/time",
         "//aos/util:log_interval",
         "//aos/util:phased_loop",
         "//aos/util:wrapping_counter",
-        "//frc971/control_loops:queues",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
         "//frc971/wpilib:buffered_pcm",
         "//frc971/wpilib:dma",
         "//frc971/wpilib:dma_edge_counting",
@@ -55,13 +57,13 @@
         "//frc971/wpilib:encoder_and_potentiometer",
         "//frc971/wpilib:interrupt_edge_counting",
         "//frc971/wpilib:joystick_sender",
-        "//frc971/wpilib:logging_queue",
+        "//frc971/wpilib:logging_fbs",
         "//frc971/wpilib:loop_output_handler",
         "//frc971/wpilib:sensor_reader",
         "//frc971/wpilib:wpilib_interface",
         "//frc971/wpilib:wpilib_robot_base",
         "//third_party:wpilib",
-        "//y2012/control_loops/accessories:accessories_queue",
+        "//y2012/control_loops/accessories:accessories_fbs",
     ],
 )
 
diff --git a/y2012/control_loops/accessories/BUILD b/y2012/control_loops/accessories/BUILD
index 63f02dd..65a6d1d 100644
--- a/y2012/control_loops/accessories/BUILD
+++ b/y2012/control_loops/accessories/BUILD
@@ -1,25 +1,23 @@
-package(default_visibility = ['//visibility:public'])
+package(default_visibility = ["//visibility:public"])
 
-load('//aos/build:queues.bzl', 'queue_library')
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 
 cc_binary(
-  name = 'accessories',
-  srcs = [
-    'accessories.cc',
-  ],
-  deps = [
-    ':accessories_queue',
-    '//aos:init',
-    '//aos/controls:control_loop',
-  ],
+    name = "accessories",
+    srcs = [
+        "accessories.cc",
+    ],
+    deps = [
+        ":accessories_fbs",
+        "//aos:init",
+        "//aos/controls:control_loop",
+        "//aos/controls:control_loop_fbs",
+    ],
 )
 
-queue_library(
-  name = 'accessories_queue',
-  srcs = [
-    'accessories.q',
-  ],
-  deps = [
-    '//aos/controls:control_loop_queues',
-  ],
+flatbuffer_cc_library(
+    name = "accessories_fbs",
+    srcs = [
+        "accessories.fbs",
+    ],
 )
diff --git a/y2012/control_loops/accessories/accessories.cc b/y2012/control_loops/accessories/accessories.cc
index 9d96840..726aede 100644
--- a/y2012/control_loops/accessories/accessories.cc
+++ b/y2012/control_loops/accessories/accessories.cc
@@ -1,28 +1,43 @@
-#include "y2012/control_loops/accessories/accessories.q.h"
+#include "y2012/control_loops/accessories/accessories_generated.h"
 
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/controls/control_loop.h"
+#include "aos/controls/control_loops_generated.h"
 
 namespace y2012 {
 namespace control_loops {
 namespace accessories {
 
 class AccessoriesLoop : public ::aos::controls::ControlLoop<
-                            ::y2012::control_loops::AccessoriesQueue> {
+                            Message, ::aos::control_loops::Position,
+                            ::aos::control_loops::Status, Message> {
  public:
   explicit AccessoriesLoop(
       ::aos::EventLoop *event_loop,
       const ::std::string &name = ".y2012.control_loops.accessories_queue")
-      : ::aos::controls::ControlLoop<::y2012::control_loops::AccessoriesQueue>(
+      : ::aos::controls::ControlLoop<Message, ::aos::control_loops::Position,
+                                     ::aos::control_loops::Status, Message>(
             event_loop, name) {}
 
   void RunIteration(
-      const ::y2012::control_loops::AccessoriesQueue::Message *goal,
+      const Message *goal,
       const ::aos::control_loops::Position * /*position*/,
-      ::y2012::control_loops::AccessoriesQueue::Message *output,
-      ::aos::control_loops::Status * /*status*/) override {
+      ::aos::Sender<Message>::Builder *output,
+      ::aos::Sender<::aos::control_loops::Status>::Builder * /*status*/) override {
     if (output) {
-      *output = *goal;
+      //*output = *goal;
+      Message::Builder output_builder = output->MakeBuilder<Message>();
+      flatbuffers::Offset<flatbuffers::Vector<uint8_t>> solenoid_offset =
+          output->fbb()->template CreateVector<uint8_t>(
+              goal->solenoids()->data(), 3);
+      output_builder.add_solenoids(solenoid_offset);
+      flatbuffers::Offset<flatbuffers::Vector<double>> stick_offset =
+          output->fbb()->template CreateVector<double>(
+              goal->sticks()->data(), 2);
+      output_builder.add_sticks(stick_offset);
+
+      output_builder.Finish();
     }
   }
 };
@@ -34,7 +49,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2012::control_loops::accessories::AccessoriesLoop accessories(&event_loop);
 
   event_loop.Run();
diff --git a/y2012/control_loops/accessories/accessories.fbs b/y2012/control_loops/accessories/accessories.fbs
new file mode 100644
index 0000000..1174b55
--- /dev/null
+++ b/y2012/control_loops/accessories/accessories.fbs
@@ -0,0 +1,8 @@
+namespace y2012.control_loops.accessories;
+
+table Message {
+  solenoids:[bool]; // Exactly 3 values
+  sticks:[double]; // Exactly 2 values
+}
+
+root_type Message;
diff --git a/y2012/control_loops/accessories/accessories.q b/y2012/control_loops/accessories/accessories.q
deleted file mode 100644
index 6427d49..0000000
--- a/y2012/control_loops/accessories/accessories.q
+++ /dev/null
@@ -1,17 +0,0 @@
-package y2012.control_loops;
-
-import "aos/controls/control_loops.q";
-
-// Published on ".y2012.control_loops.accessories_queue"
-queue_group AccessoriesQueue {
-  implements aos.control_loops.ControlLoop;
-  message Message {
-    bool[3] solenoids;
-    double[2] sticks;
-  };
-
-  queue Message goal;
-  queue .aos.control_loops.Position position;
-  queue Message output;
-  queue .aos.control_loops.Status status;
-};
diff --git a/y2012/control_loops/drivetrain/BUILD b/y2012/control_loops/drivetrain/BUILD
index 3be1e9a..35d596a 100644
--- a/y2012/control_loops/drivetrain/BUILD
+++ b/y2012/control_loops/drivetrain/BUILD
@@ -1,7 +1,5 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
-
 genrule(
     name = "genrule_drivetrain",
     outs = [
@@ -78,7 +76,7 @@
     deps = [
         ":drivetrain_base",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
     ],
 )
diff --git a/y2012/control_loops/drivetrain/drivetrain_main.cc b/y2012/control_loops/drivetrain/drivetrain_main.cc
index 75153cd..735f13f 100644
--- a/y2012/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2012/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,6 @@
 #include "aos/init.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2012/control_loops/drivetrain/drivetrain_base.h"
 
@@ -9,7 +9,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
       &event_loop, ::y2012::control_loops::drivetrain::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(
diff --git a/y2012/joystick_reader.cc b/y2012/joystick_reader.cc
index 460d850..48e6eb5 100644
--- a/y2012/joystick_reader.cc
+++ b/y2012/joystick_reader.cc
@@ -4,15 +4,15 @@
 #include <math.h>
 
 #include "aos/actions/actions.h"
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/input/driver_station_data.h"
 #include "aos/input/joystick_input.h"
 #include "aos/logging/logging.h"
 #include "aos/time/time.h"
 
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "y2012/control_loops/accessories/accessories.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "y2012/control_loops/accessories/accessories_generated.h"
 
 using ::aos::input::driver_station::ButtonLocation;
 using ::aos::input::driver_station::JoystickAxis;
@@ -81,13 +81,12 @@
   Reader(::aos::EventLoop *event_loop)
       : ::aos::input::JoystickInput(event_loop),
         drivetrain_goal_sender_(
-            event_loop
-                ->MakeSender<::frc971::control_loops::DrivetrainQueue::Goal>(
-                    ".frc971.control_loops.drivetrain_queue.goal")),
+            event_loop->MakeSender<::frc971::control_loops::drivetrain::Goal>(
+                "/drivetrain")),
         accessories_goal_sender_(
             event_loop
-                ->MakeSender<::y2012::control_loops::AccessoriesQueue::Message>(
-                    ".y2012.control_loops.accessories_queue.goal")),
+                ->MakeSender<::y2012::control_loops::accessories::Message>(
+                    "/accessories")),
         is_high_gear_(false) {}
 
   void RunIteration(const ::aos::input::driver_station::Data &data) override {
@@ -106,33 +105,43 @@
     if (data.PosEdge(kShiftHigh)) {
       is_high_gear_ = true;
     }
-    auto drivetrain_message = drivetrain_goal_sender_.MakeMessage();
-    drivetrain_message->wheel = wheel;
-    drivetrain_message->throttle = throttle;
-    drivetrain_message->highgear = is_high_gear_;
-    drivetrain_message->quickturn = data.IsPressed(kQuickTurn);
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+    frc971::control_loops::drivetrain::Goal::Builder goal_builder =
+        builder.MakeBuilder<frc971::control_loops::drivetrain::Goal>();
+    goal_builder.add_wheel(wheel);
+    goal_builder.add_throttle(throttle);
+    goal_builder.add_highgear(is_high_gear_);
+    goal_builder.add_quickturn(data.IsPressed(kQuickTurn));
 
-    if (!drivetrain_message.Send()) {
+    if (!builder.Send(goal_builder.Finish())) {
       AOS_LOG(WARNING, "sending stick values failed\n");
     }
   }
 
   void HandleTeleop(const ::aos::input::driver_station::Data &data) {
-    auto accessories_message = accessories_goal_sender_.MakeMessage();
-    accessories_message->solenoids[0] = data.IsPressed(kLongShot);
-    accessories_message->solenoids[1] = data.IsPressed(kCloseShot);
-    accessories_message->solenoids[2] = data.IsPressed(kFenderShot);
-    accessories_message->sticks[0] = data.GetAxis(kAdjustClawGoal);
-    accessories_message->sticks[1] = data.GetAxis(kAdjustClawSeparation);
-    if (!accessories_message.Send()) {
+    auto builder = accessories_goal_sender_.MakeBuilder();
+    flatbuffers::Offset<flatbuffers::Vector<uint8_t>> solenoids_offset =
+        builder.fbb()->CreateVector<uint8_t>({data.IsPressed(kLongShot),
+                                     data.IsPressed(kCloseShot),
+                                     data.IsPressed(kFenderShot)});
+
+    flatbuffers::Offset<flatbuffers::Vector<double>> sticks_offset =
+        builder.fbb()->CreateVector<double>({data.GetAxis(kAdjustClawGoal),
+                                     data.GetAxis(kAdjustClawSeparation)});
+
+    y2012::control_loops::accessories::Message::Builder message_builder =
+        builder.MakeBuilder<y2012::control_loops::accessories::Message>();
+    message_builder.add_solenoids(solenoids_offset);
+    message_builder.add_sticks(sticks_offset);
+    if (!builder.Send(message_builder.Finish())) {
       AOS_LOG(WARNING, "sending accessories goal failed\n");
     }
   }
 
  private:
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Goal>
+  ::aos::Sender<::frc971::control_loops::drivetrain::Goal>
       drivetrain_goal_sender_;
-  ::aos::Sender<::y2012::control_loops::AccessoriesQueue::Message>
+  ::aos::Sender<::y2012::control_loops::accessories::Message>
       accessories_goal_sender_;
 
   bool is_high_gear_;
@@ -145,7 +154,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2012::input::joysticks::Reader reader(&event_loop);
 
   event_loop.Run();
diff --git a/y2012/wpilib_interface.cc b/y2012/wpilib_interface.cc
index a85f096..b28c34c 100644
--- a/y2012/wpilib_interface.cc
+++ b/y2012/wpilib_interface.cc
@@ -19,18 +19,19 @@
 #include "frc971/wpilib/wpilib_robot_base.h"
 #undef ERROR
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/controls/control_loops_generated.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/make_unique.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/robot_state/robot_state_generated.h"
 #include "aos/stl_mutex/stl_mutex.h"
 #include "aos/time/time.h"
 #include "aos/util/log_interval.h"
 #include "aos/util/phased_loop.h"
 #include "aos/util/wrapping_counter.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
 #include "frc971/wpilib/buffered_pcm.h"
 #include "frc971/wpilib/buffered_solenoid.h"
 #include "frc971/wpilib/dma.h"
@@ -39,16 +40,12 @@
 #include "frc971/wpilib/encoder_and_potentiometer.h"
 #include "frc971/wpilib/interrupt_edge_counting.h"
 #include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/logging_generated.h"
 #include "frc971/wpilib/loop_output_handler.h"
 #include "frc971/wpilib/sensor_reader.h"
-#include "y2012/control_loops/accessories/accessories.q.h"
+#include "y2012/control_loops/accessories/accessories_generated.h"
 
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
-using ::y2012::control_loops::AccessoriesQueue;
+namespace accessories = ::y2012::control_loops::accessories;
 using namespace frc;
 using aos::make_unique;
 
@@ -74,33 +71,40 @@
       : ::frc971::wpilib::SensorReader(event_loop),
         accessories_position_sender_(
             event_loop->MakeSender<::aos::control_loops::Position>(
-                ".y2012.control_loops.accessories_queue.position")),
+                "/accessories")),
         drivetrain_position_sender_(
-            event_loop->MakeSender<
-                ::frc971::control_loops::DrivetrainQueue::Position>(
-                ".frc971.control_loops.drivetrain_queue.position")) {}
+            event_loop
+                ->MakeSender<::frc971::control_loops::drivetrain::Position>(
+                    "/drivetrain")) {}
 
   void RunIteration() {
     {
-      auto drivetrain_message = drivetrain_position_sender_.MakeMessage();
-      drivetrain_message->right_encoder =
-          drivetrain_translate(drivetrain_right_encoder_->GetRaw());
-      drivetrain_message->left_encoder =
-          -drivetrain_translate(drivetrain_left_encoder_->GetRaw());
-      drivetrain_message->left_speed =
-          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod());
-      drivetrain_message->right_speed =
-          drivetrain_velocity_translate(drivetrain_right_encoder_->GetPeriod());
+      auto builder = drivetrain_position_sender_.MakeBuilder();
 
-      drivetrain_message.Send();
+      frc971::control_loops::drivetrain::Position::Builder position_builder =
+          builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
+      position_builder.add_right_encoder(
+          drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
+      position_builder.add_left_encoder(
+          -drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
+      position_builder.add_left_speed(
+          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
+      position_builder.add_right_speed(drivetrain_velocity_translate(
+          drivetrain_right_encoder_->GetPeriod()));
+
+      builder.Send(position_builder.Finish());
     }
 
-    accessories_position_sender_.MakeMessage().Send();
+    {
+      auto builder = accessories_position_sender_.MakeBuilder();
+      builder.Send(
+          builder.MakeBuilder<::aos::control_loops::Position>().Finish());
+    }
   }
 
  private:
   ::aos::Sender<::aos::control_loops::Position> accessories_position_sender_;
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Position>
+  ::aos::Sender<::frc971::control_loops::drivetrain::Position>
       drivetrain_position_sender_;
 };
 
@@ -112,11 +116,14 @@
         pcm_(pcm),
         drivetrain_fetcher_(
             event_loop_
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Output>(
-                    ".y2012.control_loops.drivetrain_queue.output")),
-        accessories_fetcher_(event_loop_->MakeFetcher<
-                             ::y2012::control_loops::AccessoriesQueue::Message>(
-            ".y2012.control_loops.accessories_queue.output")) {
+                ->MakeFetcher<::frc971::control_loops::drivetrain::Output>(
+                    "/drivetrain")),
+        accessories_fetcher_(
+            event_loop_
+                ->MakeFetcher<::y2012::control_loops::accessories::Message>(
+                    "/accessories")),
+        pneumatics_to_log_sender_(
+            event_loop->MakeSender<::frc971::wpilib::PneumaticsToLog>("/aos")) {
     event_loop_->set_name("Solenoids");
     event_loop_->SetRuntimeRealtimePriority(27);
 
@@ -155,29 +162,30 @@
     {
       accessories_fetcher_.Fetch();
       if (accessories_fetcher_.get()) {
-        AOS_LOG_STRUCT(DEBUG, "solenoids", *accessories_fetcher_);
-        s1_->Set(accessories_fetcher_->solenoids[0]);
-        s2_->Set(accessories_fetcher_->solenoids[1]);
-        s3_->Set(accessories_fetcher_->solenoids[2]);
+        s1_->Set(accessories_fetcher_->solenoids()->Get(0));
+        s2_->Set(accessories_fetcher_->solenoids()->Get(1));
+        s3_->Set(accessories_fetcher_->solenoids()->Get(2));
       }
     }
 
     {
       drivetrain_fetcher_.Fetch();
       if (drivetrain_fetcher_.get()) {
-        AOS_LOG_STRUCT(DEBUG, "solenoids", *drivetrain_fetcher_);
-        const bool high =
-            drivetrain_fetcher_->left_high || drivetrain_fetcher_->right_high;
+        const bool high = drivetrain_fetcher_->left_high() ||
+                          drivetrain_fetcher_->right_high();
         drivetrain_high_->Set(high);
         drivetrain_low_->Set(!high);
       }
     }
 
     {
-      ::frc971::wpilib::PneumaticsToLog to_log;
+      auto builder = pneumatics_to_log_sender_.MakeBuilder();
+
+      ::frc971::wpilib::PneumaticsToLog::Builder to_log_builder =
+          builder.MakeBuilder<frc971::wpilib::PneumaticsToLog>();
       pcm_->Flush();
-      to_log.read_solenoids = pcm_->GetAll();
-      AOS_LOG_STRUCT(DEBUG, "pneumatics info", to_log);
+      to_log_builder.add_read_solenoids(pcm_->GetAll());
+      builder.Send(to_log_builder.Finish());
     }
   }
 
@@ -192,28 +200,30 @@
 
   ::std::unique_ptr<Compressor> compressor_;
 
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Output>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Output>
       drivetrain_fetcher_;
-  ::aos::Fetcher<::y2012::control_loops::AccessoriesQueue::Message>
+  ::aos::Fetcher<::y2012::control_loops::accessories::Message>
       accessories_fetcher_;
+
+  aos::Sender<::frc971::wpilib::PneumaticsToLog> pneumatics_to_log_sender_;
 };
 
-class AccessoriesWriter
-    : public ::frc971::wpilib::LoopOutputHandler<AccessoriesQueue::Message> {
+class AccessoriesWriter : public ::frc971::wpilib::LoopOutputHandler<
+                              control_loops::accessories::Message> {
  public:
   AccessoriesWriter(::aos::EventLoop *event_loop)
-      : ::frc971::wpilib::LoopOutputHandler<AccessoriesQueue::Message>(
-            event_loop, ".y2012.control_loops.accessories_queue.output") {}
+      : ::frc971::wpilib::LoopOutputHandler<
+            control_loops::accessories::Message>(event_loop, "/accessories") {}
 
   void set_talon1(::std::unique_ptr<Talon> t) { talon1_ = ::std::move(t); }
 
   void set_talon2(::std::unique_ptr<Talon> t) { talon2_ = ::std::move(t); }
 
  private:
-  virtual void Write(const AccessoriesQueue::Message &output) override {
-    talon1_->SetSpeed(output.sticks[0]);
-    talon2_->SetSpeed(output.sticks[1]);
-    AOS_LOG_STRUCT(DEBUG, "will output", output);
+  virtual void Write(
+      const control_loops::accessories::Message &output) override {
+    talon1_->SetSpeed(output.sticks()->Get(0));
+    talon2_->SetSpeed(output.sticks()->Get(1));
   }
 
   virtual void Stop() override {
@@ -233,21 +243,24 @@
   }
 
   void Run() override {
+    aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+        aos::configuration::ReadConfig("config.json");
+
     // Thread 1.
-    ::aos::ShmEventLoop joystick_sender_event_loop;
+    ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
     ::frc971::wpilib::JoystickSender joystick_sender(
         &joystick_sender_event_loop);
     AddLoop(&joystick_sender_event_loop);
 
     // Thread 2.
-    ::aos::ShmEventLoop sensor_reader_event_loop;
+    ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
     SensorReader sensor_reader(&sensor_reader_event_loop);
     sensor_reader.set_drivetrain_left_encoder(make_encoder(0));
     sensor_reader.set_drivetrain_right_encoder(make_encoder(1));
     AddLoop(&sensor_reader_event_loop);
 
     // Thread 3.
-    ::aos::ShmEventLoop output_event_loop;
+    ::aos::ShmEventLoop output_event_loop(&config.message());
     ::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
     drivetrain_writer.set_left_controller0(
         ::std::unique_ptr<Talon>(new Talon(3)), true);
@@ -260,7 +273,7 @@
     AddLoop(&output_event_loop);
 
     // Thread 4.
-    ::aos::ShmEventLoop solenoid_writer_event_loop;
+    ::aos::ShmEventLoop solenoid_writer_event_loop(&config.message());
     ::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
         new ::frc971::wpilib::BufferedPcm());
     SolenoidWriter solenoid_writer(&solenoid_writer_event_loop, pcm);
diff --git a/y2014/BUILD b/y2014/BUILD
index b11f170..1e1384b 100644
--- a/y2014/BUILD
+++ b/y2014/BUILD
@@ -1,4 +1,5 @@
 load("//frc971:downloader.bzl", "robot_downloader")
+load("//aos:config.bzl", "aos_config")
 
 cc_library(
     name = "constants",
@@ -33,13 +34,14 @@
         "//aos/logging",
         "//aos/time",
         "//aos/util:log_interval",
-        "//frc971/autonomous:auto_queue",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/autonomous:auto_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//frc971/queues:gyro",
         "//y2014/actors:shoot_action_lib",
-        "//y2014/control_loops/claw:claw_queue",
+        "//y2014/control_loops/claw:claw_goal_fbs",
+        "//y2014/control_loops/claw:claw_status_fbs",
         "//y2014/control_loops/drivetrain:drivetrain_base",
-        "//y2014/control_loops/shooter:shooter_queue",
+        "//y2014/control_loops/shooter:shooter_goal_fbs",
     ],
 )
 
@@ -61,12 +63,32 @@
         "hot_goal_reader.cc",
     ],
     deps = [
+        "//aos:byteorder",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
         "//aos/time",
-        "//y2014/queues:hot_goal",
+        "//y2014/queues:hot_goal_fbs",
+    ],
+)
+
+aos_config(
+    name = "config",
+    src = "y2014.json",
+    flatbuffers = [
+        "//y2014/control_loops/shooter:shooter_goal_fbs",
+        "//y2014/control_loops/shooter:shooter_output_fbs",
+        "//y2014/control_loops/shooter:shooter_position_fbs",
+        "//y2014/control_loops/shooter:shooter_status_fbs",
+        "//y2014/control_loops/claw:claw_goal_fbs",
+        "//y2014/control_loops/claw:claw_output_fbs",
+        "//y2014/control_loops/claw:claw_position_fbs",
+        "//y2014/control_loops/claw:claw_status_fbs",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//aos/robot_state:config",
+        "//frc971/control_loops/drivetrain:config",
     ],
 )
 
@@ -82,15 +104,15 @@
         "//aos:make_unique",
         "//aos/controls:control_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/stl_mutex",
         "//aos/time",
         "//aos/util:log_interval",
         "//aos/util:phased_loop",
         "//aos/util:wrapping_counter",
-        "//frc971/control_loops:queues",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
         "//frc971/wpilib:buffered_pcm",
         "//frc971/wpilib:dma",
         "//frc971/wpilib:dma_edge_counting",
@@ -99,16 +121,18 @@
         "//frc971/wpilib:gyro_sender",
         "//frc971/wpilib:interrupt_edge_counting",
         "//frc971/wpilib:joystick_sender",
-        "//frc971/wpilib:logging_queue",
+        "//frc971/wpilib:logging_fbs",
         "//frc971/wpilib:loop_output_handler",
         "//frc971/wpilib:pdp_fetcher",
         "//frc971/wpilib:sensor_reader",
         "//frc971/wpilib:wpilib_interface",
         "//frc971/wpilib:wpilib_robot_base",
         "//third_party:wpilib",
-        "//y2014/control_loops/claw:claw_queue",
-        "//y2014/control_loops/shooter:shooter_queue",
-        "//y2014/queues:auto_mode",
+        "//y2014/control_loops/claw:claw_output_fbs",
+        "//y2014/control_loops/claw:claw_position_fbs",
+        "//y2014/control_loops/shooter:shooter_output_fbs",
+        "//y2014/control_loops/shooter:shooter_position_fbs",
+        "//y2014/queues:auto_mode_fbs",
     ],
 )
 
diff --git a/y2014/actors/BUILD b/y2014/actors/BUILD
index 8612d0b..82255ab 100644
--- a/y2014/actors/BUILD
+++ b/y2014/actors/BUILD
@@ -1,5 +1,3 @@
-load("//aos/build:queues.bzl", "queue_library")
-
 filegroup(
     name = "binaries",
     srcs = [
@@ -18,16 +16,6 @@
     visibility = ["//visibility:public"],
 )
 
-queue_library(
-    name = "shoot_action_queue",
-    srcs = [
-        "shoot_action.q",
-    ],
-    deps = [
-        "//aos/actions:action_queue",
-    ],
-)
-
 cc_library(
     name = "shoot_action_lib",
     srcs = [
@@ -38,14 +26,13 @@
     ],
     visibility = ["//visibility:public"],
     deps = [
-        ":shoot_action_queue",
         "//aos/actions:action_lib",
         "//aos/logging",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
         "//y2014:constants",
-        "//y2014/control_loops/claw:claw_queue",
-        "//y2014/control_loops/shooter:shooter_queue",
-        "//y2014/queues:profile_params",
+        "//y2014/control_loops/claw:claw_goal_fbs",
+        "//y2014/control_loops/claw:claw_status_fbs",
+        "//y2014/control_loops/shooter:shooter_goal_fbs",
+        "//y2014/control_loops/shooter:shooter_status_fbs",
     ],
 )
 
@@ -56,9 +43,8 @@
     ],
     deps = [
         ":shoot_action_lib",
-        ":shoot_action_queue",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
     ],
 )
 
@@ -72,19 +58,18 @@
     ],
     deps = [
         "//aos/actions:action_lib",
-        "//aos/events:event-loop",
+        "//aos/events:event_loop",
         "//aos/logging",
         "//aos/util:phased_loop",
         "//frc971/autonomous:base_autonomous_actor",
         "//frc971/control_loops/drivetrain:drivetrain_config",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
         "//y2014/actors:shoot_action_lib",
-        "//y2014/control_loops/claw:claw_queue",
+        "//y2014/control_loops/claw:claw_goal_fbs",
+        "//y2014/control_loops/claw:claw_status_fbs",
         "//y2014/control_loops/drivetrain:drivetrain_base",
-        "//y2014/control_loops/shooter:shooter_queue",
-        "//y2014/queues:auto_mode",
-        "//y2014/queues:hot_goal",
-        "//y2014/queues:profile_params",
+        "//y2014/control_loops/shooter:shooter_goal_fbs",
+        "//y2014/queues:auto_mode_fbs",
+        "//y2014/queues:hot_goal_fbs",
     ],
 )
 
@@ -96,7 +81,6 @@
     deps = [
         ":autonomous_action_lib",
         "//aos:init",
-        "//aos/events:shm-event-loop",
-        "//frc971/autonomous:auto_queue",
+        "//aos/events:shm_event_loop",
     ],
 )
diff --git a/y2014/actors/autonomous_actor.cc b/y2014/actors/autonomous_actor.cc
index 4e2c9aa..7d1eb3f 100644
--- a/y2014/actors/autonomous_actor.cc
+++ b/y2014/actors/autonomous_actor.cc
@@ -7,18 +7,16 @@
 
 #include "aos/actions/actions.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/time/time.h"
 #include "aos/util/phased_loop.h"
-#include "frc971/autonomous/auto.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "y2014/actors/shoot_actor.h"
 #include "y2014/constants.h"
-#include "y2014/control_loops/claw/claw.q.h"
+#include "y2014/control_loops/claw/claw_goal_generated.h"
+#include "y2014/control_loops/claw/claw_status_generated.h"
 #include "y2014/control_loops/drivetrain/drivetrain_base.h"
-#include "y2014/control_loops/shooter/shooter.q.h"
-#include "y2014/queues/auto_mode.q.h"
-#include "y2014/queues/hot_goal.q.h"
+#include "y2014/control_loops/shooter/shooter_goal_generated.h"
+#include "y2014/queues/auto_mode_generated.h"
+#include "y2014/queues/hot_goal_generated.h"
 
 namespace y2014 {
 namespace actors {
@@ -26,49 +24,50 @@
 namespace chrono = ::std::chrono;
 namespace this_thread = ::std::this_thread;
 using ::aos::monotonic_clock;
-using ::frc971::ProfileParameters;
+using ::frc971::ProfileParametersT;
 
 AutonomousActor::AutonomousActor(::aos::EventLoop *event_loop)
     : frc971::autonomous::BaseAutonomousActor(
           event_loop, control_loops::GetDrivetrainConfig()),
-      auto_mode_fetcher_(event_loop->MakeFetcher<::y2014::sensors::AutoMode>(
-          ".y2014.sensors.auto_mode")),
-      hot_goal_fetcher_(
-          event_loop->MakeFetcher<::y2014::HotGoal>(".y2014.hot_goal")),
+      auto_mode_fetcher_(
+          event_loop->MakeFetcher<::y2014::sensors::AutoMode>("/aos")),
+      hot_goal_fetcher_(event_loop->MakeFetcher<::y2014::HotGoal>("/")),
       claw_goal_sender_(
-          event_loop->MakeSender<::y2014::control_loops::ClawQueue::Goal>(
-              ".y2014.control_loops.claw_queue.goal")),
+          event_loop->MakeSender<::y2014::control_loops::claw::Goal>("/claw")),
       claw_goal_fetcher_(
-          event_loop->MakeFetcher<::y2014::control_loops::ClawQueue::Goal>(
-              ".y2014.control_loops.claw_queue.goal")),
+          event_loop->MakeFetcher<::y2014::control_loops::claw::Goal>("/claw")),
       claw_status_fetcher_(
-          event_loop->MakeFetcher<::y2014::control_loops::ClawQueue::Status>(
-              ".y2014.control_loops.claw_queue.status")),
+          event_loop->MakeFetcher<::y2014::control_loops::claw::Status>(
+              "/claw")),
       shooter_goal_sender_(
-          event_loop->MakeSender<::y2014::control_loops::ShooterQueue::Goal>(
-              ".y2014.control_loops.shooter_queue.goal")),
+          event_loop->MakeSender<::y2014::control_loops::shooter::Goal>(
+              "/shooter")),
       shoot_action_factory_(actors::ShootActor::MakeFactory(event_loop)) {}
 
 void AutonomousActor::PositionClawVertically(double intake_power,
                                              double centering_power) {
-  auto goal_message = claw_goal_sender_.MakeMessage();
-  goal_message->bottom_angle = 0.0;
-  goal_message->separation_angle = 0.0;
-  goal_message->intake = intake_power;
-  goal_message->centering = centering_power;
+  auto builder = claw_goal_sender_.MakeBuilder();
+  control_loops::claw::Goal::Builder goal_builder =
+      builder.MakeBuilder<control_loops::claw::Goal>();
+  goal_builder.add_bottom_angle(0.0);
+  goal_builder.add_separation_angle(0.0);
+  goal_builder.add_intake(intake_power);
+  goal_builder.add_centering(centering_power);
 
-  if (!goal_message.Send()) {
+  if (!builder.Send(goal_builder.Finish())) {
     AOS_LOG(WARNING, "sending claw goal failed\n");
   }
 }
 
 void AutonomousActor::PositionClawBackIntake() {
-  auto goal_message = claw_goal_sender_.MakeMessage();
-  goal_message->bottom_angle = -2.273474;
-  goal_message->separation_angle = 0.0;
-  goal_message->intake = 12.0;
-  goal_message->centering = 12.0;
-  if (!goal_message.Send()) {
+  auto builder = claw_goal_sender_.MakeBuilder();
+  control_loops::claw::Goal::Builder goal_builder =
+      builder.MakeBuilder<control_loops::claw::Goal>();
+  goal_builder.add_bottom_angle(-2.273474);
+  goal_builder.add_separation_angle(0.0);
+  goal_builder.add_intake(12.0);
+  goal_builder.add_centering(12.0);
+  if (!builder.Send(goal_builder.Finish())) {
     AOS_LOG(WARNING, "sending claw goal failed\n");
   }
 }
@@ -76,48 +75,63 @@
 void AutonomousActor::PositionClawUpClosed() {
   // Move the claw to where we're going to shoot from but keep it closed until
   // it gets there.
-  auto goal_message = claw_goal_sender_.MakeMessage();
-  goal_message->bottom_angle = 0.86;
-  goal_message->separation_angle = 0.0;
-  goal_message->intake = 4.0;
-  goal_message->centering = 1.0;
-  if (!goal_message.Send()) {
+  auto builder = claw_goal_sender_.MakeBuilder();
+  control_loops::claw::Goal::Builder goal_builder =
+      builder.MakeBuilder<control_loops::claw::Goal>();
+  goal_builder.add_bottom_angle(0.86);
+  goal_builder.add_separation_angle(0.0);
+  goal_builder.add_intake(4.0);
+  goal_builder.add_centering(1.0);
+  if (!builder.Send(goal_builder.Finish())) {
     AOS_LOG(WARNING, "sending claw goal failed\n");
   }
 }
 
 void AutonomousActor::PositionClawForShot() {
-  auto goal_message = claw_goal_sender_.MakeMessage();
-  goal_message->bottom_angle = 0.86;
-  goal_message->separation_angle = 0.10;
-  goal_message->intake = 4.0;
-  goal_message->centering = 1.0;
-  if (!goal_message.Send()) {
+  auto builder = claw_goal_sender_.MakeBuilder();
+  control_loops::claw::Goal::Builder goal_builder =
+      builder.MakeBuilder<control_loops::claw::Goal>();
+  goal_builder.add_bottom_angle(0.86);
+  goal_builder.add_separation_angle(0.10);
+  goal_builder.add_intake(4.0);
+  goal_builder.add_centering(1.0);
+  if (!builder.Send(goal_builder.Finish())) {
     AOS_LOG(WARNING, "sending claw goal failed\n");
   }
 }
 
 void AutonomousActor::SetShotPower(double power) {
   AOS_LOG(INFO, "Setting shot power to %f\n", power);
-  auto goal_message = shooter_goal_sender_.MakeMessage();
-  goal_message->shot_power = power;
-  goal_message->shot_requested = false;
-  goal_message->unload_requested = false;
-  goal_message->load_requested = false;
-  if (!goal_message.Send()) {
+  auto builder = shooter_goal_sender_.MakeBuilder();
+  control_loops::shooter::Goal::Builder goal_builder =
+      builder.MakeBuilder<control_loops::shooter::Goal>();
+  goal_builder.add_shot_power(power);
+  goal_builder.add_shot_requested(false);
+  goal_builder.add_unload_requested(false);
+  goal_builder.add_load_requested(false);
+  if (!builder.Send(goal_builder.Finish())) {
     AOS_LOG(WARNING, "sending shooter goal failed\n");
   }
 }
 
-const ProfileParameters kFastDrive = {3.0, 2.5};
-const ProfileParameters kSlowDrive = {2.5, 2.5};
-const ProfileParameters kFastWithBallDrive = {3.0, 2.0};
-const ProfileParameters kSlowWithBallDrive = {2.5, 2.0};
-const ProfileParameters kFastTurn = {3.0, 10.0};
+ProfileParametersT MakeProfileParameters(float max_velocity,
+                                         float max_acceleration) {
+  ProfileParametersT result;
+  result.max_velocity = max_velocity;
+  result.max_acceleration = max_acceleration;
+  return result;
+}
+
+const ProfileParametersT kFastDrive = MakeProfileParameters(3.0, 2.5);
+const ProfileParametersT kSlowDrive = MakeProfileParameters(2.5, 2.5);
+const ProfileParametersT kFastWithBallDrive = MakeProfileParameters(3.0, 2.0);
+const ProfileParametersT kSlowWithBallDrive = MakeProfileParameters(2.5, 2.0);
+const ProfileParametersT kFastTurn = MakeProfileParameters(3.0, 10.0);
 
 void AutonomousActor::Shoot() {
   // Shoot.
-  auto shoot_action = shoot_action_factory_.Make(0.0);
+  aos::common::actions::DoubleParamT param;
+  auto shoot_action = shoot_action_factory_.Make(param);
   shoot_action->Start();
   WaitUntilDoneOrCanceled(::std::move(shoot_action));
 }
@@ -138,12 +152,12 @@
         claw_goal_fetcher_.get() == nullptr) {
       continue;
     }
-    bool ans = claw_status_fetcher_->zeroed &&
-               (::std::abs(claw_status_fetcher_->bottom_velocity) < 1.0) &&
-               (::std::abs(claw_status_fetcher_->bottom -
-                           claw_goal_fetcher_->bottom_angle) < 0.10) &&
-               (::std::abs(claw_status_fetcher_->separation -
-                           claw_goal_fetcher_->separation_angle) < 0.4);
+    bool ans = claw_status_fetcher_->zeroed() &&
+               (::std::abs(claw_status_fetcher_->bottom_velocity()) < 1.0) &&
+               (::std::abs(claw_status_fetcher_->bottom() -
+                           claw_goal_fetcher_->bottom_angle()) < 0.10) &&
+               (::std::abs(claw_status_fetcher_->separation() -
+                           claw_goal_fetcher_->separation_angle()) < 0.4);
     if (ans) {
       return true;
     }
@@ -160,8 +174,7 @@
   void ResetCounts() {
     hot_goal_fetcher_->Fetch();
     if (hot_goal_fetcher_->get()) {
-      start_counts_ = *hot_goal_fetcher_->get();
-      AOS_LOG_STRUCT(INFO, "counts reset to", start_counts_);
+      hot_goal_fetcher_->get()->UnPackTo(&start_counts_);
       start_counts_valid_ = true;
     } else {
       AOS_LOG(WARNING, "no hot goal message. ignoring\n");
@@ -169,30 +182,26 @@
     }
   }
 
-  void Update() {
-    hot_goal_fetcher_->Fetch();
-    if (hot_goal_fetcher_->get())
-      AOS_LOG_STRUCT(INFO, "new counts", *hot_goal_fetcher_->get());
-  }
+  void Update() { hot_goal_fetcher_->Fetch(); }
 
   bool left_triggered() const {
     if (!start_counts_valid_ || !hot_goal_fetcher_->get()) return false;
-    return (hot_goal_fetcher_->get()->left_count - start_counts_.left_count) >
+    return (hot_goal_fetcher_->get()->left_count() - start_counts_.left_count) >
            kThreshold;
   }
 
   bool right_triggered() const {
     if (!start_counts_valid_ || !hot_goal_fetcher_->get()) return false;
-    return (hot_goal_fetcher_->get()->right_count - start_counts_.right_count) >
-           kThreshold;
+    return (hot_goal_fetcher_->get()->right_count() -
+            start_counts_.right_count) > kThreshold;
   }
 
   bool is_left() const {
     if (!start_counts_valid_ || !hot_goal_fetcher_->get()) return false;
     const uint64_t left_difference =
-        hot_goal_fetcher_->get()->left_count - start_counts_.left_count;
+        hot_goal_fetcher_->get()->left_count() - start_counts_.left_count;
     const uint64_t right_difference =
-        hot_goal_fetcher_->get()->right_count - start_counts_.right_count;
+        hot_goal_fetcher_->get()->right_count() - start_counts_.right_count;
     if (left_difference > kThreshold) {
       if (right_difference > kThreshold) {
         // We've seen a lot of both, so pick the one we've seen the most of.
@@ -210,9 +219,9 @@
   bool is_right() const {
     if (!start_counts_valid_ || !hot_goal_fetcher_->get()) return false;
     const uint64_t left_difference =
-        hot_goal_fetcher_->get()->left_count - start_counts_.left_count;
+        hot_goal_fetcher_->get()->left_count() - start_counts_.left_count;
     const uint64_t right_difference =
-        hot_goal_fetcher_->get()->right_count - start_counts_.right_count;
+        hot_goal_fetcher_->get()->right_count() - start_counts_.right_count;
     if (right_difference > kThreshold) {
       if (left_difference > kThreshold) {
         // We've seen a lot of both, so pick the one we've seen the most of.
@@ -230,14 +239,14 @@
  private:
   static const uint64_t kThreshold = 5;
 
-  ::y2014::HotGoal start_counts_;
+  ::y2014::HotGoalT start_counts_;
   bool start_counts_valid_;
 
   ::aos::Fetcher<::y2014::HotGoal> *hot_goal_fetcher_;
 };
 
 bool AutonomousActor::RunAction(
-    const ::frc971::autonomous::AutonomousActionParams & /*params*/) {
+    const ::frc971::autonomous::AutonomousActionParams * /*params*/) {
   enum class AutoVersion : uint8_t {
     kStraight,
     kDoubleHot,
@@ -261,9 +270,9 @@
     static const double kSelectorMin = 0.2, kSelectorMax = 4.4;
 
     const double kSelectorStep = (kSelectorMax - kSelectorMin) / 3.0;
-    if (auto_mode_fetcher_->voltage < kSelectorStep + kSelectorMin) {
+    if (auto_mode_fetcher_->voltage() < kSelectorStep + kSelectorMin) {
       auto_version = AutoVersion::kSingleHot;
-    } else if (auto_mode_fetcher_->voltage < 2 * kSelectorStep + kSelectorMin) {
+    } else if (auto_mode_fetcher_->voltage() < 2 * kSelectorStep + kSelectorMin) {
       auto_version = AutoVersion::kStraight;
     } else {
       auto_version = AutoVersion::kDoubleHot;
@@ -272,9 +281,9 @@
   AOS_LOG(INFO, "running auto %" PRIu8 "\n",
           static_cast<uint8_t>(auto_version));
 
-  const ProfileParameters &drive_params =
+  const ProfileParametersT drive_params =
       (auto_version == AutoVersion::kStraight) ? kFastDrive : kSlowDrive;
-  const ProfileParameters &drive_with_ball_params =
+  const ProfileParametersT drive_with_ball_params =
       (auto_version == AutoVersion::kStraight) ? kFastWithBallDrive
                                                : kSlowWithBallDrive;
 
diff --git a/y2014/actors/autonomous_actor.h b/y2014/actors/autonomous_actor.h
index e832980..f1b06bf 100644
--- a/y2014/actors/autonomous_actor.h
+++ b/y2014/actors/autonomous_actor.h
@@ -7,12 +7,11 @@
 #include "aos/actions/actions.h"
 #include "aos/actions/actor.h"
 #include "frc971/autonomous/base_autonomous_actor.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 #include "y2014/actors/shoot_actor.h"
-#include "y2014/control_loops/shooter/shooter.q.h"
-#include "y2014/queues/auto_mode.q.h"
-#include "y2014/queues/hot_goal.q.h"
+#include "y2014/control_loops/shooter/shooter_goal_generated.h"
+#include "y2014/queues/auto_mode_generated.h"
+#include "y2014/queues/hot_goal_generated.h"
 
 namespace y2014 {
 namespace actors {
@@ -22,7 +21,7 @@
   explicit AutonomousActor(::aos::EventLoop *event_loop);
 
   bool RunAction(
-      const ::frc971::autonomous::AutonomousActionParams &params) override;
+      const ::frc971::autonomous::AutonomousActionParams *params) override;
 
  private:
   void Reset() {
@@ -41,12 +40,10 @@
 
   ::aos::Fetcher<::y2014::sensors::AutoMode> auto_mode_fetcher_;
   ::aos::Fetcher<::y2014::HotGoal> hot_goal_fetcher_;
-  ::aos::Sender<::y2014::control_loops::ClawQueue::Goal> claw_goal_sender_;
-  ::aos::Fetcher<::y2014::control_loops::ClawQueue::Goal> claw_goal_fetcher_;
-  ::aos::Fetcher<::y2014::control_loops::ClawQueue::Status>
-      claw_status_fetcher_;
-  ::aos::Sender<::y2014::control_loops::ShooterQueue::Goal>
-      shooter_goal_sender_;
+  ::aos::Sender<::y2014::control_loops::claw::Goal> claw_goal_sender_;
+  ::aos::Fetcher<::y2014::control_loops::claw::Goal> claw_goal_fetcher_;
+  ::aos::Fetcher<::y2014::control_loops::claw::Status> claw_status_fetcher_;
+  ::aos::Sender<::y2014::control_loops::shooter::Goal> shooter_goal_sender_;
 
   actors::ShootActor::Factory shoot_action_factory_;
 };
diff --git a/y2014/actors/autonomous_actor_main.cc b/y2014/actors/autonomous_actor_main.cc
index 817f0e4..44e10d0 100644
--- a/y2014/actors/autonomous_actor_main.cc
+++ b/y2014/actors/autonomous_actor_main.cc
@@ -1,14 +1,16 @@
 #include <stdio.h>
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
-#include "frc971/autonomous/auto.q.h"
 #include "y2014/actors/autonomous_actor.h"
 
 int main(int /*argc*/, char * /*argv*/ []) {
   ::aos::Init(-1);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2014::actors::AutonomousActor autonomous(&event_loop);
 
   event_loop.Run();
diff --git a/y2014/actors/shoot_action.q b/y2014/actors/shoot_action.q
deleted file mode 100644
index 832153c..0000000
--- a/y2014/actors/shoot_action.q
+++ /dev/null
@@ -1,10 +0,0 @@
-package y2014.actors;
-
-import "aos/actions/actions.q";
-
-queue_group ShootActionQueueGroup {
-  implements frc971.actions.ActionQueueGroup;
-
-  queue aos.common.actions.Goal goal;
-  queue aos.common.actions.Status status;
-};
diff --git a/y2014/actors/shoot_actor.cc b/y2014/actors/shoot_actor.cc
index 7fb4c05..58df186 100644
--- a/y2014/actors/shoot_actor.cc
+++ b/y2014/actors/shoot_actor.cc
@@ -4,10 +4,11 @@
 
 #include "aos/logging/logging.h"
 
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "y2014/constants.h"
-#include "y2014/control_loops/claw/claw.q.h"
-#include "y2014/control_loops/shooter/shooter.q.h"
+#include "y2014/control_loops/claw/claw_goal_generated.h"
+#include "y2014/control_loops/claw/claw_status_generated.h"
+#include "y2014/control_loops/shooter/shooter_goal_generated.h"
+#include "y2014/control_loops/shooter/shooter_status_generated.h"
 
 namespace y2014 {
 namespace actors {
@@ -17,26 +18,24 @@
 constexpr double ShootActor::kClawShootingSeparationGoal;
 
 ShootActor::ShootActor(::aos::EventLoop *event_loop)
-    : ::aos::common::actions::ActorBase<actors::ShootActionQueueGroup>(
-          event_loop, ".y2014.actors.shoot_action"),
+    : ::aos::common::actions::ActorBase<aos::common::actions::Goal>(
+          event_loop, "/shoot_action"),
       claw_goal_fetcher_(
-          event_loop->MakeFetcher<::y2014::control_loops::ClawQueue::Goal>(
-              ".y2014.control_loops.claw_queue.goal")),
+          event_loop->MakeFetcher<::y2014::control_loops::claw::Goal>("/claw")),
       claw_status_fetcher_(
-          event_loop->MakeFetcher<::y2014::control_loops::ClawQueue::Status>(
-              ".y2014.control_loops.claw_queue.status")),
+          event_loop->MakeFetcher<::y2014::control_loops::claw::Status>(
+              "/claw")),
       claw_goal_sender_(
-          event_loop->MakeSender<::y2014::control_loops::ClawQueue::Goal>(
-              ".y2014.control_loops.claw_queue.goal")),
+          event_loop->MakeSender<::y2014::control_loops::claw::Goal>("/claw")),
       shooter_status_fetcher_(
-          event_loop->MakeFetcher<::y2014::control_loops::ShooterQueue::Status>(
-              ".y2014.control_loops.shooter_queue.status")),
+          event_loop->MakeFetcher<::y2014::control_loops::shooter::Status>(
+              "/shooter")),
       shooter_goal_fetcher_(
-          event_loop->MakeFetcher<::y2014::control_loops::ShooterQueue::Goal>(
-              ".y2014.control_loops.shooter_queue.goal")),
+          event_loop->MakeFetcher<::y2014::control_loops::shooter::Goal>(
+              "/shooter")),
       shooter_goal_sender_(
-          event_loop->MakeSender<::y2014::control_loops::ShooterQueue::Goal>(
-              ".y2014.control_loops.shooter_queue.goal")) {}
+          event_loop->MakeSender<::y2014::control_loops::shooter::Goal>(
+              "/shooter")) {}
 
 double ShootActor::SpeedToAngleOffset(double speed) {
   const constants::Values &values = constants::GetValues();
@@ -52,14 +51,17 @@
     // turn it off.
     return true;
   } else {
-    auto goal_message = claw_goal_sender_.MakeMessage();
+    auto builder = claw_goal_sender_.MakeBuilder();
 
-    goal_message->bottom_angle = claw_goal_fetcher_->bottom_angle;
-    goal_message->separation_angle = claw_goal_fetcher_->separation_angle;
-    goal_message->intake = 0.0;
-    goal_message->centering = 0.0;
+    control_loops::claw::Goal::Builder claw_builder =
+        builder.MakeBuilder<control_loops::claw::Goal>();
 
-    if (!goal_message.Send()) {
+    claw_builder.add_bottom_angle(claw_goal_fetcher_->bottom_angle());
+    claw_builder.add_separation_angle(claw_goal_fetcher_->separation_angle());
+    claw_builder.add_intake(0.0);
+    claw_builder.add_centering(0.0);
+
+    if (!builder.Send(claw_builder.Finish())) {
       AOS_LOG(WARNING, "sending claw goal failed\n");
       return false;
     }
@@ -67,7 +69,7 @@
   return true;
 }
 
-bool ShootActor::RunAction(const double&) {
+bool ShootActor::RunAction(const aos::common::actions::DoubleParam *) {
   InnerRunAction();
 
   // Now do our 'finally' block and make sure that we aren't requesting shots
@@ -76,12 +78,15 @@
   if (shooter_goal_fetcher_.get() == nullptr) {
     return true;
   }
-  auto goal_message = shooter_goal_sender_.MakeMessage();
-  goal_message->shot_power = shooter_goal_fetcher_->shot_power;
-  goal_message->shot_requested = false;
-  goal_message->unload_requested = false;
-  goal_message->load_requested = false;
-  if (!goal_message.Send()) {
+  auto builder = shooter_goal_sender_.MakeBuilder();
+  control_loops::shooter::Goal::Builder shooter_builder =
+      builder.MakeBuilder<control_loops::shooter::Goal>();
+
+  shooter_builder.add_shot_power(shooter_goal_fetcher_->shot_power());
+  shooter_builder.add_shot_requested(false);
+  shooter_builder.add_unload_requested(false);
+  shooter_builder.add_load_requested(false);
+  if (!builder.Send(shooter_builder.Finish())) {
     AOS_LOG(WARNING, "sending shooter goal failed\n");
     return false;
   }
@@ -104,16 +109,18 @@
   shooter_status_fetcher_.Fetch();
   // Get the number of shots fired up to this point. This should not be updated
   // again for another few cycles.
-  previous_shots_ = shooter_status_fetcher_->shots;
+  previous_shots_ = shooter_status_fetcher_->shots();
   // Shoot!
   shooter_goal_fetcher_.Fetch();
   {
-    auto goal_message = shooter_goal_sender_.MakeMessage();
-    goal_message->shot_power = shooter_goal_fetcher_->shot_power;
-    goal_message->shot_requested = true;
-    goal_message->unload_requested = false;
-    goal_message->load_requested = false;
-    if (!goal_message.Send()) {
+    auto builder = shooter_goal_sender_.MakeBuilder();
+    control_loops::shooter::Goal::Builder goal_builder =
+        builder.MakeBuilder<control_loops::shooter::Goal>();
+    goal_builder.add_shot_power(shooter_goal_fetcher_->shot_power());
+    goal_builder.add_shot_requested(true);
+    goal_builder.add_unload_requested(false);
+    goal_builder.add_load_requested(false);
+    if (!builder.Send(goal_builder.Finish())) {
       AOS_LOG(WARNING, "sending shooter goal failed\n");
       return;
     }
@@ -128,20 +135,20 @@
 bool ShootActor::ClawIsReady() {
   claw_goal_fetcher_.Fetch();
 
-  bool ans = claw_status_fetcher_->zeroed &&
-             (::std::abs(claw_status_fetcher_->bottom_velocity) < 0.5) &&
-             (::std::abs(claw_status_fetcher_->bottom -
-                         claw_goal_fetcher_->bottom_angle) < 0.10) &&
-             (::std::abs(claw_status_fetcher_->separation -
-                         claw_goal_fetcher_->separation_angle) < 0.4);
+  bool ans = claw_status_fetcher_->zeroed() &&
+             (::std::abs(claw_status_fetcher_->bottom_velocity()) < 0.5) &&
+             (::std::abs(claw_status_fetcher_->bottom() -
+                         claw_goal_fetcher_->bottom_angle()) < 0.10) &&
+             (::std::abs(claw_status_fetcher_->separation() -
+                         claw_goal_fetcher_->separation_angle()) < 0.4);
   AOS_LOG(DEBUG,
           "Claw is %sready zeroed %d bottom_velocity %f bottom %f sep %f\n",
-          ans ? "" : "not ", claw_status_fetcher_->zeroed,
-          ::std::abs(claw_status_fetcher_->bottom_velocity),
-          ::std::abs(claw_status_fetcher_->bottom -
-                     claw_goal_fetcher_->bottom_angle),
-          ::std::abs(claw_status_fetcher_->separation -
-                     claw_goal_fetcher_->separation_angle));
+          ans ? "" : "not ", claw_status_fetcher_->zeroed(),
+          ::std::abs(claw_status_fetcher_->bottom_velocity()),
+          ::std::abs(claw_status_fetcher_->bottom() -
+                     claw_goal_fetcher_->bottom_angle()),
+          ::std::abs(claw_status_fetcher_->separation() -
+                     claw_goal_fetcher_->separation_angle()));
   return ans;
 }
 
@@ -149,14 +156,14 @@
   shooter_goal_fetcher_.Fetch();
 
   AOS_LOG(DEBUG, "Power error is %f - %f -> %f, ready %d\n",
-          shooter_status_fetcher_->hard_stop_power,
-          shooter_goal_fetcher_->shot_power,
-          ::std::abs(shooter_status_fetcher_->hard_stop_power -
-                     shooter_goal_fetcher_->shot_power),
-          shooter_status_fetcher_->ready);
-  return (::std::abs(shooter_status_fetcher_->hard_stop_power -
-                     shooter_goal_fetcher_->shot_power) < 1.0) &&
-         shooter_status_fetcher_->ready;
+          shooter_status_fetcher_->hard_stop_power(),
+          shooter_goal_fetcher_->shot_power(),
+          ::std::abs(shooter_status_fetcher_->hard_stop_power() -
+                     shooter_goal_fetcher_->shot_power()),
+          shooter_status_fetcher_->ready());
+  return (::std::abs(shooter_status_fetcher_->hard_stop_power() -
+                     shooter_goal_fetcher_->shot_power()) < 1.0) &&
+         shooter_status_fetcher_->ready();
 }
 
 bool ShootActor::DoneSetupShot() {
@@ -174,7 +181,7 @@
 
 bool ShootActor::DonePreShotOpen() {
   claw_status_fetcher_.Fetch();
-  if (claw_status_fetcher_->separation > kClawShootingSeparation) {
+  if (claw_status_fetcher_->separation() > kClawShootingSeparation) {
     AOS_LOG(INFO, "Opened up enough to shoot.\n");
     return true;
   }
@@ -184,7 +191,7 @@
 bool ShootActor::DoneShot() {
   shooter_status_fetcher_.Fetch();
   if (shooter_status_fetcher_.get() &&
-      shooter_status_fetcher_->shots > previous_shots_) {
+      shooter_status_fetcher_->shots() > previous_shots_) {
     AOS_LOG(INFO, "Shot succeeded!\n");
     return true;
   }
diff --git a/y2014/actors/shoot_actor.h b/y2014/actors/shoot_actor.h
index a4412ff..88a2358 100644
--- a/y2014/actors/shoot_actor.h
+++ b/y2014/actors/shoot_actor.h
@@ -5,29 +5,30 @@
 
 #include "aos/actions/actions.h"
 #include "aos/actions/actor.h"
-#include "y2014/actors/shoot_action.q.h"
-#include "y2014/control_loops/claw/claw.q.h"
-#include "y2014/control_loops/shooter/shooter.q.h"
+#include "y2014/control_loops/claw/claw_goal_generated.h"
+#include "y2014/control_loops/claw/claw_status_generated.h"
+#include "y2014/control_loops/shooter/shooter_goal_generated.h"
+#include "y2014/control_loops/shooter/shooter_status_generated.h"
 
 namespace y2014 {
 namespace actors {
 
 class ShootActor
-    : public ::aos::common::actions::ActorBase<actors::ShootActionQueueGroup> {
+    : public ::aos::common::actions::ActorBase<aos::common::actions::Goal> {
  public:
   typedef ::aos::common::actions::TypedActionFactory<
-      actors::ShootActionQueueGroup>
+      aos::common::actions::Goal>
       Factory;
 
   explicit ShootActor(::aos::EventLoop *event_loop);
 
   static Factory MakeFactory(::aos::EventLoop *event_loop) {
-    return Factory(event_loop, ".y2014.actors.shoot_action");
+    return Factory(event_loop, "/shoot_action");
   }
 
   // Actually execute the action of moving the claw and shooter into position
   // and actually firing them.
-  bool RunAction(const double &params) override;
+  bool RunAction(const aos::common::actions::DoubleParam *params) override;
   void InnerRunAction();
 
   // calc an offset to our requested shot based on robot speed
@@ -50,16 +51,13 @@
   bool ClawIsReady();
 
  private:
-  ::aos::Fetcher<::y2014::control_loops::ClawQueue::Goal> claw_goal_fetcher_;
-  ::aos::Fetcher<::y2014::control_loops::ClawQueue::Status>
-      claw_status_fetcher_;
-  ::aos::Sender<::y2014::control_loops::ClawQueue::Goal> claw_goal_sender_;
-  ::aos::Fetcher<::y2014::control_loops::ShooterQueue::Status>
+  ::aos::Fetcher<::y2014::control_loops::claw::Goal> claw_goal_fetcher_;
+  ::aos::Fetcher<::y2014::control_loops::claw::Status> claw_status_fetcher_;
+  ::aos::Sender<::y2014::control_loops::claw::Goal> claw_goal_sender_;
+  ::aos::Fetcher<::y2014::control_loops::shooter::Status>
       shooter_status_fetcher_;
-  ::aos::Fetcher<::y2014::control_loops::ShooterQueue::Goal>
-      shooter_goal_fetcher_;
-  ::aos::Sender<::y2014::control_loops::ShooterQueue::Goal>
-      shooter_goal_sender_;
+  ::aos::Fetcher<::y2014::control_loops::shooter::Goal> shooter_goal_fetcher_;
+  ::aos::Sender<::y2014::control_loops::shooter::Goal> shooter_goal_sender_;
 
   // to track when shot is complete
   int previous_shots_;
diff --git a/y2014/actors/shoot_actor_main.cc b/y2014/actors/shoot_actor_main.cc
index 8575783..ef06915 100644
--- a/y2014/actors/shoot_actor_main.cc
+++ b/y2014/actors/shoot_actor_main.cc
@@ -1,14 +1,16 @@
 #include <stdio.h>
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
-#include "y2014/actors/shoot_action.q.h"
 #include "y2014/actors/shoot_actor.h"
 
 int main(int /*argc*/, char * /*argv*/[]) {
   ::aos::Init(-1);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2014::actors::ShootActor shoot(&event_loop);
 
   event_loop.Run();
diff --git a/y2014/control_loops/claw/BUILD b/y2014/control_loops/claw/BUILD
index 6c162e6..670dd76 100644
--- a/y2014/control_loops/claw/BUILD
+++ b/y2014/control_loops/claw/BUILD
@@ -1,16 +1,40 @@
 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 = "claw_queue",
+flatbuffer_cc_library(
+    name = "claw_goal_fbs",
     srcs = [
-        "claw.q",
+        "claw_goal.fbs",
     ],
-    deps = [
-        "//aos/controls:control_loop_queues",
-        "//frc971/control_loops:queues",
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "claw_position_fbs",
+    srcs = [
+        "claw_position.fbs",
     ],
+    gen_reflections = 1,
+    includes = [
+        "//frc971/control_loops:control_loops_fbs_includes",
+    ],
+)
+
+flatbuffer_cc_library(
+    name = "claw_output_fbs",
+    srcs = [
+        "claw_output.fbs",
+    ],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "claw_status_fbs",
+    srcs = [
+        "claw_status.fbs",
+    ],
+    gen_reflections = 1,
 )
 
 genrule(
@@ -40,12 +64,13 @@
         "-lm",
     ],
     deps = [
-        ":claw_queue",
+        ":claw_goal_fbs",
+        ":claw_output_fbs",
+        ":claw_position_fbs",
+        ":claw_status_fbs",
         "//aos:math",
         "//aos/controls:control_loop",
         "//aos/controls:polytope",
-        "//aos/logging:matrix_logging",
-        "//aos/logging:queue_logging",
         "//frc971/control_loops:coerce_goal",
         "//frc971/control_loops:hall_effect_tracker",
         "//frc971/control_loops:state_feedback_loop",
@@ -58,9 +83,13 @@
     srcs = [
         "claw_lib_test.cc",
     ],
+    data = ["//y2014:config.json"],
     deps = [
+        ":claw_goal_fbs",
         ":claw_lib",
-        ":claw_queue",
+        ":claw_output_fbs",
+        ":claw_position_fbs",
+        ":claw_status_fbs",
         "//aos/controls:control_loop_test",
         "//aos/testing:googletest",
         "//frc971/control_loops:state_feedback_loop",
@@ -76,6 +105,6 @@
     deps = [
         ":claw_lib",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
     ],
 )
diff --git a/y2014/control_loops/claw/claw.cc b/y2014/control_loops/claw/claw.cc
index 14dbf11..56ca6b0 100644
--- a/y2014/control_loops/claw/claw.cc
+++ b/y2014/control_loops/claw/claw.cc
@@ -2,10 +2,7 @@
 
 #include <algorithm>
 
-#include "aos/controls/control_loops.q.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
-#include "aos/logging/matrix_logging.h"
 #include "aos/commonmath.h"
 
 #include "y2014/constants.h"
@@ -46,11 +43,11 @@
 
 namespace y2014 {
 namespace control_loops {
+namespace claw {
 
 using ::frc971::HallEffectTracker;
 using ::y2014::control_loops::claw::kDt;
 using ::frc971::control_loops::DoCoerceGoal;
-using ::y2014::control_loops::ClawPositionToLog;
 
 static const double kZeroingVoltage = 4.0;
 static const double kMaxVoltage = 12.0;
@@ -94,7 +91,7 @@
   double max_voltage = is_zeroing_ ? kZeroingVoltage : kMaxVoltage;
 
   if (::std::abs(u_bottom) > max_voltage || ::std::abs(u_top) > max_voltage) {
-    AOS_LOG_MATRIX(DEBUG, "U at start", U());
+    VLOG(1) << "U at start " << U();
     // H * U <= k
     // U = UPos + UVel
     // H * (UPos + UVel) <= k
@@ -116,7 +113,7 @@
     position_error << error(0, 0), error(1, 0);
     Eigen::Matrix<double, 2, 1> velocity_error;
     velocity_error << error(2, 0), error(3, 0);
-    AOS_LOG_MATRIX(DEBUG, "error", error);
+    VLOG(1) << "error " << error;
 
     const auto &poly = is_zeroing_ ? U_Poly_zeroing_ : U_Poly_;
     const Eigen::Matrix<double, 4, 2> pos_poly_H = poly.H() * position_K;
@@ -183,9 +180,9 @@
       }
     }
 
-    AOS_LOG_MATRIX(DEBUG, "adjusted_pos_error", adjusted_pos_error);
+    VLOG(1) << "adjusted_pos_error " << adjusted_pos_error;
     mutable_U() = velocity_K * velocity_error + position_K * adjusted_pos_error;
-    AOS_LOG_MATRIX(DEBUG, "U is now", U());
+    VLOG(1) << "U is now" << U();
 
     {
       const auto values = constants::GetValues().claw;
@@ -221,69 +218,68 @@
       encoder_(0.0),
       last_encoder_(0.0) {}
 
-void ZeroedStateFeedbackLoop::SetPositionValues(
-    const ::y2014::control_loops::HalfClawPosition &claw) {
-  front_.Update(claw.front);
-  calibration_.Update(claw.calibration);
-  back_.Update(claw.back);
+void ZeroedStateFeedbackLoop::SetPositionValues(const HalfClawPosition *claw) {
+  front_.Update(claw->front());
+  calibration_.Update(claw->calibration());
+  back_.Update(claw->back());
 
   bool any_sensor_triggered = any_triggered();
   if (any_sensor_triggered && any_triggered_last_) {
     // We are still on the hall effect and nothing has changed.
     min_hall_effect_on_angle_ =
-        ::std::min(min_hall_effect_on_angle_, claw.position);
+        ::std::min(min_hall_effect_on_angle_, claw->position());
     max_hall_effect_on_angle_ =
-        ::std::max(max_hall_effect_on_angle_, claw.position);
+        ::std::max(max_hall_effect_on_angle_, claw->position());
   } else if (!any_sensor_triggered && !any_triggered_last_) {
     // We are still off the hall effect and nothing has changed.
     min_hall_effect_off_angle_ =
-        ::std::min(min_hall_effect_off_angle_, claw.position);
+        ::std::min(min_hall_effect_off_angle_, claw->position());
     max_hall_effect_off_angle_ =
-        ::std::max(max_hall_effect_off_angle_, claw.position);
+        ::std::max(max_hall_effect_off_angle_, claw->position());
   }
 
   if (front_.is_posedge()) {
     // Saw a posedge on the hall effect.  Reset the limits.
     min_hall_effect_on_angle_ =
-        ::std::min(claw.front.posedge_value, claw.position);
+        ::std::min(claw->front()->posedge_value(), claw->position());
     max_hall_effect_on_angle_ =
-        ::std::max(claw.front.posedge_value, claw.position);
+        ::std::max(claw->front()->posedge_value(), claw->position());
   }
   if (calibration_.is_posedge()) {
     // Saw a posedge on the hall effect.  Reset the limits.
     min_hall_effect_on_angle_ =
-        ::std::min(claw.calibration.posedge_value, claw.position);
+        ::std::min(claw->calibration()->posedge_value(), claw->position());
     max_hall_effect_on_angle_ =
-        ::std::max(claw.calibration.posedge_value, claw.position);
+        ::std::max(claw->calibration()->posedge_value(), claw->position());
   }
   if (back_.is_posedge()) {
     // Saw a posedge on the hall effect.  Reset the limits.
     min_hall_effect_on_angle_ =
-        ::std::min(claw.back.posedge_value, claw.position);
+        ::std::min(claw->back()->posedge_value(), claw->position());
     max_hall_effect_on_angle_ =
-        ::std::max(claw.back.posedge_value, claw.position);
+        ::std::max(claw->back()->posedge_value(), claw->position());
   }
 
   if (front_.is_negedge()) {
     // Saw a negedge on the hall effect.  Reset the limits.
     min_hall_effect_off_angle_ =
-        ::std::min(claw.front.negedge_value, claw.position);
+        ::std::min(claw->front()->negedge_value(), claw->position());
     max_hall_effect_off_angle_ =
-        ::std::max(claw.front.negedge_value, claw.position);
+        ::std::max(claw->front()->negedge_value(), claw->position());
   }
   if (calibration_.is_negedge()) {
     // Saw a negedge on the hall effect.  Reset the limits.
     min_hall_effect_off_angle_ =
-        ::std::min(claw.calibration.negedge_value, claw.position);
+        ::std::min(claw->calibration()->negedge_value(), claw->position());
     max_hall_effect_off_angle_ =
-        ::std::max(claw.calibration.negedge_value, claw.position);
+        ::std::max(claw->calibration()->negedge_value(), claw->position());
   }
   if (back_.is_negedge()) {
     // Saw a negedge on the hall effect.  Reset the limits.
     min_hall_effect_off_angle_ =
-        ::std::min(claw.back.negedge_value, claw.position);
+        ::std::min(claw->back()->negedge_value(), claw->position());
     max_hall_effect_off_angle_ =
-        ::std::max(claw.back.negedge_value, claw.position);
+        ::std::max(claw->back()->negedge_value(), claw->position());
   }
 
   last_encoder_ = encoder_;
@@ -292,23 +288,22 @@
   } else {
     last_off_encoder_ = encoder_;
   }
-  encoder_ = claw.position;
+  encoder_ = claw->position();
   any_triggered_last_ = any_sensor_triggered;
 }
 
-void ZeroedStateFeedbackLoop::Reset(
-    const ::y2014::control_loops::HalfClawPosition &claw) {
+void ZeroedStateFeedbackLoop::Reset(const HalfClawPosition *claw) {
   set_zeroing_state(ZeroedStateFeedbackLoop::UNKNOWN_POSITION);
 
-  front_.Reset(claw.front);
-  calibration_.Reset(claw.calibration);
-  back_.Reset(claw.back);
+  front_.Reset(claw->front());
+  calibration_.Reset(claw->calibration());
+  back_.Reset(claw->back());
   // close up the min and max edge positions as they are no longer valid and
   // will be expanded in future iterations
-  min_hall_effect_on_angle_ = claw.position;
-  max_hall_effect_on_angle_ = claw.position;
-  min_hall_effect_off_angle_ = claw.position;
-  max_hall_effect_off_angle_ = claw.position;
+  min_hall_effect_on_angle_ = claw->position();
+  max_hall_effect_on_angle_ = claw->position();
+  min_hall_effect_off_angle_ = claw->position();
+  max_hall_effect_off_angle_ = claw->position();
   any_triggered_last_ = any_triggered();
 }
 
@@ -374,8 +369,8 @@
 }
 
 ClawMotor::ClawMotor(::aos::EventLoop *event_loop, const ::std::string &name)
-    : aos::controls::ControlLoop<::y2014::control_loops::ClawQueue>(event_loop,
-                                                                    name),
+    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                 name),
       has_top_claw_goal_(false),
       top_claw_goal_(0.0),
       top_claw_(this),
@@ -563,45 +558,33 @@
   // first update position based on angle limit
   const double separation = *top_goal - *bottom_goal;
   if (separation > values.claw.soft_max_separation) {
-    AOS_LOG_STRUCT(DEBUG, "before", ClawPositionToLog(*top_goal, *bottom_goal));
     const double dsep = (separation - values.claw.soft_max_separation) / 2.0;
     *bottom_goal += dsep;
     *top_goal -= dsep;
-    AOS_LOG_STRUCT(DEBUG, "after", ClawPositionToLog(*top_goal, *bottom_goal));
   }
   if (separation < values.claw.soft_min_separation) {
-    AOS_LOG_STRUCT(DEBUG, "before", ClawPositionToLog(*top_goal, *bottom_goal));
     const double dsep = (separation - values.claw.soft_min_separation) / 2.0;
     *bottom_goal += dsep;
     *top_goal -= dsep;
-    AOS_LOG_STRUCT(DEBUG, "after", ClawPositionToLog(*top_goal, *bottom_goal));
   }
 
   // now move both goals in unison
   if (*bottom_goal < values.claw.lower_claw.lower_limit) {
-    AOS_LOG_STRUCT(DEBUG, "before", ClawPositionToLog(*top_goal, *bottom_goal));
     *top_goal += values.claw.lower_claw.lower_limit - *bottom_goal;
     *bottom_goal = values.claw.lower_claw.lower_limit;
-    AOS_LOG_STRUCT(DEBUG, "after", ClawPositionToLog(*top_goal, *bottom_goal));
   }
   if (*bottom_goal > values.claw.lower_claw.upper_limit) {
-    AOS_LOG_STRUCT(DEBUG, "before", ClawPositionToLog(*top_goal, *bottom_goal));
     *top_goal -= *bottom_goal - values.claw.lower_claw.upper_limit;
     *bottom_goal = values.claw.lower_claw.upper_limit;
-    AOS_LOG_STRUCT(DEBUG, "after", ClawPositionToLog(*top_goal, *bottom_goal));
   }
 
   if (*top_goal < values.claw.upper_claw.lower_limit) {
-    AOS_LOG_STRUCT(DEBUG, "before", ClawPositionToLog(*top_goal, *bottom_goal));
     *bottom_goal += values.claw.upper_claw.lower_limit - *top_goal;
     *top_goal = values.claw.upper_claw.lower_limit;
-    AOS_LOG_STRUCT(DEBUG, "after", ClawPositionToLog(*top_goal, *bottom_goal));
   }
   if (*top_goal > values.claw.upper_claw.upper_limit) {
-    AOS_LOG_STRUCT(DEBUG, "before", ClawPositionToLog(*top_goal, *bottom_goal));
     *bottom_goal -= *top_goal - values.claw.upper_claw.upper_limit;
     *top_goal = values.claw.upper_claw.upper_limit;
-    AOS_LOG_STRUCT(DEBUG, "after", ClawPositionToLog(*top_goal, *bottom_goal));
   }
 }
 
@@ -609,7 +592,7 @@
   return (
       (top_claw_.zeroing_state() == ZeroedStateFeedbackLoop::CALIBRATED &&
        bottom_claw_.zeroing_state() == ZeroedStateFeedbackLoop::CALIBRATED) ||
-      ((has_joystick_state() ? joystick_state().autonomous : true) &&
+      ((has_joystick_state() ? joystick_state().autonomous() : true) &&
        ((top_claw_.zeroing_state() == ZeroedStateFeedbackLoop::CALIBRATED ||
          top_claw_.zeroing_state() ==
              ZeroedStateFeedbackLoop::DISABLED_CALIBRATION) &&
@@ -621,43 +604,45 @@
 bool ClawMotor::is_zeroing() const { return !is_ready(); }
 
 // Positive angle is up, and positive power is up.
-void ClawMotor::RunIteration(
-    const ::y2014::control_loops::ClawQueue::Goal *goal,
-    const ::y2014::control_loops::ClawQueue::Position *position,
-    ::y2014::control_loops::ClawQueue::Output *output,
-    ::y2014::control_loops::ClawQueue::Status *status) {
+void ClawMotor::RunIteration(const Goal *goal, const Position *position,
+                             aos::Sender<Output>::Builder *output,
+                             aos::Sender<Status>::Builder *status) {
   // Disable the motors now so that all early returns will return with the
   // motors disabled.
+  OutputT output_struct;
   if (output) {
-    output->top_claw_voltage = 0;
-    output->bottom_claw_voltage = 0;
-    output->intake_voltage = 0;
-    output->tusk_voltage = 0;
+    output_struct.top_claw_voltage = 0;
+    output_struct.bottom_claw_voltage = 0;
+    output_struct.intake_voltage = 0;
+    output_struct.tusk_voltage = 0;
   }
 
+  StatusT status_struct;
   if (goal) {
-    if (::std::isnan(goal->bottom_angle) ||
-        ::std::isnan(goal->separation_angle) || ::std::isnan(goal->intake) ||
-        ::std::isnan(goal->centering)) {
+    if (::std::isnan(goal->bottom_angle()) ||
+        ::std::isnan(goal->separation_angle()) ||
+        ::std::isnan(goal->intake()) || ::std::isnan(goal->centering())) {
+      status->Send(Status::Pack(*status->fbb(), &status_struct));
+      output->Send(Output::Pack(*output->fbb(), &output_struct));
       return;
     }
   }
 
   if (WasReset()) {
-    top_claw_.Reset(position->top);
-    bottom_claw_.Reset(position->bottom);
+    top_claw_.Reset(position->top());
+    bottom_claw_.Reset(position->bottom());
   }
 
   const constants::Values &values = constants::GetValues();
 
   if (position) {
     Eigen::Matrix<double, 2, 1> Y;
-    Y << position->bottom.position + bottom_claw_.offset(),
-        position->top.position + top_claw_.offset();
+    Y << position->bottom()->position() + bottom_claw_.offset(),
+        position->top()->position() + top_claw_.offset();
     claw_.Correct(Y);
 
-    top_claw_.SetPositionValues(position->top);
-    bottom_claw_.SetPositionValues(position->bottom);
+    top_claw_.SetPositionValues(position->top());
+    bottom_claw_.SetPositionValues(position->bottom());
 
     if (!has_top_claw_goal_) {
       has_top_claw_goal_ = true;
@@ -671,15 +656,12 @@
       initial_separation_ =
           top_claw_.absolute_position() - bottom_claw_.absolute_position();
     }
-    AOS_LOG_STRUCT(DEBUG, "absolute position",
-                   ClawPositionToLog(top_claw_.absolute_position(),
-                                     bottom_claw_.absolute_position()));
   }
 
   bool autonomous, enabled;
   if (has_joystick_state()) {
-    autonomous = joystick_state().autonomous;
-    enabled = joystick_state().enabled;
+    autonomous = joystick_state().autonomous();
+    enabled = joystick_state().enabled();
   } else {
     autonomous = true;
     enabled = false;
@@ -700,8 +682,8 @@
               ZeroedStateFeedbackLoop::DISABLED_CALIBRATION))))) {
     // Ready to use the claw.
     // Limit the goals here.
-    bottom_claw_goal_ = goal->bottom_angle;
-    top_claw_goal_ = goal->bottom_angle + goal->separation_angle;
+    bottom_claw_goal_ = goal->bottom_angle();
+    top_claw_goal_ = goal->bottom_angle() + goal->separation_angle();
     has_bottom_claw_goal_ = true;
     has_top_claw_goal_ = true;
     doing_calibration_fine_tune_ = false;
@@ -759,7 +741,7 @@
                             bottom_claw_.back())) {
           // do calibration
           bottom_claw_.SetCalibration(
-              position->bottom.calibration.posedge_value,
+              position->bottom()->calibration()->posedge_value(),
               values.claw.lower_claw.calibration.lower_angle);
           bottom_claw_.set_zeroing_state(ZeroedStateFeedbackLoop::CALIBRATED);
           // calibrated so we are done fine tuning bottom
@@ -816,7 +798,7 @@
                                          top_claw_.front(), top_claw_.back())) {
           // do calibration
           top_claw_.SetCalibration(
-              position->top.calibration.posedge_value,
+              position->top()->calibration()->posedge_value(),
               values.claw.upper_claw.calibration.lower_angle);
           top_claw_.set_zeroing_state(ZeroedStateFeedbackLoop::CALIBRATED);
           // calibrated so we are done fine tuning top
@@ -836,10 +818,11 @@
     doing_calibration_fine_tune_ = false;
     if (!was_enabled_ && enabled) {
       if (position) {
-        top_claw_goal_ = position->top.position + top_claw_.offset();
-        bottom_claw_goal_ = position->bottom.position + bottom_claw_.offset();
+        top_claw_goal_ = position->top()->position() + top_claw_.offset();
+        bottom_claw_goal_ =
+            position->bottom()->position() + bottom_claw_.offset();
         initial_separation_ =
-            position->top.position - position->bottom.position;
+            position->top()->position() - position->bottom()->position();
       } else {
         has_top_claw_goal_ = false;
         has_bottom_claw_goal_ = false;
@@ -907,7 +890,6 @@
   if (has_top_claw_goal_ && has_bottom_claw_goal_) {
     claw_.mutable_R() << bottom_claw_goal_, top_claw_goal_ - bottom_claw_goal_,
         bottom_claw_velocity_, top_claw_velocity_ - bottom_claw_velocity_;
-    AOS_LOG_MATRIX(DEBUG, "actual goal", claw_.R());
 
     // Only cap power when one of the halves of the claw is moving slowly and
     // could wind up.
@@ -973,55 +955,60 @@
   if (output) {
     if (goal) {
       //setup the intake
-      output->intake_voltage =
-          (goal->intake > 12.0) ? 12 : (goal->intake < -12.0) ? -12.0
-                                                              : goal->intake;
-      output->tusk_voltage = goal->centering;
-      output->tusk_voltage =
-          (goal->centering > 12.0) ? 12 : (goal->centering < -12.0)
+      output_struct.intake_voltage =
+          (goal->intake() > 12.0)
+              ? 12
+              : (goal->intake() < -12.0) ? -12.0 : goal->intake();
+      output_struct.tusk_voltage = goal->centering();
+      output_struct.tusk_voltage =
+          (goal->centering() > 12.0) ? 12 : (goal->centering() < -12.0)
               ? -12.0
-              : goal->centering;
+              : goal->centering();
     }
-    output->top_claw_voltage = claw_.U(1, 0);
-    output->bottom_claw_voltage = claw_.U(0, 0);
+    output_struct.top_claw_voltage = claw_.U(1, 0);
+    output_struct.bottom_claw_voltage = claw_.U(0, 0);
 
-    if (output->top_claw_voltage > kMaxVoltage) {
-      output->top_claw_voltage = kMaxVoltage;
-    } else if (output->top_claw_voltage < -kMaxVoltage) {
-      output->top_claw_voltage = -kMaxVoltage;
+    if (output_struct.top_claw_voltage > kMaxVoltage) {
+      output_struct.top_claw_voltage = kMaxVoltage;
+    } else if (output_struct.top_claw_voltage < -kMaxVoltage) {
+      output_struct.top_claw_voltage = -kMaxVoltage;
     }
 
-    if (output->bottom_claw_voltage > kMaxVoltage) {
-      output->bottom_claw_voltage = kMaxVoltage;
-    } else if (output->bottom_claw_voltage < -kMaxVoltage) {
-      output->bottom_claw_voltage = -kMaxVoltage;
+    if (output_struct.bottom_claw_voltage > kMaxVoltage) {
+      output_struct.bottom_claw_voltage = kMaxVoltage;
+    } else if (output_struct.bottom_claw_voltage < -kMaxVoltage) {
+      output_struct.bottom_claw_voltage = -kMaxVoltage;
     }
+
+    output->Send(Output::Pack(*output->fbb(), &output_struct));
   }
 
-  status->bottom = bottom_absolute_position();
-  status->separation = top_absolute_position() - bottom_absolute_position();
-  status->bottom_velocity = claw_.X_hat(2, 0);
-  status->separation_velocity = claw_.X_hat(3, 0);
+  status_struct.bottom = bottom_absolute_position();
+  status_struct.separation =
+      top_absolute_position() - bottom_absolute_position();
+  status_struct.bottom_velocity = claw_.X_hat(2, 0);
+  status_struct.separation_velocity = claw_.X_hat(3, 0);
 
   if (goal) {
     bool bottom_done =
-        ::std::abs(bottom_absolute_position() - goal->bottom_angle) < 0.020;
-    bool bottom_velocity_done = ::std::abs(status->bottom_velocity) < 0.2;
+        ::std::abs(bottom_absolute_position() - goal->bottom_angle()) < 0.020;
+    bool bottom_velocity_done = ::std::abs(status_struct.bottom_velocity) < 0.2;
     bool separation_done =
         ::std::abs((top_absolute_position() - bottom_absolute_position()) -
-                   goal->separation_angle) < 0.020;
+                   goal->separation_angle()) < 0.020;
     bool separation_done_with_ball =
         ::std::abs((top_absolute_position() - bottom_absolute_position()) -
-                   goal->separation_angle) < 0.06;
-    status->done = is_ready() && separation_done && bottom_done && bottom_velocity_done;
-    status->done_with_ball =
-        is_ready() && separation_done_with_ball && bottom_done && bottom_velocity_done;
+                   goal->separation_angle()) < 0.06;
+    status_struct.done =
+        is_ready() && separation_done && bottom_done && bottom_velocity_done;
+    status_struct.done_with_ball = is_ready() && separation_done_with_ball &&
+                                   bottom_done && bottom_velocity_done;
   } else {
-    status->done = status->done_with_ball = false;
+    status_struct.done = status_struct.done_with_ball = false;
   }
 
-  status->zeroed = is_ready();
-  status->zeroed_for_auto =
+  status_struct.zeroed = is_ready();
+  status_struct.zeroed_for_auto =
       (top_claw_.zeroing_state() == ZeroedStateFeedbackLoop::CALIBRATED ||
        top_claw_.zeroing_state() ==
            ZeroedStateFeedbackLoop::DISABLED_CALIBRATION) &&
@@ -1029,8 +1016,11 @@
        bottom_claw_.zeroing_state() ==
            ZeroedStateFeedbackLoop::DISABLED_CALIBRATION);
 
+  status->Send(Status::Pack(*status->fbb(), &status_struct));
+
   was_enabled_ = enabled;
 }
 
+}  // namespace claw
 }  // namespace control_loops
 }  // namespace y2014
diff --git a/y2014/control_loops/claw/claw.h b/y2014/control_loops/claw/claw.h
index 082ddce..5bcccc1 100644
--- a/y2014/control_loops/claw/claw.h
+++ b/y2014/control_loops/claw/claw.h
@@ -5,15 +5,19 @@
 
 #include "aos/controls/control_loop.h"
 #include "aos/controls/polytope.h"
-#include "y2014/constants.h"
-#include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/control_loops/coerce_goal.h"
-#include "y2014/control_loops/claw/claw.q.h"
-#include "y2014/control_loops/claw/claw_motor_plant.h"
 #include "frc971/control_loops/hall_effect_tracker.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2014/constants.h"
+#include "y2014/control_loops/claw/claw_goal_generated.h"
+#include "y2014/control_loops/claw/claw_motor_plant.h"
+#include "y2014/control_loops/claw/claw_output_generated.h"
+#include "y2014/control_loops/claw/claw_position_generated.h"
+#include "y2014/control_loops/claw/claw_status_generated.h"
 
 namespace y2014 {
 namespace control_loops {
+namespace claw {
 namespace testing {
 class WindupClawTest;
 };
@@ -77,9 +81,9 @@
   }
   JointZeroingState zeroing_state() const { return zeroing_state_; }
 
-  void SetPositionValues(const ::y2014::control_loops::HalfClawPosition &claw);
+  void SetPositionValues(const HalfClawPosition *claw);
 
-  void Reset(const ::y2014::control_loops::HalfClawPosition &claw);
+  void Reset(const HalfClawPosition *claw);
 
   double absolute_position() const { return encoder() + offset(); }
 
@@ -183,11 +187,10 @@
 };
 
 class ClawMotor
-    : public aos::controls::ControlLoop<::y2014::control_loops::ClawQueue> {
+    : public aos::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
-  explicit ClawMotor(
-      ::aos::EventLoop *event_loop,
-      const ::std::string &name = ".y2014.control_loops.claw_queue");
+  explicit ClawMotor(::aos::EventLoop *event_loop,
+                     const ::std::string &name = "/claw");
 
   // True if the state machine is ready.
   bool capped_goal() const { return capped_goal_; }
@@ -217,11 +220,9 @@
   CalibrationMode mode() const { return mode_; }
 
  protected:
-  virtual void RunIteration(
-      const ::y2014::control_loops::ClawQueue::Goal *goal,
-      const ::y2014::control_loops::ClawQueue::Position *position,
-      ::y2014::control_loops::ClawQueue::Output *output,
-      ::y2014::control_loops::ClawQueue::Status *status);
+  virtual void RunIteration(const Goal *goal, const Position *position,
+                            aos::Sender<Output>::Builder *output,
+                            aos::Sender<Status>::Builder *status);
 
   double top_absolute_position() const {
     return claw_.X_hat(1, 0) + claw_.X_hat(0, 0);
@@ -262,6 +263,7 @@
 void LimitClawGoal(double *bottom_goal, double *top_goal,
                    const constants::Values &values);
 
+}  // namespace claw
 }  // namespace control_loops
 }  // namespace y2014
 
diff --git a/y2014/control_loops/claw/claw.q b/y2014/control_loops/claw/claw.q
deleted file mode 100644
index ff4c8b8..0000000
--- a/y2014/control_loops/claw/claw.q
+++ /dev/null
@@ -1,74 +0,0 @@
-package y2014.control_loops;
-
-import "aos/controls/control_loops.q";
-import "frc971/control_loops/control_loops.q";
-
-struct HalfClawPosition {
-  // The current position of this half of the claw.
-  double position;
-
-  // The hall effect sensor at the front limit.
-  .frc971.HallEffectStruct front;
-  // The hall effect sensor in the middle to use for real calibration.
-  .frc971.HallEffectStruct calibration;
-  // The hall effect at the back limit.
-  .frc971.HallEffectStruct back;
-};
-
-// All angles here are 0 vertical, positive "up" (aka backwards).
-// Published on ".y2014.control_loops.claw_queue"
-queue_group ClawQueue {
-  implements aos.control_loops.ControlLoop;
-
-  message Goal {
-    // The angle of the bottom claw.
-    double bottom_angle;
-    // How much higher the top claw is.
-    double separation_angle;
-    // top claw intake roller
-    double intake;
-    // bottom claw tusk centering
-    double centering;
-  };
-
-  message Position {
-    // All the top claw information.
-    HalfClawPosition top;
-    // All the bottom claw information.
-    HalfClawPosition bottom;
-  };
-
-  message Output {
-    double intake_voltage;
-    double top_claw_voltage;
-    double bottom_claw_voltage;
-    double tusk_voltage;
-  };
-
-  message Status {
-    // True if zeroed enough for the current period (autonomous or teleop).
-    bool zeroed;
-    // True if zeroed as much as we will force during autonomous.
-    bool zeroed_for_auto;
-    // True if zeroed and within tolerance for separation and bottom angle.
-    bool done;
-    // True if zeroed and within tolerance for separation and bottom angle.
-    // seperation allowance much wider as a ball may be included
-    bool done_with_ball;
-    // Dump the values of the state matrix.
-    double bottom;
-    double bottom_velocity;
-    double separation;
-    double separation_velocity;
-  };
-
-  queue Goal goal;
-  queue Position position;
-  queue Output output;
-  queue Status status;
-};
-
-struct ClawPositionToLog {
-	double top;
-	double bottom;
-};
diff --git a/y2014/control_loops/claw/claw_goal.fbs b/y2014/control_loops/claw/claw_goal.fbs
new file mode 100644
index 0000000..eb5860c
--- /dev/null
+++ b/y2014/control_loops/claw/claw_goal.fbs
@@ -0,0 +1,15 @@
+namespace y2014.control_loops.claw;
+
+// All angles here are 0 vertical, positive "up" (aka backwards).
+table Goal {
+  // The angle of the bottom claw.
+  bottom_angle:double;
+  // How much higher the top claw is.
+  separation_angle:double;
+  // top claw intake roller
+  intake:double;
+  // bottom claw tusk centering
+  centering:double;
+}
+
+root_type Goal;
diff --git a/y2014/control_loops/claw/claw_lib_test.cc b/y2014/control_loops/claw/claw_lib_test.cc
index 41dbfca..55e186e 100644
--- a/y2014/control_loops/claw/claw_lib_test.cc
+++ b/y2014/control_loops/claw/claw_lib_test.cc
@@ -8,16 +8,18 @@
 #include "gtest/gtest.h"
 #include "y2014/constants.h"
 #include "y2014/control_loops/claw/claw.h"
-#include "y2014/control_loops/claw/claw.q.h"
+#include "y2014/control_loops/claw/claw_goal_generated.h"
 #include "y2014/control_loops/claw/claw_motor_plant.h"
+#include "y2014/control_loops/claw/claw_output_generated.h"
+#include "y2014/control_loops/claw/claw_position_generated.h"
+#include "y2014/control_loops/claw/claw_status_generated.h"
 
 namespace y2014 {
 namespace control_loops {
+namespace claw {
 namespace testing {
 
-using ::y2014::control_loops::claw::MakeClawPlant;
-using ::frc971::HallEffectStruct;
-using ::y2014::control_loops::HalfClawPosition;
+using ::frc971::HallEffectStructT;
 using ::aos::monotonic_clock;
 namespace chrono = ::std::chrono;
 
@@ -38,10 +40,8 @@
                       double initial_top_position,
                       double initial_bottom_position)
       : event_loop_(event_loop),
-        claw_position_sender_(event_loop_->MakeSender<ClawQueue::Position>(
-            ".y2014.control_loops.claw_queue.position")),
-        claw_output_fetcher_(event_loop_->MakeFetcher<ClawQueue::Output>(
-            ".y2014.control_loops.claw_queue.output")),
+        claw_position_sender_(event_loop_->MakeSender<Position>("/claw")),
+        claw_output_fetcher_(event_loop_->MakeFetcher<Output>("/claw")),
         claw_plant_(new StateFeedbackPlant<4, 2, 2>(MakeClawPlant())) {
     Reinitialize(initial_top_position, initial_bottom_position);
 
@@ -69,7 +69,9 @@
 
     ReinitializePartial(TOP_CLAW, initial_top_position);
     ReinitializePartial(BOTTOM_CLAW, initial_bottom_position);
-    last_position_.Zero();
+
+    last_position_.top.reset();
+    last_position_.bottom.reset();
     SetPhysicalSensors(&last_position_);
   }
 
@@ -99,44 +101,58 @@
 
   void SetHallEffect(double pos,
                      const constants::Values::Claws::AnglePair &pair,
-                     HallEffectStruct *hall_effect) {
+                     HallEffectStructT *hall_effect) {
     hall_effect->current = CheckRange(pos, pair);
   }
 
   void SetClawHallEffects(double pos,
                           const constants::Values::Claws::Claw &claw,
-                          HalfClawPosition *half_claw) {
-    SetHallEffect(pos, claw.front, &half_claw->front);
-    SetHallEffect(pos, claw.calibration, &half_claw->calibration);
-    SetHallEffect(pos, claw.back, &half_claw->back);
+                          HalfClawPositionT *half_claw) {
+    if (!half_claw->front) {
+      half_claw->front.reset(new HallEffectStructT());
+    }
+    if (!half_claw->calibration) {
+      half_claw->calibration.reset(new HallEffectStructT());
+    }
+    if (!half_claw->back) {
+      half_claw->back.reset(new HallEffectStructT());
+    }
+    SetHallEffect(pos, claw.front, half_claw->front.get());
+    SetHallEffect(pos, claw.calibration, half_claw->calibration.get());
+    SetHallEffect(pos, claw.back, half_claw->back.get());
   }
 
   // Sets the values of the physical sensors that can be directly observed
   // (encoder, hall effect).
-  void SetPhysicalSensors(
-      ::y2014::control_loops::ClawQueue::Position *position) {
-    position->top.position = GetPosition(TOP_CLAW);
-    position->bottom.position = GetPosition(BOTTOM_CLAW);
+  void SetPhysicalSensors(PositionT *position) {
+    if (!position->top) {
+      position->top.reset(new HalfClawPositionT());
+    }
+    if (!position->bottom) {
+      position->bottom.reset(new HalfClawPositionT());
+    }
+
+    position->top->position = GetPosition(TOP_CLAW);
+    position->bottom->position = GetPosition(BOTTOM_CLAW);
 
     double pos[2] = {GetAbsolutePosition(TOP_CLAW),
                      GetAbsolutePosition(BOTTOM_CLAW)};
     AOS_LOG(DEBUG, "Physical claws are at {top: %f, bottom: %f}\n",
             pos[TOP_CLAW], pos[BOTTOM_CLAW]);
 
-    const constants::Values& values = constants::GetValues();
+    const constants::Values &values = constants::GetValues();
 
     // Signal that each hall effect sensor has been triggered if it is within
     // the correct range.
-    SetClawHallEffects(pos[TOP_CLAW], values.claw.upper_claw, &position->top);
+    SetClawHallEffects(pos[TOP_CLAW], values.claw.upper_claw,
+                       position->top.get());
     SetClawHallEffects(pos[BOTTOM_CLAW], values.claw.lower_claw,
-                       &position->bottom);
+                       position->bottom.get());
   }
 
-  void UpdateHallEffect(double angle,
-                        double last_angle,
-                        double initial_position,
-                        HallEffectStruct *position,
-                        const HallEffectStruct &last_position,
+  void UpdateHallEffect(double angle, double last_angle,
+                        double initial_position, HallEffectStructT *position,
+                        const HallEffectStructT &last_position,
                         const constants::Values::Claws::AnglePair &pair,
                         const char *claw_name, const char *hall_effect_name) {
     if (position->current && !last_position.current) {
@@ -167,49 +183,64 @@
     }
   }
 
-  void UpdateClawHallEffects(
-      HalfClawPosition *position,
-      const HalfClawPosition &last_position,
-      const constants::Values::Claws::Claw &claw, double initial_position,
-      const char *claw_name) {
-    UpdateHallEffect(position->position + initial_position,
+  void UpdateClawHallEffects(HalfClawPositionT *half_claw,
+                             const HalfClawPositionT &last_position,
+                             const constants::Values::Claws::Claw &claw,
+                             double initial_position, const char *claw_name) {
+    if (!half_claw->front) {
+      half_claw->front.reset(new HallEffectStructT());
+    }
+    if (!half_claw->calibration) {
+      half_claw->calibration.reset(new HallEffectStructT());
+    }
+    if (!half_claw->back) {
+      half_claw->back.reset(new HallEffectStructT());
+    }
+    UpdateHallEffect(half_claw->position + initial_position,
                      last_position.position + initial_position,
-                     initial_position, &position->front, last_position.front,
-                     claw.front, claw_name, "front");
-    UpdateHallEffect(position->position + initial_position,
+                     initial_position, half_claw->front.get(),
+                     *last_position.front.get(), claw.front, claw_name, "front");
+    UpdateHallEffect(half_claw->position + initial_position,
                      last_position.position + initial_position,
-                     initial_position, &position->calibration,
-                     last_position.calibration, claw.calibration, claw_name,
-                     "calibration");
-    UpdateHallEffect(position->position + initial_position,
+                     initial_position, half_claw->calibration.get(),
+                     *last_position.calibration.get(), claw.calibration,
+                     claw_name, "calibration");
+    UpdateHallEffect(half_claw->position + initial_position,
                      last_position.position + initial_position,
-                     initial_position, &position->back, last_position.back,
-                     claw.back, claw_name, "back");
+                     initial_position, half_claw->back.get(),
+                     *last_position.back.get(), claw.back, claw_name, "back");
   }
 
   // Sends out the position queue messages.
   void SendPositionMessage() {
-    ::aos::Sender<::y2014::control_loops::ClawQueue::Position>::Message
-        position = claw_position_sender_.MakeMessage();
+    ::aos::Sender<Position>::Builder builder =
+        claw_position_sender_.MakeBuilder();
 
     // Initialize all the counters to their previous values.
-    *position = last_position_;
 
-    SetPhysicalSensors(position.get());
+    PositionT position;
 
-    const constants::Values& values = constants::GetValues();
+    flatbuffers::FlatBufferBuilder fbb;
+    flatbuffers::Offset<Position> position_offset =
+        Position::Pack(fbb, &last_position_);
+    fbb.Finish(position_offset);
 
-    UpdateClawHallEffects(&position->top, last_position_.top,
+    flatbuffers::GetRoot<Position>(fbb.GetBufferPointer())->UnPackTo(&position);
+    SetPhysicalSensors(&position);
+
+    const constants::Values &values = constants::GetValues();
+
+    UpdateClawHallEffects(position.top.get(), *last_position_.top.get(),
                           values.claw.upper_claw, initial_position_[TOP_CLAW],
                           "Top");
-    UpdateClawHallEffects(&position->bottom, last_position_.bottom,
+    UpdateClawHallEffects(position.bottom.get(), *last_position_.bottom.get(),
                           values.claw.lower_claw,
                           initial_position_[BOTTOM_CLAW], "Bottom");
 
     // Only set calibration if it changed last cycle.  Calibration starts out
     // with a value of 0.
-    last_position_ = *position;
-    position.Send();
+    builder.Send(Position::Pack(*builder.fbb(), &position));
+    last_position_ = std::move(position);
   }
 
   // Simulates the claw moving for one timestep.
@@ -218,8 +249,8 @@
     EXPECT_TRUE(claw_output_fetcher_.Fetch());
 
     Eigen::Matrix<double, 2, 1> U;
-    U << claw_output_fetcher_->bottom_claw_voltage,
-        claw_output_fetcher_->top_claw_voltage;
+    U << claw_output_fetcher_->bottom_claw_voltage(),
+        claw_output_fetcher_->top_claw_voltage();
     claw_plant_->Update(U);
 
     // Check that the claw is within the limits.
@@ -237,8 +268,8 @@
 
  private:
   ::aos::EventLoop *event_loop_;
-  ::aos::Sender<ClawQueue::Position> claw_position_sender_;
-  ::aos::Fetcher<ClawQueue::Output> claw_output_fetcher_;
+  ::aos::Sender<Position> claw_position_sender_;
+  ::aos::Fetcher<Output> claw_output_fetcher_;
 
   // The whole claw.
   ::std::unique_ptr<StateFeedbackPlant<4, 2, 2>> claw_plant_;
@@ -252,18 +283,18 @@
 
   double initial_position_[CLAW_COUNT];
 
-  ::y2014::control_loops::ClawQueue::Position last_position_;
+  PositionT last_position_;
 };
 
 class ClawTest : public ::aos::testing::ControlLoopTest {
  protected:
   ClawTest()
-      : ::aos::testing::ControlLoopTest(chrono::microseconds(5000)),
+      : ::aos::testing::ControlLoopTest(
+            aos::configuration::ReadConfig("y2014/config.json"),
+            chrono::microseconds(5000)),
         test_event_loop_(MakeEventLoop()),
-        claw_goal_sender_(test_event_loop_->MakeSender<ClawQueue::Goal>(
-            ".y2014.control_loops.claw_queue.goal")),
-        claw_goal_fetcher_(test_event_loop_->MakeFetcher<ClawQueue::Goal>(
-            ".y2014.control_loops.claw_queue.goal")),
+        claw_goal_sender_(test_event_loop_->MakeSender<Goal>("/claw")),
+        claw_goal_fetcher_(test_event_loop_->MakeFetcher<Goal>("/claw")),
         claw_event_loop_(MakeEventLoop()),
         claw_motor_(claw_event_loop_.get()),
         claw_plant_event_loop_(MakeEventLoop()),
@@ -275,14 +306,14 @@
     double bottom = claw_motor_plant_.GetAbsolutePosition(BOTTOM_CLAW);
     double separation =
         claw_motor_plant_.GetAbsolutePosition(TOP_CLAW) - bottom;
-    EXPECT_NEAR(claw_goal_fetcher_->bottom_angle, bottom, 1e-4);
-    EXPECT_NEAR(claw_goal_fetcher_->separation_angle, separation, 1e-4);
+    EXPECT_NEAR(claw_goal_fetcher_->bottom_angle(), bottom, 1e-4);
+    EXPECT_NEAR(claw_goal_fetcher_->separation_angle(), separation, 1e-4);
     EXPECT_LE(min_separation_, separation);
   }
 
   ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
-  ::aos::Sender<ClawQueue::Goal> claw_goal_sender_;
-  ::aos::Fetcher<ClawQueue::Goal> claw_goal_fetcher_;
+  ::aos::Sender<Goal> claw_goal_sender_;
+  ::aos::Fetcher<Goal> claw_goal_fetcher_;
 
   // Create a loop and simulation plant.
   ::std::unique_ptr<::aos::EventLoop> claw_event_loop_;
@@ -294,15 +325,15 @@
   // Minimum amount of acceptable separation between the top and bottom of the
   // claw.
   double min_separation_;
-
 };
 
 TEST_F(ClawTest, HandlesNAN) {
   {
-    auto message = claw_goal_sender_.MakeMessage();
-    message->bottom_angle = ::std::nan("");
-    message->separation_angle = ::std::nan("");
-    EXPECT_TRUE(message.Send());
+    auto builder = claw_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_bottom_angle(::std::nan(""));
+    goal_builder.add_separation_angle(::std::nan(""));
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   SetEnabled(true);
@@ -312,10 +343,11 @@
 // Tests that the wrist zeros correctly and goes to a position.
 TEST_F(ClawTest, ZerosCorrectly) {
   {
-    auto message = claw_goal_sender_.MakeMessage();
-    message->bottom_angle = 0.1;
-    message->separation_angle = 0.2;
-    EXPECT_TRUE(message.Send());
+    auto builder = claw_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_bottom_angle(0.1);
+    goal_builder.add_separation_angle(0.2);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   SetEnabled(true);
@@ -409,10 +441,11 @@
   claw_motor_plant_.Reinitialize(GetParam().first, GetParam().second);
 
   {
-    auto message = claw_goal_sender_.MakeMessage();
-    message->bottom_angle = 0.1;
-    message->separation_angle = 0.2;
-    EXPECT_TRUE(message.Send());
+    auto builder = claw_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_bottom_angle(0.1);
+    goal_builder.add_separation_angle(0.2);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   SetEnabled(true);
@@ -586,10 +619,11 @@
 // zeroing position is saturating the goal.
 TEST_F(WindupClawTest, NoWindupPositive) {
   {
-    auto message = claw_goal_sender_.MakeMessage();
-    message->bottom_angle = 0.1;
-    message->separation_angle = 0.2;
-    EXPECT_TRUE(message.Send());
+    auto builder = claw_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_bottom_angle(0.1);
+    goal_builder.add_separation_angle(0.2);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   TestWindup(ClawMotor::UNKNOWN_LOCATION,
@@ -602,10 +636,11 @@
 // zeroing position is saturating the goal.
 TEST_F(WindupClawTest, NoWindupNegative) {
   {
-    auto message = claw_goal_sender_.MakeMessage();
-    message->bottom_angle = 0.1;
-    message->separation_angle = 0.2;
-    EXPECT_TRUE(message.Send());
+    auto builder = claw_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_bottom_angle(0.1);
+    goal_builder.add_separation_angle(0.2);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   TestWindup(ClawMotor::UNKNOWN_LOCATION,
@@ -618,10 +653,11 @@
 // zeroing position is saturating the goal.
 TEST_F(WindupClawTest, NoWindupNegativeFineTune) {
   {
-    auto message = claw_goal_sender_.MakeMessage();
-    message->bottom_angle = 0.1;
-    message->separation_angle = 0.2;
-    EXPECT_TRUE(message.Send());
+    auto builder = claw_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_bottom_angle(0.1);
+    goal_builder.add_separation_angle(0.2);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   TestWindup(ClawMotor::FINE_TUNE_BOTTOM,
@@ -631,5 +667,6 @@
 }
 
 }  // namespace testing
+}  // namespace claw
 }  // namespace control_loops
 }  // namespace y2014
diff --git a/y2014/control_loops/claw/claw_main.cc b/y2014/control_loops/claw/claw_main.cc
index 65627d5..f21c7c5 100644
--- a/y2014/control_loops/claw/claw_main.cc
+++ b/y2014/control_loops/claw/claw_main.cc
@@ -1,13 +1,16 @@
 #include "y2014/control_loops/claw/claw.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
-  ::y2014::control_loops::ClawMotor claw(&event_loop);
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
+  ::y2014::control_loops::claw::ClawMotor claw(&event_loop);
 
   event_loop.Run();
 
diff --git a/y2014/control_loops/claw/claw_output.fbs b/y2014/control_loops/claw/claw_output.fbs
new file mode 100644
index 0000000..8cb42e0
--- /dev/null
+++ b/y2014/control_loops/claw/claw_output.fbs
@@ -0,0 +1,11 @@
+namespace y2014.control_loops.claw;
+
+// All angles here are 0 vertical, positive "up" (aka backwards).
+table Output {
+  intake_voltage:double;
+  top_claw_voltage:double;
+  bottom_claw_voltage:double;
+  tusk_voltage:double;
+}
+
+root_type Output;
diff --git a/y2014/control_loops/claw/claw_position.fbs b/y2014/control_loops/claw/claw_position.fbs
new file mode 100644
index 0000000..17d9f17
--- /dev/null
+++ b/y2014/control_loops/claw/claw_position.fbs
@@ -0,0 +1,25 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2014.control_loops.claw;
+
+// All angles here are 0 vertical, positive "up" (aka backwards).
+table HalfClawPosition {
+  // The current position of this half of the claw.
+  position:double;
+
+  // The hall effect sensor at the front limit.
+  front:frc971.HallEffectStruct;
+  // The hall effect sensor in the middle to use for real calibration.
+  calibration:frc971.HallEffectStruct;
+  // The hall effect at the back limit.
+  back:frc971.HallEffectStruct;
+}
+
+table Position {
+  // All the top claw information.
+  top:HalfClawPosition;
+  // All the bottom claw information.
+  bottom:HalfClawPosition;
+}
+
+root_type Position;
diff --git a/y2014/control_loops/claw/claw_status.fbs b/y2014/control_loops/claw/claw_status.fbs
new file mode 100644
index 0000000..eda9279
--- /dev/null
+++ b/y2014/control_loops/claw/claw_status.fbs
@@ -0,0 +1,21 @@
+namespace y2014.control_loops.claw;
+
+// All angles here are 0 vertical, positive "up" (aka backwards).
+table Status {
+  // True if zeroed enough for the current period (autonomous or teleop).
+  zeroed:bool;
+  // True if zeroed as much as we will force during autonomous.
+  zeroed_for_auto:bool;
+  // True if zeroed and within tolerance for separation and bottom angle.
+  done:bool;
+  // True if zeroed and within tolerance for separation and bottom angle.
+  // seperation allowance much wider as a ball may be included
+  done_with_ball:bool;
+  // Dump the values of the state matrix.
+  bottom:double;
+  bottom_velocity:double;
+  separation:double;
+  separation_velocity:double;
+}
+
+root_type Status;
diff --git a/y2014/control_loops/drivetrain/BUILD b/y2014/control_loops/drivetrain/BUILD
index 858f7e0..c458208 100644
--- a/y2014/control_loops/drivetrain/BUILD
+++ b/y2014/control_loops/drivetrain/BUILD
@@ -1,7 +1,5 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
-
 genrule(
     name = "genrule_drivetrain",
     outs = [
@@ -77,7 +75,7 @@
     deps = [
         ":drivetrain_base",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
     ],
 )
diff --git a/y2014/control_loops/drivetrain/drivetrain_main.cc b/y2014/control_loops/drivetrain/drivetrain_main.cc
index 7749631..c210770 100644
--- a/y2014/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,6 @@
 #include "aos/init.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2014/control_loops/drivetrain/drivetrain_base.h"
 
@@ -9,7 +9,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
       &event_loop, ::y2014::control_loops::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(::y2014::control_loops::GetDrivetrainConfig(),
diff --git a/y2014/control_loops/shooter/BUILD b/y2014/control_loops/shooter/BUILD
index 075cafc..a2073c9 100644
--- a/y2014/control_loops/shooter/BUILD
+++ b/y2014/control_loops/shooter/BUILD
@@ -1,16 +1,40 @@
 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 = "shooter_queue",
+flatbuffer_cc_library(
+    name = "shooter_goal_fbs",
     srcs = [
-        "shooter.q",
+        "shooter_goal.fbs",
     ],
-    deps = [
-        "//aos/controls:control_loop_queues",
-        "//frc971/control_loops:queues",
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "shooter_position_fbs",
+    srcs = [
+        "shooter_position.fbs",
     ],
+    gen_reflections = 1,
+    includes = [
+        "//frc971/control_loops:control_loops_fbs_includes",
+    ],
+)
+
+flatbuffer_cc_library(
+    name = "shooter_output_fbs",
+    srcs = [
+        "shooter_output.fbs",
+    ],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "shooter_status_fbs",
+    srcs = [
+        "shooter_status.fbs",
+    ],
+    gen_reflections = 1,
 )
 
 genrule(
@@ -44,9 +68,12 @@
         "-lm",
     ],
     deps = [
-        ":shooter_queue",
+        ":shooter_goal_fbs",
+        ":shooter_output_fbs",
+        ":shooter_position_fbs",
+        ":shooter_status_fbs",
         "//aos/controls:control_loop",
-        "//aos/logging:queue_logging",
+        "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:state_feedback_loop",
         "//y2014:constants",
     ],
@@ -57,9 +84,13 @@
     srcs = [
         "shooter_lib_test.cc",
     ],
+    data = ["//y2014:config.json"],
     deps = [
+        ":shooter_goal_fbs",
         ":shooter_lib",
-        ":shooter_queue",
+        ":shooter_output_fbs",
+        ":shooter_position_fbs",
+        ":shooter_status_fbs",
         "//aos/controls:control_loop_test",
         "//aos/testing:googletest",
         "//frc971/control_loops:state_feedback_loop",
@@ -75,6 +106,6 @@
     deps = [
         ":shooter_lib",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
     ],
 )
diff --git a/y2014/control_loops/shooter/shooter.cc b/y2014/control_loops/shooter/shooter.cc
index bf14aad..fb115c7 100644
--- a/y2014/control_loops/shooter/shooter.cc
+++ b/y2014/control_loops/shooter/shooter.cc
@@ -6,15 +6,13 @@
 #include <limits>
 #include <chrono>
 
-#include "aos/controls/control_loops.q.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
-
 #include "y2014/constants.h"
 #include "y2014/control_loops/shooter/shooter_motor_plant.h"
 
 namespace y2014 {
 namespace control_loops {
+namespace shooter {
 
 namespace chrono = ::std::chrono;
 using ::aos::monotonic_clock;
@@ -45,10 +43,6 @@
   voltage_ = std::max(-max_voltage_, voltage_);
   mutable_U(0, 0) = voltage_ - old_voltage;
 
-  AOS_LOG_STRUCT(
-      DEBUG, "shooter_output",
-      ::y2014::control_loops::ShooterVoltageToLog(X_hat(2, 0), voltage_));
-
   last_voltage_ = voltage_;
   capped_goal_ = false;
 }
@@ -67,8 +61,6 @@
       mutable_R(0, 0) -= dx;
     }
     capped_goal_ = true;
-    AOS_LOG_STRUCT(DEBUG, "to prevent windup",
-                   ::y2014::control_loops::ShooterMovingGoal(dx));
   } else if (uncapped_voltage() < -max_voltage_) {
     double dx;
     if (index() == 0) {
@@ -82,8 +74,6 @@
       mutable_R(0, 0) -= dx;
     }
     capped_goal_ = true;
-    AOS_LOG_STRUCT(DEBUG, "to prevent windup",
-                   ::y2014::control_loops::ShooterMovingGoal(dx));
   } else {
     capped_goal_ = false;
   }
@@ -100,7 +90,6 @@
 
 void ZeroedStateFeedbackLoop::SetCalibration(double encoder_val,
                                              double known_position) {
-  double old_position = absolute_position();
   double previous_offset = offset_;
   offset_ = known_position - encoder_val;
   double doffset = offset_ - previous_offset;
@@ -110,16 +99,12 @@
   if (index() == 0) {
     mutable_R(2, 0) += -plant().A(1, 0) / plant().A(1, 2) * (doffset);
   }
-  AOS_LOG_STRUCT(DEBUG, "sensor edge (fake?)",
-                 ::y2014::control_loops::ShooterChangeCalibration(
-                     encoder_val, known_position, old_position,
-                     absolute_position(), previous_offset, offset_));
 }
 
 ShooterMotor::ShooterMotor(::aos::EventLoop *event_loop,
                            const ::std::string &name)
-    : aos::controls::ControlLoop<::y2014::control_loops::ShooterQueue>(
-          event_loop, name),
+    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                 name),
       shooter_(MakeShooterLoop()),
       state_(STATE_INITIALIZE),
       cycles_not_moved_(0),
@@ -137,12 +122,8 @@
                      (kMaxExtension - values.shooter.upper_limit) *
                          (kMaxExtension - values.shooter.upper_limit));
   if (power < 0) {
-    AOS_LOG_STRUCT(WARNING, "negative power",
-                   ::y2014::control_loops::PowerAdjustment(power, 0));
     power = 0;
   } else if (power > maxpower) {
-    AOS_LOG_STRUCT(WARNING, "power too high",
-                   ::y2014::control_loops::PowerAdjustment(power, maxpower));
     power = maxpower;
   }
 
@@ -166,23 +147,23 @@
   return power;
 }
 
-void ShooterMotor::CheckCalibrations(
-    const ::y2014::control_loops::ShooterQueue::Position *position) {
+void ShooterMotor::CheckCalibrations(const Position *position) {
   AOS_CHECK_NOTNULL(position);
   const constants::Values &values = constants::GetValues();
 
   // TODO(austin): Validate that this is the right edge.
   // If we see a posedge on any of the hall effects,
-  if (position->pusher_proximal.posedge_count != last_proximal_posedge_count_ &&
+  if (position->pusher_proximal()->posedge_count() !=
+          last_proximal_posedge_count_ &&
       !last_proximal_current_) {
     proximal_posedge_validation_cycles_left_ = 2;
   }
   if (proximal_posedge_validation_cycles_left_ > 0) {
-    if (position->pusher_proximal.current) {
+    if (position->pusher_proximal()->current()) {
       --proximal_posedge_validation_cycles_left_;
       if (proximal_posedge_validation_cycles_left_ == 0) {
         shooter_.SetCalibration(
-            position->pusher_proximal.posedge_value,
+            position->pusher_proximal()->posedge_value(),
             values.shooter.pusher_proximal.upper_angle);
 
         AOS_LOG(DEBUG, "Setting calibration using proximal sensor\n");
@@ -193,16 +174,17 @@
     }
   }
 
-  if (position->pusher_distal.posedge_count != last_distal_posedge_count_ &&
+  if (position->pusher_distal()->posedge_count() !=
+          last_distal_posedge_count_ &&
       !last_distal_current_) {
     distal_posedge_validation_cycles_left_ = 2;
   }
   if (distal_posedge_validation_cycles_left_ > 0) {
-    if (position->pusher_distal.current) {
+    if (position->pusher_distal()->current()) {
       --distal_posedge_validation_cycles_left_;
       if (distal_posedge_validation_cycles_left_ == 0) {
         shooter_.SetCalibration(
-            position->pusher_distal.posedge_value,
+            position->pusher_distal()->posedge_value(),
             values.shooter.pusher_distal.upper_angle);
 
         AOS_LOG(DEBUG, "Setting calibration using distal sensor\n");
@@ -216,43 +198,44 @@
 
 // Positive is out, and positive power is out.
 void ShooterMotor::RunIteration(
-    const ::y2014::control_loops::ShooterQueue::Goal *goal,
-    const ::y2014::control_loops::ShooterQueue::Position *position,
-    ::y2014::control_loops::ShooterQueue::Output *output,
-    ::y2014::control_loops::ShooterQueue::Status *status) {
+    const Goal *goal,
+    const Position *position,
+    aos::Sender<Output>::Builder *output,
+    aos::Sender<Status>::Builder *status) {
+  OutputT output_struct;
   const monotonic_clock::time_point monotonic_now = event_loop()->monotonic_now();
-  if (goal && ::std::isnan(goal->shot_power)) {
+  if (goal && ::std::isnan(goal->shot_power())) {
     state_ = STATE_ESTOP;
     AOS_LOG(ERROR, "Estopping because got a shot power of NAN.\n");
   }
 
   // we must always have these or we have issues.
   if (status == NULL) {
-    if (output) output->voltage = 0;
+    if (output) output_struct.voltage = 0;
     AOS_LOG(ERROR, "Thought I would just check for null and die.\n");
     return;
   }
-  status->ready = false;
+  bool status_ready = false;
 
   if (WasReset()) {
     state_ = STATE_INITIALIZE;
-    last_distal_current_ = position->pusher_distal.current;
-    last_proximal_current_ = position->pusher_proximal.current;
+    last_distal_current_ = position->pusher_distal()->current();
+    last_proximal_current_ = position->pusher_proximal()->current();
   }
   if (position) {
-    shooter_.CorrectPosition(position->position);
+    shooter_.CorrectPosition(position->position());
   }
 
   // Disable the motors now so that all early returns will return with the
   // motors disabled.
-  if (output) output->voltage = 0;
+  if (output) output_struct.voltage = 0;
 
   const constants::Values &values = constants::GetValues();
 
   // Don't even let the control loops run.
   bool shooter_loop_disable = false;
 
-  const bool disabled = !has_joystick_state() || !joystick_state().enabled;
+  const bool disabled = !has_joystick_state() || !joystick_state().enabled();
 
   // If true, move the goal if we saturate.
   bool cap_goal = false;
@@ -263,7 +246,7 @@
 
   if (position) {
     int last_index = shooter_.index();
-    if (position->plunger && position->latch) {
+    if (position->plunger() && position->latch()) {
       // Use the controller without the spring if the latch is set and the
       // plunger is back
       shooter_.set_index(1);
@@ -280,27 +263,27 @@
     case STATE_INITIALIZE:
       if (position) {
         // Reinitialize the internal filter state.
-        shooter_.InitializeState(position->position);
+        shooter_.InitializeState(position->position());
 
         // Start off with the assumption that we are at the value
         // futhest back given our sensors.
-        if (position->pusher_distal.current) {
-          shooter_.SetCalibration(position->position,
+        if (position->pusher_distal()->current()) {
+          shooter_.SetCalibration(position->position(),
                                   values.shooter.pusher_distal.lower_angle);
-        } else if (position->pusher_proximal.current) {
-          shooter_.SetCalibration(position->position,
+        } else if (position->pusher_proximal()->current()) {
+          shooter_.SetCalibration(position->position(),
                                   values.shooter.pusher_proximal.upper_angle);
         } else {
-          shooter_.SetCalibration(position->position,
+          shooter_.SetCalibration(position->position(),
                                   values.shooter.upper_limit);
         }
 
         // Go to the current position.
         shooter_.SetGoalPosition(shooter_.absolute_position(), 0.0);
         // If the plunger is all the way back, we want to be latched.
-        latch_piston_ = position->plunger;
+        latch_piston_ = position->plunger();
         brake_piston_ = false;
-        if (position->latch == latch_piston_) {
+        if (position->latch() == latch_piston_) {
           state_ = STATE_REQUEST_LOAD;
         } else {
           shooter_loop_disable = true;
@@ -317,20 +300,20 @@
     case STATE_REQUEST_LOAD:
       if (position) {
         zeroed_ = false;
-        if (position->pusher_distal.current ||
-            position->pusher_proximal.current) {
+        if (position->pusher_distal()->current() ||
+            position->pusher_proximal()->current()) {
           // We started on the sensor, back up until we are found.
           // If the plunger is all the way back and not latched, it won't be
           // there for long.
           state_ = STATE_LOAD_BACKTRACK;
 
           // The plunger is already back and latched.  Don't release it.
-          if (position->plunger && position->latch) {
+          if (position->plunger() && position->latch()) {
             latch_piston_ = true;
           } else {
             latch_piston_ = false;
           }
-        } else if (position->plunger && position->latch) {
+        } else if (position->plunger() && position->latch()) {
           // The plunger is back and we are latched.  We most likely got here
           // from Initialize, in which case we want to 'load' again anyways to
           // zero.
@@ -361,11 +344,11 @@
       shooter_.set_max_voltage(4.0);
 
       if (position) {
-        if (!position->pusher_distal.current &&
-            !position->pusher_proximal.current) {
+        if (!position->pusher_distal()->current() &&
+            !position->pusher_proximal()->current()) {
           Load(monotonic_now);
         }
-        latch_piston_ = position->plunger;
+        latch_piston_ = position->plunger();
       }
 
       brake_piston_ = false;
@@ -391,18 +374,19 @@
 
         // Latch if the plunger is far enough back to trigger the hall effect.
         // This happens when the distal sensor is triggered.
-        latch_piston_ = position->pusher_distal.current || position->plunger;
+        latch_piston_ =
+            position->pusher_distal()->current() || position->plunger();
 
         // Check if we are latched and back.  Make sure the plunger is all the
         // way back as well.
-        if (position->plunger && position->latch &&
-            position->pusher_distal.current) {
+        if (position->plunger() && position->latch() &&
+            position->pusher_distal()->current()) {
           if (!zeroed_) {
             state_ = STATE_REQUEST_LOAD;
           } else {
             state_ = STATE_PREPARE_SHOT;
           }
-        } else if (position->plunger &&
+        } else if (position->plunger() &&
                    ::std::abs(shooter_.absolute_position() -
                               shooter_.goal_position()) < 0.001) {
           // We are at the goal, but not latched.
@@ -415,10 +399,9 @@
         if (position) {
           // If none of the sensors is triggered, estop.
           // Otherwise, trigger anyways if it has been 0.5 seconds more.
-          if (!(position->pusher_distal.current ||
-                position->pusher_proximal.current) ||
-              (load_timeout_ + chrono::milliseconds(500) <
-               monotonic_now)) {
+          if (!(position->pusher_distal()->current() ||
+                position->pusher_proximal()->current()) ||
+              (load_timeout_ + chrono::milliseconds(500) < monotonic_now)) {
             state_ = STATE_ESTOP;
             AOS_LOG(ERROR, "Estopping because took too long to load.\n");
           }
@@ -436,7 +419,7 @@
       if (monotonic_now > loading_problem_end_time_) {
         // Timeout by unloading.
         Unload(monotonic_now);
-      } else if (position && position->plunger && position->latch) {
+      } else if (position && position->plunger() && position->latch()) {
         // If both trigger, we are latched.
         state_ = STATE_PREPARE_SHOT;
       }
@@ -448,7 +431,7 @@
       shooter_.SetGoalPosition(values.shooter.lower_limit, 0.0);
       if (position) {
         AOS_LOG(DEBUG, "Waiting on latch: plunger %d, latch: %d\n",
-                position->plunger, position->latch);
+                position->plunger(), position->latch());
       }
 
       latch_piston_ = true;
@@ -459,16 +442,16 @@
       // TODO(austin): Timeout.  Low priority.
 
       if (goal) {
-        shooter_.SetGoalPosition(PowerToPosition(goal->shot_power), 0.0);
+        shooter_.SetGoalPosition(PowerToPosition(goal->shot_power()), 0.0);
       }
 
       AOS_LOG(DEBUG, "PDIFF: absolute_position: %.2f, pow: %.2f\n",
               shooter_.absolute_position(),
-              goal ? PowerToPosition(goal->shot_power)
+              goal ? PowerToPosition(goal->shot_power())
                    : ::std::numeric_limits<double>::quiet_NaN());
       if (goal &&
           ::std::abs(shooter_.absolute_position() -
-                     PowerToPosition(goal->shot_power)) < 0.001 &&
+                     PowerToPosition(goal->shot_power())) < 0.001 &&
           ::std::abs(shooter_.absolute_velocity()) < 0.005) {
         // We are there, set the brake and move on.
         latch_piston_ = true;
@@ -479,7 +462,7 @@
         latch_piston_ = true;
         brake_piston_ = false;
       }
-      if (goal && goal->unload_requested) {
+      if (goal && goal->unload_requested()) {
         Unload(monotonic_now);
       }
       break;
@@ -488,12 +471,12 @@
       // Wait until the brake is set, and a shot is requested or the shot power
       // is changed.
       if (monotonic_now > shooter_brake_set_time_) {
-        status->ready = true;
+        status_ready = true;
         // We have waited long enough for the brake to set, turn the shooter
         // control loop off.
         shooter_loop_disable = true;
         AOS_LOG(DEBUG, "Brake is now set\n");
-        if (goal && goal->shot_requested && !disabled) {
+        if (goal && goal->shot_requested() && !disabled) {
           AOS_LOG(DEBUG, "Shooting now\n");
           shooter_loop_disable = true;
           shot_end_time_ = monotonic_now + kShotEndTimeout;
@@ -503,24 +486,24 @@
       }
       if (state_ == STATE_READY && goal &&
           ::std::abs(shooter_.absolute_position() -
-                     PowerToPosition(goal->shot_power)) > 0.002) {
+                     PowerToPosition(goal->shot_power())) > 0.002) {
         // TODO(austin): Add a state to release the brake.
 
         // TODO(austin): Do we want to set the brake here or after shooting?
         // Depends on air usage.
-        status->ready = false;
+        status_ready = false;
         AOS_LOG(DEBUG, "Preparing shot again.\n");
         state_ = STATE_PREPARE_SHOT;
       }
 
       if (goal) {
-        shooter_.SetGoalPosition(PowerToPosition(goal->shot_power), 0.0);
+        shooter_.SetGoalPosition(PowerToPosition(goal->shot_power()), 0.0);
       }
 
       latch_piston_ = true;
       brake_piston_ = true;
 
-      if (goal && goal->unload_requested) {
+      if (goal && goal->unload_requested()) {
         Unload(monotonic_now);
       }
       break;
@@ -528,7 +511,7 @@
     case STATE_FIRE:
       if (disabled) {
         if (position) {
-          if (position->plunger) {
+          if (position->plunger()) {
             // If disabled and the plunger is still back there, reset the
             // timeout.
             shot_end_time_ = monotonic_now + kShotEndTimeout;
@@ -537,7 +520,7 @@
       }
       shooter_loop_disable = true;
       // Count the number of contiguous cycles during which we haven't moved.
-      if (::std::abs(last_position_.position - shooter_.absolute_position()) <
+      if (::std::abs(last_position_position_ - shooter_.absolute_position()) <
           0.0005) {
         ++cycles_not_moved_;
       } else {
@@ -551,7 +534,7 @@
                        shooter_.absolute_position()) > 0.0005 &&
             cycles_not_moved_ > 6) ||
            monotonic_now > shot_end_time_) &&
-          robot_state().voltage_battery > 10.5) {
+          robot_state().voltage_battery() > 10.5) {
         state_ = STATE_REQUEST_LOAD;
         ++shot_count_;
       }
@@ -566,9 +549,9 @@
       // the plunger.
       bool all_back;
       if (position) {
-        all_back = position->plunger && position->latch;
+        all_back = position->plunger() && position->latch();
       } else {
-        all_back = last_position_.plunger && last_position_.latch;
+        all_back = last_position_plunger_ && last_position_latch_;
       }
 
       if (all_back) {
@@ -632,7 +615,7 @@
       brake_piston_ = false;
     } break;
     case STATE_READY_UNLOAD:
-      if (goal && goal->load_requested) {
+      if (goal && goal->load_requested()) {
         state_ = STATE_REQUEST_LOAD;
       }
       // If we are ready to load again,
@@ -652,9 +635,6 @@
   }
 
   if (!shooter_loop_disable) {
-    AOS_LOG_STRUCT(DEBUG, "running the loop",
-                   ::y2014::control_loops::ShooterStatusToLog(
-                       shooter_.goal_position(), shooter_.absolute_position()));
     if (!cap_goal) {
       shooter_.set_max_voltage(12.0);
     }
@@ -664,49 +644,55 @@
     }
     // We don't really want to output anything if we went through everything
     // assuming the motors weren't working.
-    if (output) output->voltage = shooter_.voltage();
+    if (output) output_struct.voltage = shooter_.voltage();
   } else {
     shooter_.Update(true);
     shooter_.ZeroPower();
-    if (output) output->voltage = 0.0;
+    if (output) output_struct.voltage = 0.0;
   }
 
-  status->hard_stop_power = PositionToPower(shooter_.absolute_position());
+  Status::Builder status_builder = status->MakeBuilder<Status>();
+
+  status_builder.add_ready(status_ready);
+  status_builder.add_hard_stop_power(
+      PositionToPower(shooter_.absolute_position()));
 
   if (output) {
-    output->latch_piston = latch_piston_;
-    output->brake_piston = brake_piston_;
+    output_struct.latch_piston = latch_piston_;
+    output_struct.brake_piston = brake_piston_;
+
+    output->Send(Output::Pack(*output->fbb(), &output_struct));
   }
 
   if (position) {
-    AOS_LOG_STRUCT(
-        DEBUG, "internal state",
-        ::y2014::control_loops::ShooterStateToLog(
-            shooter_.absolute_position(), shooter_.absolute_velocity(), state_,
-            position->latch, position->pusher_proximal.current,
-            position->pusher_distal.current, position->plunger, brake_piston_,
-            latch_piston_));
+    last_position_latch_ = position->latch();
+    last_position_plunger_ = position->plunger();
+    last_position_position_ = position->position();
 
-    last_position_ = *position;
-
-    last_distal_posedge_count_ = position->pusher_distal.posedge_count;
-    last_proximal_posedge_count_ = position->pusher_proximal.posedge_count;
-    last_distal_current_ = position->pusher_distal.current;
-    last_proximal_current_ = position->pusher_proximal.current;
+    last_distal_posedge_count_ = position->pusher_distal()->posedge_count();
+    last_proximal_posedge_count_ = position->pusher_proximal()->posedge_count();
+    last_distal_current_ = position->pusher_distal()->current();
+    last_proximal_current_ = position->pusher_proximal()->current();
   }
 
-  status->absolute_position = shooter_.absolute_position();
-  status->absolute_velocity = shooter_.absolute_velocity();
-  status->state = state_;
+  status_builder.add_absolute_position(shooter_.absolute_position());
+  status_builder.add_absolute_velocity(shooter_.absolute_velocity());
+  status_builder.add_state(state_);
 
-  status->shots = shot_count_;
+  status_builder.add_shots(shot_count_);
+
+  status->Send(status_builder.Finish());
 }
 
-void ShooterMotor::Zero(::y2014::control_loops::ShooterQueue::Output *output) {
-  output->voltage = 0.0;
-  output->latch_piston = latch_piston_;
-  output->brake_piston = brake_piston_;
+flatbuffers::Offset<Output> ShooterMotor::Zero(
+    aos::Sender<Output>::Builder *output) {
+  Output::Builder output_builder = output->MakeBuilder<Output>();
+  output_builder.add_voltage(0.0);
+  output_builder.add_latch_piston(latch_piston_);
+  output_builder.add_brake_piston(brake_piston_);
+  return output_builder.Finish();
 }
 
+}  // namespace shooter
 }  // namespace control_loops
 }  // namespace y2014
diff --git a/y2014/control_loops/shooter/shooter.h b/y2014/control_loops/shooter/shooter.h
index e755b0f..1e7d4aa 100644
--- a/y2014/control_loops/shooter/shooter.h
+++ b/y2014/control_loops/shooter/shooter.h
@@ -8,11 +8,15 @@
 #include "aos/time/time.h"
 
 #include "y2014/constants.h"
+#include "y2014/control_loops/shooter/shooter_goal_generated.h"
 #include "y2014/control_loops/shooter/shooter_motor_plant.h"
-#include "y2014/control_loops/shooter/shooter.q.h"
+#include "y2014/control_loops/shooter/shooter_output_generated.h"
+#include "y2014/control_loops/shooter/shooter_position_generated.h"
+#include "y2014/control_loops/shooter/shooter_status_generated.h"
 
 namespace y2014 {
 namespace control_loops {
+namespace shooter {
 namespace testing {
 class ShooterTest_UnloadWindupPositive_Test;
 class ShooterTest_UnloadWindupNegative_Test;
@@ -127,19 +131,17 @@
     ::std::chrono::milliseconds(40);
 
 class ShooterMotor
-    : public aos::controls::ControlLoop<::y2014::control_loops::ShooterQueue> {
+    : public aos::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
-  explicit ShooterMotor(
-      ::aos::EventLoop *event_loop,
-      const ::std::string &name = ".y2014.control_loops.shooter_queue");
+  explicit ShooterMotor(::aos::EventLoop *event_loop,
+                        const ::std::string &name = "/shooter");
 
   // True if the goal was moved to avoid goal windup.
   bool capped_goal() const { return shooter_.capped_goal(); }
 
   double PowerToPosition(double power);
   double PositionToPower(double position);
-  void CheckCalibrations(
-      const ::y2014::control_loops::ShooterQueue::Position *position);
+  void CheckCalibrations(const Position *position);
 
   typedef enum {
     STATE_INITIALIZE = 0,
@@ -159,15 +161,14 @@
   State state() { return state_; }
 
  protected:
-  void RunIteration(
-      const ::y2014::control_loops::ShooterQueue::Goal *goal,
-      const ::y2014::control_loops::ShooterQueue::Position *position,
-      ::y2014::control_loops::ShooterQueue::Output *output,
-      ::y2014::control_loops::ShooterQueue::Status *status) override;
+  void RunIteration(const Goal *goal, const Position *position,
+                    aos::Sender<Output>::Builder *output,
+                    aos::Sender<Status>::Builder *status) override;
 
  private:
   // We have to override this to keep the pistons in the correct positions.
-  void Zero(::y2014::control_loops::ShooterQueue::Output *output) override;
+  flatbuffers::Offset<Output> Zero(
+      aos::Sender<Output>::Builder *output) override;
 
   // Friend the test classes for acces to the internal state.
   friend class testing::ShooterTest_UnloadWindupPositive_Test;
@@ -185,7 +186,9 @@
     load_timeout_ = monotonic_now + kLoadTimeout;
   }
 
-  ::y2014::control_loops::ShooterQueue::Position last_position_;
+  bool last_position_latch_ = false;
+  bool last_position_plunger_ = false;
+  double last_position_position_ = 0.0;
 
   ZeroedStateFeedbackLoop shooter_;
 
@@ -232,6 +235,7 @@
   DISALLOW_COPY_AND_ASSIGN(ShooterMotor);
 };
 
+}  // namespace shooter
 }  // namespace control_loops
 }  // namespace y2014
 
diff --git a/y2014/control_loops/shooter/shooter.q b/y2014/control_loops/shooter/shooter.q
deleted file mode 100644
index c7ed97d..0000000
--- a/y2014/control_loops/shooter/shooter.q
+++ /dev/null
@@ -1,103 +0,0 @@
-package y2014.control_loops;
-
-import "aos/controls/control_loops.q";
-import "frc971/control_loops/control_loops.q";
-
-// Published on ".y2014.control_loops.shooter_queue"
-queue_group ShooterQueue {
-  implements aos.control_loops.ControlLoop;
-
-  message Output {
-    double voltage;
-    // true: latch engaged, false: latch open
-    bool latch_piston;
-    // true: brake engaged false: brake released
-    bool brake_piston;
-  };
-  message Goal {
-    // Shot power in joules.
-    double shot_power;
-    // Shoots as soon as this is true.
-    bool shot_requested;
-    bool unload_requested;
-    bool load_requested;
-  };
-
-  // Back is when the springs are all the way stretched.
-  message Position {
-    // In meters, out is positive.
-    double position;
-
-    // If the latch piston is fired and this hall effect has been triggered, the
-    // plunger is all the way back and latched.
-    bool plunger;
-    // Gets triggered when the pusher is all the way back.
-    .frc971.PosedgeOnlyCountedHallEffectStruct pusher_distal;
-    // Triggers just before pusher_distal.
-    .frc971.PosedgeOnlyCountedHallEffectStruct pusher_proximal;
-    // Triggers when the latch engages.
-    bool latch;
-  };
-  message Status {
-    // Whether it's ready to shoot right now.
-    bool ready;
-    // Whether the plunger is in and out of the way of grabbing a ball.
-    // TODO(ben): Populate these!
-    bool cocked;
-    // How many times we've shot.
-    int32_t shots;
-    bool done;
-    // What we think the current position of the hard stop on the shooter is, in
-    // shot power (Joules).
-    double hard_stop_power;
-
-    double absolute_position;
-    double absolute_velocity;
-    uint32_t state;
-  };
-
-  queue Goal goal;
-  queue Position position;
-  queue Output output;
-  queue Status status;
-};
-
-struct ShooterStateToLog {
-	double absolute_position;
-	double absolute_velocity;
-	uint32_t state;
-	bool latch_sensor;
-	bool proximal;
-	bool distal;
-	bool plunger;
-	bool brake;
-	bool latch_piston;
-};
-
-struct ShooterVoltageToLog {
-	double X_hat;
-	double applied;
-};
-
-struct ShooterMovingGoal {
-	double dx;
-};
-
-struct ShooterChangeCalibration {
-	double encoder;
-	double real_position;
-	double old_position;
-	double new_position;
-	double old_offset;
-	double new_offset;
-};
-
-struct ShooterStatusToLog {
-	double goal;
-	double position;
-};
-
-struct PowerAdjustment {
-	double requested_power;
-	double actual_power;
-};
diff --git a/y2014/control_loops/shooter/shooter_goal.fbs b/y2014/control_loops/shooter/shooter_goal.fbs
new file mode 100644
index 0000000..3326562
--- /dev/null
+++ b/y2014/control_loops/shooter/shooter_goal.fbs
@@ -0,0 +1,12 @@
+namespace y2014.control_loops.shooter;
+
+table Goal {
+  // Shot power in joules.
+  shot_power:double;
+  // Shoots as soon as this is true.
+  shot_requested:bool;
+  unload_requested:bool;
+  load_requested:bool;
+}
+
+root_type Goal;
diff --git a/y2014/control_loops/shooter/shooter_lib_test.cc b/y2014/control_loops/shooter/shooter_lib_test.cc
index f910b6d..ad24cf9 100644
--- a/y2014/control_loops/shooter/shooter_lib_test.cc
+++ b/y2014/control_loops/shooter/shooter_lib_test.cc
@@ -9,7 +9,10 @@
 #include "gtest/gtest.h"
 #include "y2014/constants.h"
 #include "y2014/control_loops/shooter/shooter.h"
-#include "y2014/control_loops/shooter/shooter.q.h"
+#include "y2014/control_loops/shooter/shooter_goal_generated.h"
+#include "y2014/control_loops/shooter/shooter_output_generated.h"
+#include "y2014/control_loops/shooter/shooter_position_generated.h"
+#include "y2014/control_loops/shooter/shooter_status_generated.h"
 #include "y2014/control_loops/shooter/unaugmented_shooter_motor_plant.h"
 
 namespace chrono = ::std::chrono;
@@ -17,6 +20,7 @@
 
 namespace y2014 {
 namespace control_loops {
+namespace shooter {
 namespace testing {
 
 using ::y2014::control_loops::shooter::kMaxExtension;
@@ -31,11 +35,8 @@
   ShooterSimulation(::aos::EventLoop *event_loop, chrono::nanoseconds dt,
                     double initial_position)
       : event_loop_(event_loop),
-        shooter_position_sender_(
-            event_loop_->MakeSender<ShooterQueue::Position>(
-                ".y2014.control_loops.shooter_queue.position")),
-        shooter_output_fetcher_(event_loop_->MakeFetcher<ShooterQueue::Output>(
-            ".y2014.control_loops.shooter_queue.output")),
+        shooter_position_sender_(event_loop_->MakeSender<Position>("/shooter")),
+        shooter_output_fetcher_(event_loop_->MakeFetcher<Output>("/shooter")),
         shooter_plant_(new StateFeedbackPlant<2, 1, 1>(MakeRawShooterPlant())),
         latch_piston_state_(false),
         latch_delay_count_(0),
@@ -69,6 +70,7 @@
     plant->mutable_Y() = plant->C() * plant->X();
     last_voltage_ = 0.0;
     last_plant_position_ = 0.0;
+    last_position_ = 0.0;
     SetPhysicalSensors(&last_position_message_);
   }
 
@@ -89,8 +91,7 @@
 
   // Sets the values of the physical sensors that can be directly observed
   // (encoder, hall effect).
-  void SetPhysicalSensors(
-      ::y2014::control_loops::ShooterQueue::Position *position) {
+  void SetPhysicalSensors(PositionT *position) {
     const constants::Values &values = constants::GetValues();
 
     position->position = GetPosition();
@@ -113,17 +114,27 @@
       position->plunger =
           CheckRange(GetAbsolutePosition(), values.shooter.plunger_back);
     }
-    position->pusher_distal.current =
+
+    if (!position->pusher_distal) {
+      position->pusher_distal.reset(
+          new frc971::PosedgeOnlyCountedHallEffectStructT);
+    }
+    if (!position->pusher_proximal) {
+      position->pusher_proximal.reset(
+          new frc971::PosedgeOnlyCountedHallEffectStructT);
+    }
+
+    position->pusher_distal->current =
         CheckRange(GetAbsolutePosition(), values.shooter.pusher_distal);
-    position->pusher_proximal.current =
+    position->pusher_proximal->current =
         CheckRange(GetAbsolutePosition(), values.shooter.pusher_proximal);
   }
 
   void UpdateEffectEdge(
-      ::frc971::PosedgeOnlyCountedHallEffectStruct *sensor,
-      const ::frc971::PosedgeOnlyCountedHallEffectStruct &last_sensor,
+      ::frc971::PosedgeOnlyCountedHallEffectStructT *sensor,
+      const ::frc971::PosedgeOnlyCountedHallEffectStructT &last_sensor,
       const constants::Values::AnglePair &limits,
-      const ::y2014::control_loops::ShooterQueue::Position &last_position) {
+      float last_position) {
     sensor->posedge_count = last_sensor.posedge_count;
     sensor->negedge_count = last_sensor.negedge_count;
 
@@ -131,7 +142,7 @@
 
     if (sensor->current && !last_sensor.current) {
       ++sensor->posedge_count;
-      if (last_position.position + initial_position_ < limits.lower_angle) {
+      if (last_position + initial_position_ < limits.lower_angle) {
         AOS_LOG(DEBUG,
                 "Posedge value on lower edge of sensor, count is now %d\n",
                 sensor->posedge_count);
@@ -159,8 +170,15 @@
   // it into a state using the plunger_in_, brake_in_, and latch_in_ values.
   void SendPositionMessage() {
     const constants::Values &values = constants::GetValues();
-    ::aos::Sender<ShooterQueue::Position>::Message position =
-        shooter_position_sender_.MakeMessage();
+    ::aos::Sender<Position>::Builder builder =
+        shooter_position_sender_.MakeBuilder();
+
+    PositionT position;
+
+    position.pusher_distal.reset(
+        new frc971::PosedgeOnlyCountedHallEffectStructT);
+    position.pusher_proximal.reset(
+        new frc971::PosedgeOnlyCountedHallEffectStructT);
 
     if (use_passed_) {
       plunger_latched_ = latch_in_ && plunger_in_;
@@ -168,43 +186,45 @@
       brake_piston_state_ = brake_in_;
     }
 
-    SetPhysicalSensors(position.get());
+    SetPhysicalSensors(&position);
 
-    position->latch = latch_piston_state_;
+    position.latch = latch_piston_state_;
 
     // Handle pusher distal hall effect
-    UpdateEffectEdge(&position->pusher_distal,
-                     last_position_message_.pusher_distal,
-                     values.shooter.pusher_distal, last_position_message_);
+    UpdateEffectEdge(position.pusher_distal.get(),
+                     *last_position_message_.pusher_distal.get(),
+                     values.shooter.pusher_distal, last_position_);
 
     // Handle pusher proximal hall effect
-    UpdateEffectEdge(&position->pusher_proximal,
-                     last_position_message_.pusher_proximal,
-                     values.shooter.pusher_proximal, last_position_message_);
+    UpdateEffectEdge(position.pusher_proximal.get(),
+                     *last_position_message_.pusher_proximal.get(),
+                     values.shooter.pusher_proximal, last_position_);
 
-    last_position_message_ = *position;
-    position.Send();
+    builder.Send(Position::Pack(*builder.fbb(), &position));
+
+    last_position_ = position.position;
+    last_position_message_ = std::move(position);
   }
 
   // Simulates the claw moving for one timestep.
   void Simulate() {
     last_plant_position_ = GetAbsolutePosition();
     EXPECT_TRUE(shooter_output_fetcher_.Fetch());
-    if (shooter_output_fetcher_->latch_piston && !latch_piston_state_ &&
+    if (shooter_output_fetcher_->latch_piston() && !latch_piston_state_ &&
         latch_delay_count_ <= 0) {
       ASSERT_EQ(0, latch_delay_count_) << "The test doesn't support that.";
       latch_delay_count_ = 6;
-    } else if (!shooter_output_fetcher_->latch_piston &&
+    } else if (!shooter_output_fetcher_->latch_piston() &&
                latch_piston_state_ && latch_delay_count_ >= 0) {
       ASSERT_EQ(0, latch_delay_count_) << "The test doesn't support that.";
       latch_delay_count_ = -6;
     }
 
-    if (shooter_output_fetcher_->brake_piston && !brake_piston_state_ &&
+    if (shooter_output_fetcher_->brake_piston() && !brake_piston_state_ &&
         brake_delay_count_ <= 0) {
       ASSERT_EQ(0, brake_delay_count_) << "The test doesn't support that.";
       brake_delay_count_ = 5;
-    } else if (!shooter_output_fetcher_->brake_piston &&
+    } else if (!shooter_output_fetcher_->brake_piston() &&
                brake_piston_state_ && brake_delay_count_ >= 0) {
       ASSERT_EQ(0, brake_delay_count_) << "The test doesn't support that.";
       brake_delay_count_ = -5;
@@ -265,13 +285,13 @@
     EXPECT_LE(constants::GetValues().shooter.lower_hard_limit,
               GetAbsolutePosition());
 
-    last_voltage_ = shooter_output_fetcher_->voltage;
+    last_voltage_ = shooter_output_fetcher_->voltage();
   }
 
   private:
   ::aos::EventLoop *event_loop_;
-  ::aos::Sender<ShooterQueue::Position> shooter_position_sender_;
-  ::aos::Fetcher<ShooterQueue::Output> shooter_output_fetcher_;
+  ::aos::Sender<Position> shooter_position_sender_;
+  ::aos::Fetcher<Output> shooter_output_fetcher_;
 
   bool first_ = true;
 
@@ -300,7 +320,8 @@
   double initial_position_;
   double last_voltage_;
 
-  ShooterQueue::Position last_position_message_;
+  double last_position_ = 0.0;
+  PositionT last_position_message_;
   double last_plant_position_;
 };
 
@@ -310,13 +331,12 @@
  protected:
   ShooterTestTemplated()
       : ::aos::testing::ControlLoopTestTemplated<TestType>(
+            aos::configuration::ReadConfig("y2014/config.json"),
             // TODO(austin): I think this runs at 5 ms in real life.
             chrono::microseconds(5000)),
         test_event_loop_(this->MakeEventLoop()),
-        shooter_goal_fetcher_(test_event_loop_->MakeFetcher<ShooterQueue::Goal>(
-            ".y2014.control_loops.shooter_queue.goal")),
-        shooter_goal_sender_(test_event_loop_->MakeSender<ShooterQueue::Goal>(
-            ".y2014.control_loops.shooter_queue.goal")),
+        shooter_goal_fetcher_(test_event_loop_->MakeFetcher<Goal>("/shooter")),
+        shooter_goal_sender_(test_event_loop_->MakeSender<Goal>("/shooter")),
         shooter_event_loop_(this->MakeEventLoop()),
         shooter_motor_(shooter_event_loop_.get()),
         shooter_plant_event_loop_(this->MakeEventLoop()),
@@ -330,12 +350,12 @@
   void VerifyNearGoal() {
     shooter_goal_fetcher_.Fetch();
     const double pos = shooter_motor_plant_.GetAbsolutePosition();
-    EXPECT_NEAR(shooter_goal_fetcher_->shot_power, pos, 1e-4);
+    EXPECT_NEAR(shooter_goal_fetcher_->shot_power(), pos, 1e-4);
   }
 
   ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
-  ::aos::Fetcher<ShooterQueue::Goal> shooter_goal_fetcher_;
-  ::aos::Sender<ShooterQueue::Goal> shooter_goal_sender_;
+  ::aos::Fetcher<Goal> shooter_goal_fetcher_;
+  ::aos::Sender<Goal> shooter_goal_sender_;
 
   // Create a loop and simulation plant.
   ::std::unique_ptr<::aos::EventLoop> shooter_event_loop_;
@@ -381,18 +401,18 @@
 TEST_F(ShooterTest, GoesToValue) {
   SetEnabled(true);
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 70.0;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(70.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(2));
 
   double pos = shooter_motor_plant_.GetAbsolutePosition();
   EXPECT_TRUE(shooter_goal_fetcher_.Fetch());
   EXPECT_NEAR(
-      shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power),
-      pos, 0.05);
+      shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power()), pos,
+      0.05);
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
 }
 
@@ -400,19 +420,19 @@
 TEST_F(ShooterTest, Fire) {
   SetEnabled(true);
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 70.0;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(70.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::milliseconds(1200));
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 35.0;
-    message->shot_requested = true;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(35.0);
+    goal_builder.add_shot_requested(true);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   bool hit_fire = false;
@@ -421,11 +441,12 @@
     RunFor(dt());
     if (shooter_motor_.state() == ShooterMotor::STATE_FIRE) {
       if (!hit_fire) {
-        ::aos::Sender<ShooterQueue::Goal>::Message message =
-            shooter_goal_sender_.MakeMessage();
-        message->shot_power = 17.0;
-        message->shot_requested = false;
-        EXPECT_TRUE(message.Send());
+        ::aos::Sender<Goal>::Builder builder =
+            shooter_goal_sender_.MakeBuilder();
+        Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+        goal_builder.add_shot_power(17.0);
+        goal_builder.add_shot_requested(false);
+        EXPECT_TRUE(builder.Send(goal_builder.Finish()));
       }
       hit_fire = true;
     }
@@ -433,8 +454,9 @@
 
   double pos = shooter_motor_plant_.GetAbsolutePosition();
   EXPECT_TRUE(shooter_goal_fetcher_.Fetch());
-  EXPECT_NEAR(shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power),
-              pos, 0.05);
+  EXPECT_NEAR(
+      shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power()), pos,
+      0.05);
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
   EXPECT_TRUE(hit_fire);
 }
@@ -443,20 +465,20 @@
 TEST_F(ShooterTest, FireLong) {
   SetEnabled(true);
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 70.0;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(70.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::milliseconds(1500));
 
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 0.0;
-    message->shot_requested = true;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(0.0);
+    goal_builder.add_shot_requested(true);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   bool hit_fire = false;
@@ -465,10 +487,11 @@
     RunFor(dt());
     if (shooter_motor_.state() == ShooterMotor::STATE_FIRE) {
       if (!hit_fire) {
-        ::aos::Sender<ShooterQueue::Goal>::Message message =
-            shooter_goal_sender_.MakeMessage();
-        message->shot_requested = false;
-        EXPECT_TRUE(message.Send());
+        ::aos::Sender<Goal>::Builder builder =
+            shooter_goal_sender_.MakeBuilder();
+        Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+        goal_builder.add_shot_requested(false);
+        EXPECT_TRUE(builder.Send(goal_builder.Finish()));
       }
       hit_fire = true;
     }
@@ -476,8 +499,9 @@
 
   double pos = shooter_motor_plant_.GetAbsolutePosition();
   EXPECT_TRUE(shooter_goal_fetcher_.Fetch());
-  EXPECT_NEAR(shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power),
-              pos, 0.05);
+  EXPECT_NEAR(
+      shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power()), pos,
+      0.05);
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
   EXPECT_TRUE(hit_fire);
 }
@@ -487,10 +511,10 @@
 TEST_F(ShooterTest, LoadTooFar) {
   SetEnabled(true);
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 500.0;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(500.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   while (test_event_loop_->monotonic_now() <
          monotonic_clock::time_point(chrono::milliseconds(1600))) {
@@ -505,19 +529,19 @@
 TEST_F(ShooterTest, MoveGoal) {
   SetEnabled(true);
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 70.0;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(70.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::milliseconds(1500));
 
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 14.0;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(14.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::milliseconds(500));
@@ -525,8 +549,8 @@
   double pos = shooter_motor_plant_.GetAbsolutePosition();
   EXPECT_TRUE(shooter_goal_fetcher_.Fetch());
   EXPECT_NEAR(
-      shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power),
-      pos, 0.05);
+      shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power()), pos,
+      0.05);
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
 }
 
@@ -534,18 +558,18 @@
 TEST_F(ShooterTest, Unload) {
   SetEnabled(true);
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 70.0;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(70.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::milliseconds(1500));
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->unload_requested = true;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_unload_requested(true);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   while (test_event_loop_->monotonic_now() <
@@ -563,10 +587,10 @@
 TEST_F(ShooterTest, RezeroWhileUnloading) {
   SetEnabled(true);
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 70;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(70);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::milliseconds(1500));
 
@@ -576,10 +600,10 @@
   RunFor(chrono::milliseconds(500));
 
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->unload_requested = true;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_unload_requested(true);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   while (test_event_loop_->monotonic_now() <
@@ -597,18 +621,18 @@
 TEST_F(ShooterTest, UnloadWindupNegative) {
   SetEnabled(true);
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 70;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(70);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::milliseconds(1500));
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->unload_requested = true;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_unload_requested(true);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   int kicked_delay = 20;
@@ -640,18 +664,18 @@
 TEST_F(ShooterTest, UnloadWindupPositive) {
   SetEnabled(true);
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 70;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(70);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::milliseconds(1500));
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->unload_requested = true;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_unload_requested(true);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   int kicked_delay = 20;
@@ -688,18 +712,18 @@
   SetEnabled(true);
   Reinitialize(HallEffectMiddle(constants::GetValues().shooter.pusher_distal));
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 70.0;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(70.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(2));
   // EXPECT_NEAR(0.0, shooter_motor_.GetPosition(), 0.01);
   double pos = shooter_motor_plant_.GetAbsolutePosition();
   EXPECT_TRUE(shooter_goal_fetcher_.Fetch());
   EXPECT_NEAR(
-      shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power),
-      pos, 0.05);
+      shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power()), pos,
+      0.05);
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
 }
 
@@ -710,18 +734,18 @@
   Reinitialize(
       HallEffectMiddle(constants::GetValues().shooter.pusher_proximal));
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 70.0;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(70.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(3));
   // EXPECT_NEAR(0.0, shooter_motor_.GetPosition(), 0.01);
   double pos = shooter_motor_plant_.GetAbsolutePosition();
   EXPECT_TRUE(shooter_goal_fetcher_.Fetch());
   EXPECT_NEAR(
-      shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power),
-      pos, 0.05);
+      shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power()), pos,
+      0.05);
   EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
 }
 
@@ -741,10 +765,10 @@
   bool initialized = false;
   Reinitialize(start_pos);
   {
-    ::aos::Sender<ShooterQueue::Goal>::Message message =
-        shooter_goal_sender_.MakeMessage();
-    message->shot_power = 120.0;
-    EXPECT_TRUE(message.Send());
+    ::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_shot_power(120.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   while (test_event_loop_->monotonic_now() <
          monotonic_clock::time_point(chrono::seconds(2))) {
@@ -759,8 +783,8 @@
   double pos = shooter_motor_plant_.GetAbsolutePosition();
   EXPECT_TRUE(shooter_goal_fetcher_.Fetch());
   EXPECT_NEAR(
-      shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power),
-      pos, 0.05);
+      shooter_motor_.PowerToPosition(shooter_goal_fetcher_->shot_power()), pos,
+      0.05);
   ASSERT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
 }
 
@@ -784,5 +808,6 @@
 // TODO(austin): Test all the timeouts...
 
 }  // namespace testing
+}  // namespace shooter
 }  // namespace control_loops
 }  // namespace y2014
diff --git a/y2014/control_loops/shooter/shooter_main.cc b/y2014/control_loops/shooter/shooter_main.cc
index 2da76c3..4161fdf 100644
--- a/y2014/control_loops/shooter/shooter_main.cc
+++ b/y2014/control_loops/shooter/shooter_main.cc
@@ -1,13 +1,16 @@
 #include "y2014/control_loops/shooter/shooter.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
-  ::y2014::control_loops::ShooterMotor shooter(&event_loop);
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
+  ::y2014::control_loops::shooter::ShooterMotor shooter(&event_loop);
 
   event_loop.Run();
 
diff --git a/y2014/control_loops/shooter/shooter_output.fbs b/y2014/control_loops/shooter/shooter_output.fbs
new file mode 100644
index 0000000..e1900c4
--- /dev/null
+++ b/y2014/control_loops/shooter/shooter_output.fbs
@@ -0,0 +1,11 @@
+namespace y2014.control_loops.shooter;
+
+table Output {
+  voltage:double;
+  // true: latch engaged, false: latch open
+  latch_piston:bool;
+  // true: brake engaged false: brake released
+  brake_piston:bool;
+}
+
+root_type Output;
diff --git a/y2014/control_loops/shooter/shooter_position.fbs b/y2014/control_loops/shooter/shooter_position.fbs
new file mode 100644
index 0000000..9c73a1a
--- /dev/null
+++ b/y2014/control_loops/shooter/shooter_position.fbs
@@ -0,0 +1,21 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2014.control_loops.shooter;
+
+// Back is when the springs are all the way stretched.
+table Position {
+  // In meters, out is positive.
+  position:double;
+
+  // If the latch piston is fired and this hall effect has been triggered, the
+  // plunger is all the way back and latched.
+  plunger:bool;
+  // Gets triggered when the pusher is all the way back.
+  pusher_distal:frc971.PosedgeOnlyCountedHallEffectStruct;
+  // Triggers just before pusher_distal.
+  pusher_proximal:frc971.PosedgeOnlyCountedHallEffectStruct;
+  // Triggers when the latch engages.
+  latch:bool;
+}
+
+root_type Position;
diff --git a/y2014/control_loops/shooter/shooter_status.fbs b/y2014/control_loops/shooter/shooter_status.fbs
new file mode 100644
index 0000000..4e76e27
--- /dev/null
+++ b/y2014/control_loops/shooter/shooter_status.fbs
@@ -0,0 +1,21 @@
+namespace y2014.control_loops.shooter;
+
+table Status {
+  // Whether it's ready to shoot right now.
+  ready:bool;
+  // Whether the plunger is in and out of the way of grabbing a ball.
+  // TODO(ben): Populate these!
+  //cocked:bool;
+  // How many times we've shot.
+  shots:int;
+  //done:bool;
+  // What we think the current position of the hard stop on the shooter is, in
+  // shot power (Joules).
+  hard_stop_power:double;
+
+  absolute_position:double;
+  absolute_velocity:double;
+  state:uint;
+}
+
+root_type Status;
diff --git a/y2014/hot_goal_reader.cc b/y2014/hot_goal_reader.cc
index 773397d..8eb4efb 100644
--- a/y2014/hot_goal_reader.cc
+++ b/y2014/hot_goal_reader.cc
@@ -7,20 +7,22 @@
 #include <unistd.h>
 
 #include "aos/byteorder.h"
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/time/time.h"
-#include "y2014/queues/hot_goal.q.h"
+#include "y2014/queues/hot_goal_generated.h"
 
 int main() {
   ::aos::InitNRT();
 
-  ::aos::ShmEventLoop shm_event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop shm_event_loop(&config.message());
 
   ::aos::Sender<::y2014::HotGoal> hot_goal_sender =
-      shm_event_loop.MakeSender<::y2014::HotGoal>(".y2014.hot_goal");
+      shm_event_loop.MakeSender<::y2014::HotGoal>("/");
 
   uint64_t left_count = 0, right_count = 0;
   int my_socket = -1;
@@ -82,11 +84,12 @@
           }
           if (data & 0x01) ++right_count;
           if (data & 0x02) ++left_count;
-          auto message = hot_goal_sender.MakeMessage();
-          message->left_count = left_count;
-          message->right_count = right_count;
-          AOS_LOG_STRUCT(DEBUG, "sending", *message);
-          message.Send();
+          auto builder = hot_goal_sender.MakeBuilder();
+          y2014::HotGoal::Builder hot_goal_builder =
+              builder.MakeBuilder<y2014::HotGoal>();
+          hot_goal_builder.add_left_count(left_count);
+          hot_goal_builder.add_right_count(right_count);
+          builder.Send(hot_goal_builder.Finish());
         } break;
         case 0:
           AOS_LOG(WARNING, "read on %d timed out\n", connection);
diff --git a/y2014/joystick_reader.cc b/y2014/joystick_reader.cc
index 29cb354..6f94bfe 100644
--- a/y2014/joystick_reader.cc
+++ b/y2014/joystick_reader.cc
@@ -11,14 +11,13 @@
 #include "aos/time/time.h"
 #include "aos/util/log_interval.h"
 
-#include "frc971/autonomous/auto.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/queues/gyro.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "y2014/actors/shoot_actor.h"
 #include "y2014/constants.h"
-#include "y2014/control_loops/claw/claw.q.h"
+#include "y2014/control_loops/claw/claw_goal_generated.h"
+#include "y2014/control_loops/claw/claw_status_generated.h"
 #include "y2014/control_loops/drivetrain/drivetrain_base.h"
-#include "y2014/control_loops/shooter/shooter.q.h"
+#include "y2014/control_loops/shooter/shooter_goal_generated.h"
 
 using ::aos::input::driver_station::ButtonLocation;
 using ::aos::input::driver_station::JoystickAxis;
@@ -158,18 +157,18 @@
             event_loop, control_loops::GetDrivetrainConfig(),
             ::aos::input::DrivetrainInputReader::InputType::kSteeringWheel, {}),
         claw_status_fetcher_(
-            event_loop->MakeFetcher<::y2014::control_loops::ClawQueue::Status>(
-                ".y2014.control_loops.claw_queue.status")),
+            event_loop->MakeFetcher<::y2014::control_loops::claw::Status>(
+                "/claw")),
         claw_goal_sender_(
-            event_loop->MakeSender<::y2014::control_loops::ClawQueue::Goal>(
-                ".y2014.control_loops.claw_queue.goal")),
+            event_loop->MakeSender<::y2014::control_loops::claw::Goal>(
+                "/claw")),
         shooter_goal_sender_(
-            event_loop->MakeSender<::y2014::control_loops::ShooterQueue::Goal>(
-                ".y2014.control_loops.shooter_queue.goal")),
+            event_loop->MakeSender<::y2014::control_loops::shooter::Goal>(
+                "/shooter")),
         drivetrain_status_fetcher_(
             event_loop
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Status>(
-                    ".frc971.control_loops.drivetrain_queue.status")),
+                ->MakeFetcher<::frc971::control_loops::drivetrain::Status>(
+                    "/drivetrain")),
         shot_power_(80.0),
         goal_angle_(0.0),
         separation_angle_(kGrabSeparation),
@@ -326,7 +325,8 @@
     }
 
     if (data.PosEdge(kFire)) {
-      EnqueueAction(shoot_action_factory_.Make(0.0));
+      aos::common::actions::DoubleParamT param;
+      EnqueueAction(shoot_action_factory_.Make(param));
     } else if (data.NegEdge(kFire)) {
       CancelCurrentAction();
     }
@@ -354,7 +354,7 @@
       double goal_angle = goal_angle_;
       if (drivetrain_status_fetcher_.get()) {
         goal_angle +=
-            SpeedToAngleOffset(drivetrain_status_fetcher_->robot_speed);
+            SpeedToAngleOffset(drivetrain_status_fetcher_->robot_speed());
       } else {
         AOS_LOG_INTERVAL(no_drivetrain_status_);
       }
@@ -362,7 +362,7 @@
       if (moving_for_shot_) {
         claw_status_fetcher_.Fetch();
         if (claw_status_fetcher_.get()) {
-          if (::std::abs(claw_status_fetcher_->bottom - goal_angle) < 0.2) {
+          if (::std::abs(claw_status_fetcher_->bottom() - goal_angle) < 0.2) {
             moving_for_shot_ = false;
             separation_angle_ = shot_separation_angle_;
           }
@@ -381,26 +381,30 @@
           data.IsPressed(kRollersIn) || data.IsPressed(kIntakePosition) ||
           data.IsPressed(kIntakeOpenPosition) || data.IsPressed(kCatch);
       {
-        auto goal_message = claw_goal_sender_.MakeMessage();
-        goal_message->bottom_angle = goal_angle;
-        goal_message->separation_angle = separation_angle;
-        goal_message->intake =
+        auto builder = claw_goal_sender_.MakeBuilder();
+        control_loops::claw::Goal::Builder goal_builder =
+            builder.MakeBuilder<control_loops::claw::Goal>();
+        goal_builder.add_bottom_angle(goal_angle);
+        goal_builder.add_separation_angle(separation_angle);
+        goal_builder.add_intake(
             intaking ? 12.0
-                     : (data.IsPressed(kRollersOut) ? -12.0 : intake_power_);
-        goal_message->centering = intaking ? 12.0 : 0.0;
+                     : (data.IsPressed(kRollersOut) ? -12.0 : intake_power_));
+        goal_builder.add_centering(intaking ? 12.0 : 0.0);
 
-        if (!goal_message.Send()) {
+        if (!builder.Send(goal_builder.Finish())) {
           AOS_LOG(WARNING, "sending claw goal failed\n");
         }
       }
 
       {
-        auto goal_message = shooter_goal_sender_.MakeMessage();
-        goal_message->shot_power = shot_power_;
-        goal_message->shot_requested = data.IsPressed(kFire);
-        goal_message->unload_requested = data.IsPressed(kUnload);
-        goal_message->load_requested = data.IsPressed(kReload);
-        if (!goal_message.Send()) {
+        auto builder = shooter_goal_sender_.MakeBuilder();
+        control_loops::shooter::Goal::Builder goal_builder =
+            builder.MakeBuilder<control_loops::shooter::Goal>();
+        goal_builder.add_shot_power(shot_power_);
+        goal_builder.add_shot_requested(data.IsPressed(kFire));
+        goal_builder.add_unload_requested(data.IsPressed(kUnload));
+        goal_builder.add_load_requested(data.IsPressed(kReload));
+        if (!builder.Send(goal_builder.Finish())) {
           AOS_LOG(WARNING, "sending shooter goal failed\n");
         }
       }
@@ -415,11 +419,10 @@
   }
 
  private:
-  ::aos::Fetcher<::y2014::control_loops::ClawQueue::Status>
-      claw_status_fetcher_;
-  ::aos::Sender<::y2014::control_loops::ClawQueue::Goal> claw_goal_sender_;
-  ::aos::Sender<::y2014::control_loops::ShooterQueue::Goal> shooter_goal_sender_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Status>
+  ::aos::Fetcher<::y2014::control_loops::claw::Status> claw_status_fetcher_;
+  ::aos::Sender<::y2014::control_loops::claw::Goal> claw_goal_sender_;
+  ::aos::Sender<::y2014::control_loops::shooter::Goal> shooter_goal_sender_;
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Status>
       drivetrain_status_fetcher_;
 
   double shot_power_;
@@ -443,7 +446,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2014::input::joysticks::Reader reader(&event_loop);
 
   event_loop.Run();
diff --git a/y2014/queues/BUILD b/y2014/queues/BUILD
index 182ab7d..dba212d 100644
--- a/y2014/queues/BUILD
+++ b/y2014/queues/BUILD
@@ -1,24 +1,19 @@
-package(default_visibility = ['//visibility:public'])
+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 = 'profile_params',
-  srcs = [
-    'profile_params.q',
-  ],
+flatbuffer_cc_library(
+    name = "auto_mode_fbs",
+    srcs = [
+        "auto_mode.fbs",
+    ],
+    gen_reflections = 1,
 )
 
-queue_library(
-  name = 'hot_goal',
-  srcs = [
-    'hot_goal.q',
-  ],
-)
-
-queue_library(
-  name = 'auto_mode',
-  srcs = [
-    'auto_mode.q',
-  ],
+flatbuffer_cc_library(
+    name = "hot_goal_fbs",
+    srcs = [
+        "hot_goal.fbs",
+    ],
+    gen_reflections = 1,
 )
diff --git a/y2014/queues/auto_mode.fbs b/y2014/queues/auto_mode.fbs
new file mode 100644
index 0000000..bca34f8
--- /dev/null
+++ b/y2014/queues/auto_mode.fbs
@@ -0,0 +1,9 @@
+namespace y2014.sensors;
+
+// Published on "/aos"
+table AutoMode {
+  // Voltage of the analog auto selector knob.
+  voltage:double;
+}
+
+root_type AutoMode;
diff --git a/y2014/queues/auto_mode.q b/y2014/queues/auto_mode.q
deleted file mode 100644
index b07f526..0000000
--- a/y2014/queues/auto_mode.q
+++ /dev/null
@@ -1,7 +0,0 @@
-package y2014.sensors;
-
-// Published on ".y2014.sensors.auto_mode"
-message AutoMode {
-  // Voltage of the analog auto selector knob.
-	double voltage;
-};
diff --git a/y2014/queues/hot_goal.fbs b/y2014/queues/hot_goal.fbs
new file mode 100644
index 0000000..5c4bd0d
--- /dev/null
+++ b/y2014/queues/hot_goal.fbs
@@ -0,0 +1,9 @@
+namespace y2014;
+
+// Published on "/"
+table HotGoal {
+  left_count:ulong;
+  right_count:ulong;
+}
+
+root_type HotGoal;
diff --git a/y2014/queues/hot_goal.q b/y2014/queues/hot_goal.q
deleted file mode 100644
index 8aabb46..0000000
--- a/y2014/queues/hot_goal.q
+++ /dev/null
@@ -1,7 +0,0 @@
-package y2014;
-
-// Published on ".y2014.hot_goal"
-message HotGoal {
-	uint64_t left_count;
-	uint64_t right_count;
-};
diff --git a/y2014/queues/profile_params.q b/y2014/queues/profile_params.q
deleted file mode 100644
index 206ceff..0000000
--- a/y2014/queues/profile_params.q
+++ /dev/null
@@ -1,6 +0,0 @@
-package y2014;
-
-struct ProfileParams {
-  double velocity;
-  double acceleration;
-};
diff --git a/y2014/wpilib_interface.cc b/y2014/wpilib_interface.cc
index 7952adc..48d9c4b 100644
--- a/y2014/wpilib_interface.cc
+++ b/y2014/wpilib_interface.cc
@@ -18,18 +18,18 @@
 #include "frc971/wpilib/wpilib_robot_base.h"
 #undef ERROR
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/make_unique.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/robot_state/robot_state_generated.h"
 #include "aos/stl_mutex/stl_mutex.h"
 #include "aos/time/time.h"
 #include "aos/util/log_interval.h"
 #include "aos/util/phased_loop.h"
 #include "aos/util/wrapping_counter.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
 #include "frc971/shifter_hall_effect.h"
 #include "frc971/wpilib/buffered_pcm.h"
 #include "frc971/wpilib/buffered_solenoid.h"
@@ -40,21 +40,19 @@
 #include "frc971/wpilib/gyro_sender.h"
 #include "frc971/wpilib/interrupt_edge_counting.h"
 #include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/logging_generated.h"
 #include "frc971/wpilib/loop_output_handler.h"
 #include "frc971/wpilib/pdp_fetcher.h"
 #include "frc971/wpilib/sensor_reader.h"
 #include "y2014/constants.h"
-#include "y2014/control_loops/claw/claw.q.h"
-#include "y2014/control_loops/shooter/shooter.q.h"
-#include "y2014/queues/auto_mode.q.h"
+#include "y2014/control_loops/claw/claw_output_generated.h"
+#include "y2014/control_loops/claw/claw_position_generated.h"
+#include "y2014/control_loops/shooter/shooter_output_generated.h"
+#include "y2014/control_loops/shooter/shooter_position_generated.h"
+#include "y2014/queues/auto_mode_generated.h"
 
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
-using ::y2014::control_loops::ClawQueue;
-using ::y2014::control_loops::ShooterQueue;
+namespace claw = ::y2014::control_loops::claw;
+namespace shooter = ::y2014::control_loops::shooter;
 using aos::make_unique;
 
 namespace y2014 {
@@ -118,16 +116,15 @@
  public:
   SensorReader(::aos::EventLoop *event_loop)
       : ::frc971::wpilib::SensorReader(event_loop),
-        auto_mode_sender_(event_loop->MakeSender<::y2014::sensors::AutoMode>(
-            ".y2014.sensors.auto_mode")),
-        shooter_position_sender_(event_loop->MakeSender<ShooterQueue::Position>(
-            ".y2014.control_loops.shooter_queue.position")),
-        claw_position_sender_(event_loop->MakeSender<ClawQueue::Position>(
-            ".y2014.control_loops.claw_queue.position")),
+        auto_mode_sender_(
+            event_loop->MakeSender<::y2014::sensors::AutoMode>("/aos")),
+        shooter_position_sender_(
+            event_loop->MakeSender<shooter::Position>("/shooter")),
+        claw_position_sender_(event_loop->MakeSender<claw::Position>("/claw")),
         drivetrain_position_sender_(
-            event_loop->MakeSender<
-                ::frc971::control_loops::DrivetrainQueue::Position>(
-                ".frc971.control_loops.drivetrain_queue.position")) {
+            event_loop
+                ->MakeSender<::frc971::control_loops::drivetrain::Position>(
+                    "/drivetrain")) {
     // Set it to filter out anything shorter than 1/4 of the minimum pulse width
     // we should ever see.
     UpdateMediumEncoderFilterHz(kMaximumEncoderPulsesPerSecond);
@@ -249,59 +246,87 @@
     const auto &values = constants::GetValues();
 
     {
-      auto drivetrain_message = drivetrain_position_sender_.MakeMessage();
-      drivetrain_message->right_encoder =
-          drivetrain_translate(drivetrain_right_encoder_->GetRaw());
-      drivetrain_message->left_encoder =
-          -drivetrain_translate(drivetrain_left_encoder_->GetRaw());
-      drivetrain_message->left_speed =
-          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod());
-      drivetrain_message->right_speed =
-          drivetrain_velocity_translate(drivetrain_right_encoder_->GetPeriod());
+      auto builder = drivetrain_position_sender_.MakeBuilder();
+      frc971::control_loops::drivetrain::Position::Builder position_builder =
+          builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
+      position_builder.add_right_encoder(
+          drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
+      position_builder.add_left_encoder(
+          -drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
+      position_builder.add_left_speed(
+          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
+      position_builder.add_right_speed(drivetrain_velocity_translate(
+          drivetrain_right_encoder_->GetPeriod()));
 
-      drivetrain_message->low_left_hall = low_left_drive_hall_->GetVoltage();
-      drivetrain_message->high_left_hall = high_left_drive_hall_->GetVoltage();
-      drivetrain_message->left_shifter_position =
-          hall_translate(values.left_drive, drivetrain_message->low_left_hall,
-                         drivetrain_message->high_left_hall);
+      const double low_left_hall = low_left_drive_hall_->GetVoltage();
+      const double high_left_hall = high_left_drive_hall_->GetVoltage();
+      position_builder.add_low_left_hall(low_left_hall);
+      position_builder.add_high_left_hall(high_left_hall);
+      position_builder.add_left_shifter_position(
+          hall_translate(values.left_drive, low_left_hall, high_left_hall));
 
-      drivetrain_message->low_right_hall = low_right_drive_hall_->GetVoltage();
-      drivetrain_message->high_right_hall =
-          high_right_drive_hall_->GetVoltage();
-      drivetrain_message->right_shifter_position =
-          hall_translate(values.right_drive, drivetrain_message->low_right_hall,
-                         drivetrain_message->high_right_hall);
+      const double low_right_hall = low_right_drive_hall_->GetVoltage();
+      const double high_right_hall = high_right_drive_hall_->GetVoltage();
+      position_builder.add_low_right_hall(low_right_hall);
+      position_builder.add_high_right_hall(high_right_hall);
+      position_builder.add_right_shifter_position(
+          hall_translate(values.right_drive, low_right_hall, high_right_hall));
 
-      drivetrain_message.Send();
+      builder.Send(position_builder.Finish());
     }
 
     {
-      auto auto_mode_message = auto_mode_sender_.MakeMessage();
-      auto_mode_message->voltage = auto_selector_analog_->GetVoltage();
-      auto_mode_message.Send();
+      auto builder = auto_mode_sender_.MakeBuilder();
+      y2014::sensors::AutoMode::Builder auto_builder =
+          builder.MakeBuilder<y2014::sensors::AutoMode>();
+      auto_builder.add_voltage(auto_selector_analog_->GetVoltage());
+      builder.Send(auto_builder.Finish());
     }
   }
 
   void RunDmaIteration() {
     {
-      auto shooter_message = shooter_position_sender_.MakeMessage();
-      shooter_message->position = shooter_translate(shooter_encoder_->GetRaw());
-      shooter_message->plunger = !shooter_plunger_reader_->value();
-      shooter_message->latch = !shooter_latch_reader_->value();
+      auto builder = shooter_position_sender_.MakeBuilder();
+      ::frc971::PosedgeOnlyCountedHallEffectStructT pusher_proximal;
       CopyShooterPosedgeCounts(shooter_proximal_counter_.get(),
-                               &shooter_message->pusher_proximal);
-      CopyShooterPosedgeCounts(shooter_distal_counter_.get(),
-                               &shooter_message->pusher_distal);
+                               &pusher_proximal);
+      flatbuffers::Offset<::frc971::PosedgeOnlyCountedHallEffectStruct>
+          pusher_proximal_offset =
+              ::frc971::PosedgeOnlyCountedHallEffectStruct::Pack(
+                  *builder.fbb(), &pusher_proximal);
 
-      shooter_message.Send();
+      ::frc971::PosedgeOnlyCountedHallEffectStructT pusher_distal;
+      CopyShooterPosedgeCounts(shooter_distal_counter_.get(), &pusher_distal);
+      flatbuffers::Offset<::frc971::PosedgeOnlyCountedHallEffectStruct>
+          pusher_distal_offset =
+              ::frc971::PosedgeOnlyCountedHallEffectStruct::Pack(
+                  *builder.fbb(), &pusher_distal);
+
+      control_loops::shooter::Position::Builder position_builder =
+          builder.MakeBuilder<control_loops::shooter::Position>();
+      position_builder.add_position(
+          shooter_translate(shooter_encoder_->GetRaw()));
+      position_builder.add_plunger(!shooter_plunger_reader_->value());
+      position_builder.add_latch(!shooter_latch_reader_->value());
+      position_builder.add_pusher_distal(pusher_distal_offset);
+      position_builder.add_pusher_proximal(pusher_proximal_offset);
+
+      builder.Send(position_builder.Finish());
     }
 
     {
-      auto claw_message = claw_position_sender_.MakeMessage();
-      top_reader_.RunIteration(&claw_message->top);
-      bottom_reader_.RunIteration(&claw_message->bottom);
+      auto builder = claw_position_sender_.MakeBuilder();
+      flatbuffers::Offset<control_loops::claw::HalfClawPosition> top_offset =
+          top_reader_.ReadPosition(builder.fbb());
+      flatbuffers::Offset<control_loops::claw::HalfClawPosition> bottom_offset =
+          bottom_reader_.ReadPosition(builder.fbb());
 
-      claw_message.Send();
+      control_loops::claw::Position::Builder position_builder =
+          builder.MakeBuilder<control_loops::claw::Position>();
+
+      position_builder.add_top(top_offset);
+      position_builder.add_bottom(bottom_offset);
+      builder.Send(position_builder.Finish());
     }
   }
 
@@ -347,22 +372,42 @@
 
     void Quit() { synchronizer_.Quit(); }
 
-    void RunIteration(control_loops::HalfClawPosition *half_claw_position) {
+    flatbuffers::Offset<control_loops::claw::HalfClawPosition> ReadPosition(
+        flatbuffers::FlatBufferBuilder *fbb) {
       const double multiplier = reversed_ ? -1.0 : 1.0;
 
       synchronizer_.RunIteration();
 
-      CopyPosition(front_counter_.get(), &half_claw_position->front);
-      CopyPosition(calibration_counter_.get(),
-                   &half_claw_position->calibration);
-      CopyPosition(back_counter_.get(), &half_claw_position->back);
-      half_claw_position->position =
-          multiplier * claw_translate(synchronized_encoder_->get());
+
+      ::frc971::HallEffectStructT front;
+      CopyPosition(front_counter_.get(), &front);
+      flatbuffers::Offset<::frc971::HallEffectStruct> front_offset =
+          ::frc971::HallEffectStruct::Pack(*fbb, &front);
+
+      ::frc971::HallEffectStructT calibration;
+      CopyPosition(calibration_counter_.get(), &calibration);
+      flatbuffers::Offset<::frc971::HallEffectStruct> calibration_offset =
+          ::frc971::HallEffectStruct::Pack(*fbb, &calibration);
+
+      ::frc971::HallEffectStructT back;
+      CopyPosition(back_counter_.get(), &back);
+      flatbuffers::Offset<::frc971::HallEffectStruct> back_offset =
+          ::frc971::HallEffectStruct::Pack(*fbb, &back);
+
+      control_loops::claw::HalfClawPosition::Builder half_claw_position_builder(
+          *fbb);
+
+      half_claw_position_builder.add_front(front_offset);
+      half_claw_position_builder.add_calibration(calibration_offset);
+      half_claw_position_builder.add_back(back_offset);
+      half_claw_position_builder.add_position(
+          multiplier * claw_translate(synchronized_encoder_->get()));
+      return half_claw_position_builder.Finish();
     }
 
    private:
     void CopyPosition(const ::frc971::wpilib::EdgeCounter *counter,
-                      ::frc971::HallEffectStruct *out) {
+                      ::frc971::HallEffectStructT *out) {
       const double multiplier = reversed_ ? -1.0 : 1.0;
 
       out->current = !counter->polled_value();
@@ -392,7 +437,7 @@
 
   void CopyShooterPosedgeCounts(
       const ::frc971::wpilib::DMAEdgeCounter *counter,
-      ::frc971::PosedgeOnlyCountedHallEffectStruct *output) {
+      ::frc971::PosedgeOnlyCountedHallEffectStructT *output) {
     output->current = !counter->polled_value();
     // These are inverted because the hall effects give logical false when
     // there's a magnet in front of them.
@@ -403,9 +448,9 @@
   }
 
   ::aos::Sender<::y2014::sensors::AutoMode> auto_mode_sender_;
-  ::aos::Sender<ShooterQueue::Position> shooter_position_sender_;
-  ::aos::Sender<ClawQueue::Position> claw_position_sender_;
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Position>
+  ::aos::Sender<shooter::Position> shooter_position_sender_;
+  ::aos::Sender<claw::Position> claw_position_sender_;
+  ::aos::Sender<::frc971::control_loops::drivetrain::Position>
       drivetrain_position_sender_;
 
   ::std::unique_ptr<::frc::AnalogInput> auto_selector_analog_;
@@ -433,12 +478,13 @@
   SolenoidWriter(::aos::EventLoop *event_loop,
                  const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm)
       : pcm_(pcm),
-        shooter_(event_loop->MakeFetcher<ShooterQueue::Output>(
-            ".y2014.control_loops.shooter_queue.output")),
+        shooter_(event_loop->MakeFetcher<shooter::Output>("/shooter")),
         drivetrain_(
             event_loop
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Output>(
-                    ".frc971.control_loops.drivetrain_queue.output")) {
+                ->MakeFetcher<::frc971::control_loops::drivetrain::Output>(
+                    "/drivetrain")),
+        pneumatics_to_log_sender_(
+            event_loop->MakeSender<::frc971::wpilib::PneumaticsToLog>("/aos")) {
     event_loop->set_name("Solenoids");
     event_loop->SetRuntimeRealtimePriority(27);
 
@@ -484,26 +530,27 @@
     {
       shooter_.Fetch();
       if (shooter_.get()) {
-        AOS_LOG_STRUCT(DEBUG, "solenoids", *shooter_);
-        shooter_latch_->Set(!shooter_->latch_piston);
-        shooter_brake_->Set(!shooter_->brake_piston);
+        shooter_latch_->Set(!shooter_->latch_piston());
+        shooter_brake_->Set(!shooter_->brake_piston());
       }
     }
 
     {
       drivetrain_.Fetch();
       if (drivetrain_.get()) {
-        AOS_LOG_STRUCT(DEBUG, "solenoids", *drivetrain_);
-        drivetrain_left_->Set(!drivetrain_->left_high);
-        drivetrain_right_->Set(!drivetrain_->right_high);
+        drivetrain_left_->Set(!drivetrain_->left_high());
+        drivetrain_right_->Set(!drivetrain_->right_high());
       }
     }
 
     {
-      ::frc971::wpilib::PneumaticsToLog to_log;
+      auto builder = pneumatics_to_log_sender_.MakeBuilder();
+
+      ::frc971::wpilib::PneumaticsToLog::Builder to_log_builder =
+          builder.MakeBuilder<frc971::wpilib::PneumaticsToLog>();
       {
         const bool compressor_on = !pressure_switch_->Get();
-        to_log.compressor_on = compressor_on;
+        to_log_builder.add_compressor_on(compressor_on);
         if (compressor_on) {
           compressor_relay_->Set(::frc::Relay::kForward);
         } else {
@@ -512,8 +559,8 @@
       }
 
       pcm_->Flush();
-      to_log.read_solenoids = pcm_->GetAll();
-      AOS_LOG_STRUCT(DEBUG, "pneumatics info", to_log);
+      to_log_builder.add_read_solenoids(pcm_->GetAll());
+      builder.Send(to_log_builder.Finish());
     }
   }
 
@@ -528,15 +575,17 @@
   ::std::unique_ptr<::frc::DigitalInput> pressure_switch_;
   ::std::unique_ptr<::frc::Relay> compressor_relay_;
 
-  ::aos::Fetcher<ShooterQueue::Output> shooter_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Output> drivetrain_;
+  ::aos::Fetcher<shooter::Output> shooter_;
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Output> drivetrain_;
+
+  aos::Sender<::frc971::wpilib::PneumaticsToLog> pneumatics_to_log_sender_;
 };
 
 class ShooterWriter
-    : public ::frc971::wpilib::LoopOutputHandler<ShooterQueue::Output> {
+    : public ::frc971::wpilib::LoopOutputHandler<shooter::Output> {
  public:
   ShooterWriter(::aos::EventLoop *event_loop)
-      : ::frc971::wpilib::LoopOutputHandler<ShooterQueue::Output>(
+      : ::frc971::wpilib::LoopOutputHandler<shooter::Output>(
             event_loop, ".y2014.control_loops.shooter_queue.output") {}
 
   void set_shooter_talon(::std::unique_ptr<::frc::Talon> t) {
@@ -544,9 +593,8 @@
   }
 
  private:
-  virtual void Write(const ShooterQueue::Output &output) override {
-    AOS_LOG_STRUCT(DEBUG, "will output", output);
-    shooter_talon_->SetSpeed(output.voltage / 12.0);
+  virtual void Write(const shooter::Output &output) override {
+    shooter_talon_->SetSpeed(output.voltage() / 12.0);
   }
 
   virtual void Stop() override {
@@ -557,11 +605,10 @@
   ::std::unique_ptr<::frc::Talon> shooter_talon_;
 };
 
-class ClawWriter
-    : public ::frc971::wpilib::LoopOutputHandler<ClawQueue::Output> {
+class ClawWriter : public ::frc971::wpilib::LoopOutputHandler<claw::Output> {
  public:
   ClawWriter(::aos::EventLoop *event_loop)
-      : ::frc971::wpilib::LoopOutputHandler<ClawQueue::Output>(
+      : ::frc971::wpilib::LoopOutputHandler<claw::Output>(
             event_loop, ".y2014.control_loops.claw_queue.output") {}
 
   void set_top_claw_talon(::std::unique_ptr<::frc::Talon> t) {
@@ -589,14 +636,13 @@
   }
 
  private:
-  virtual void Write(const ClawQueue::Output &output) override {
-    AOS_LOG_STRUCT(DEBUG, "will output", output);
-    intake1_talon_->SetSpeed(output.intake_voltage / 12.0);
-    intake2_talon_->SetSpeed(output.intake_voltage / 12.0);
-    bottom_claw_talon_->SetSpeed(-output.bottom_claw_voltage / 12.0);
-    top_claw_talon_->SetSpeed(output.top_claw_voltage / 12.0);
-    left_tusk_talon_->SetSpeed(output.tusk_voltage / 12.0);
-    right_tusk_talon_->SetSpeed(-output.tusk_voltage / 12.0);
+  virtual void Write(const claw::Output &output) override {
+    intake1_talon_->SetSpeed(output.intake_voltage() / 12.0);
+    intake2_talon_->SetSpeed(output.intake_voltage() / 12.0);
+    bottom_claw_talon_->SetSpeed(-output.bottom_claw_voltage() / 12.0);
+    top_claw_talon_->SetSpeed(output.top_claw_voltage() / 12.0);
+    left_tusk_talon_->SetSpeed(output.tusk_voltage() / 12.0);
+    right_tusk_talon_->SetSpeed(-output.tusk_voltage() / 12.0);
   }
 
   virtual void Stop() override {
@@ -625,19 +671,22 @@
   }
 
   void Run() override {
+    aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+        aos::configuration::ReadConfig("config.json");
+
     // Thread 1.
-    ::aos::ShmEventLoop joystick_sender_event_loop;
+    ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
     ::frc971::wpilib::JoystickSender joystick_sender(
         &joystick_sender_event_loop);
     AddLoop(&joystick_sender_event_loop);
 
     // Thread 2.
-    ::aos::ShmEventLoop pdp_fetcher_event_loop;
+    ::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
     ::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
     AddLoop(&pdp_fetcher_event_loop);
 
     // Thread 3.
-    ::aos::ShmEventLoop sensor_reader_event_loop;
+    ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
     SensorReader sensor_reader(&sensor_reader_event_loop);
 
     // Create this first to make sure it ends up in one of the lower-numbered
@@ -680,12 +729,12 @@
     AddLoop(&sensor_reader_event_loop);
 
     // Thread 4.
-    ::aos::ShmEventLoop gyro_event_loop;
+    ::aos::ShmEventLoop gyro_event_loop(&config.message());
     ::frc971::wpilib::GyroSender gyro_sender(&gyro_event_loop);
     AddLoop(&gyro_event_loop);
 
     // Thread 5.
-    ::aos::ShmEventLoop output_event_loop;
+    ::aos::ShmEventLoop output_event_loop(&config.message());
     ::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
     drivetrain_writer.set_left_controller0(make_unique<::frc::Talon>(5), true);
     drivetrain_writer.set_right_controller0(make_unique<::frc::Talon>(2),
@@ -705,7 +754,7 @@
     AddLoop(&output_event_loop);
 
     // Thread 6.
-    ::aos::ShmEventLoop solenoid_writer_event_loop;
+    ::aos::ShmEventLoop solenoid_writer_event_loop(&config.message());
     ::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
         new ::frc971::wpilib::BufferedPcm());
     SolenoidWriter solenoid_writer(&solenoid_writer_event_loop, pcm);
diff --git a/y2014/y2014.json b/y2014/y2014.json
new file mode 100644
index 0000000..38440a0
--- /dev/null
+++ b/y2014/y2014.json
@@ -0,0 +1,54 @@
+{
+  "channels":
+  [
+    {
+      "name": "/shooter",
+      "type": "y2014.control_loops.shooter.Goal",
+      "frequency": 200
+    },
+    {
+      "name": "/shooter",
+      "type": "y2014.control_loops.shooter.Status",
+      "frequency": 200
+    },
+    {
+      "name": "/shooter",
+      "type": "y2014.control_loops.shooter.Output",
+      "frequency": 200
+    },
+    {
+      "name": "/shooter",
+      "type": "y2014.control_loops.shooter.Position",
+      "frequency": 200
+    },
+    {
+      "name": "/claw",
+      "type": "y2014.control_loops.claw.Goal",
+      "frequency": 200
+    },
+    {
+      "name": "/claw",
+      "type": "y2014.control_loops.claw.Status",
+      "frequency": 200
+    },
+    {
+      "name": "/claw",
+      "type": "y2014.control_loops.claw.Output",
+      "frequency": 200
+    },
+    {
+      "name": "/claw",
+      "type": "y2014.control_loops.claw.Position",
+      "frequency": 200
+    }
+  ],
+  "applications": [
+    {
+      "name": "drivetrain"
+    }
+  ],
+  "imports": [
+    "../aos/robot_state/robot_state_config.json",
+    "../frc971/control_loops/drivetrain/drivetrain_config.json"
+  ]
+}
diff --git a/y2014_bot3/BUILD b/y2014_bot3/BUILD
index 25a6445..6d1f3fd 100644
--- a/y2014_bot3/BUILD
+++ b/y2014_bot3/BUILD
@@ -13,12 +13,9 @@
         "//aos/logging",
         "//aos/time",
         "//aos/util:log_interval",
-        "//frc971/autonomous:auto_queue",
         "//frc971/autonomous:base_autonomous_actor",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
-        "//frc971/queues:gyro",
         "//y2014_bot3/control_loops/drivetrain:drivetrain_base",
-        "//y2014_bot3/control_loops/rollers:rollers_queue",
+        "//y2014_bot3/control_loops/rollers:rollers_goal_fbs",
     ],
 )
 
@@ -43,21 +40,21 @@
         "//aos:make_unique",
         "//aos/controls:control_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/stl_mutex",
         "//aos/time",
         "//aos/util:log_interval",
         "//aos/util:phased_loop",
         "//aos/util:wrapping_counter",
-        "//frc971/control_loops:queues",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
         "//frc971/wpilib:buffered_pcm",
         "//frc971/wpilib:dma",
         "//frc971/wpilib:drivetrain_writer",
         "//frc971/wpilib:gyro_sender",
         "//frc971/wpilib:joystick_sender",
-        "//frc971/wpilib:logging_queue",
+        "//frc971/wpilib:logging_fbs",
         "//frc971/wpilib:loop_output_handler",
         "//frc971/wpilib:pdp_fetcher",
         "//frc971/wpilib:sensor_reader",
diff --git a/y2014_bot3/actors/BUILD b/y2014_bot3/actors/BUILD
index ed6dfa1..ad60458 100644
--- a/y2014_bot3/actors/BUILD
+++ b/y2014_bot3/actors/BUILD
@@ -8,12 +8,11 @@
     ],
     deps = [
         "//aos/actions:action_lib",
-        "//aos/events:event-loop",
+        "//aos/events:event_loop",
         "//aos/logging",
         "//aos/util:phased_loop",
         "//frc971/autonomous:base_autonomous_actor",
         "//frc971/control_loops/drivetrain:drivetrain_config",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
         "//y2014_bot3/control_loops/drivetrain:drivetrain_base",
     ],
 )
@@ -27,7 +26,6 @@
     deps = [
         ":autonomous_action_lib",
         "//aos:init",
-        "//aos/events:shm-event-loop",
-        "//frc971/autonomous:auto_queue",
+        "//aos/events:shm_event_loop",
     ],
 )
diff --git a/y2014_bot3/actors/autonomous_actor.cc b/y2014_bot3/actors/autonomous_actor.cc
index ee67813..68064a5 100644
--- a/y2014_bot3/actors/autonomous_actor.cc
+++ b/y2014_bot3/actors/autonomous_actor.cc
@@ -4,23 +4,30 @@
 #include <chrono>
 #include <cmath>
 
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
 #include "aos/logging/logging.h"
 #include "aos/util/phased_loop.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
 
 namespace y2014_bot3 {
 namespace actors {
-using ::frc971::ProfileParameters;
+using ::frc971::ProfileParametersT;
 
 using ::aos::monotonic_clock;
 namespace chrono = ::std::chrono;
 
 namespace {
 
-const ProfileParameters kDrive = {5.0, 2.5};
-const ProfileParameters kTurn = {8.0, 3.0};
+ProfileParametersT MakeProfileParameters(float max_velocity,
+                                         float max_acceleration) {
+  ProfileParametersT result;
+  result.max_velocity = max_velocity;
+  result.max_acceleration = max_acceleration;
+  return result;
+}
+
+const ProfileParametersT kDrive = MakeProfileParameters(5.0, 2.5);
+const ProfileParametersT kTurn = MakeProfileParameters(8.0, 3.0);
 
 }  // namespace
 
@@ -29,10 +36,10 @@
           event_loop, control_loops::drivetrain::GetDrivetrainConfig()) {}
 
 bool AutonomousActor::RunAction(
-    const ::frc971::autonomous::AutonomousActionParams &params) {
+    const ::frc971::autonomous::AutonomousActionParams *params) {
   const monotonic_clock::time_point start_time = monotonic_now();
   AOS_LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n",
-          params.mode);
+          params->mode());
   Reset();
 
   StartDrive(1.0, 0.0, kDrive, kTurn);
diff --git a/y2014_bot3/actors/autonomous_actor.h b/y2014_bot3/actors/autonomous_actor.h
index d0e71da..e4dfe53 100644
--- a/y2014_bot3/actors/autonomous_actor.h
+++ b/y2014_bot3/actors/autonomous_actor.h
@@ -6,7 +6,7 @@
 
 #include "aos/actions/actions.h"
 #include "aos/actions/actor.h"
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
 #include "frc971/autonomous/base_autonomous_actor.h"
 
 namespace y2014_bot3 {
@@ -17,7 +17,7 @@
   explicit AutonomousActor(::aos::EventLoop *event_loop);
 
   bool RunAction(
-      const ::frc971::autonomous::AutonomousActionParams &params) override;
+      const ::frc971::autonomous::AutonomousActionParams *params) override;
 
  private:
   void Reset() {
diff --git a/y2014_bot3/actors/autonomous_actor_main.cc b/y2014_bot3/actors/autonomous_actor_main.cc
index 235b84a..9dfc422 100644
--- a/y2014_bot3/actors/autonomous_actor_main.cc
+++ b/y2014_bot3/actors/autonomous_actor_main.cc
@@ -1,14 +1,16 @@
 #include <stdio.h>
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
-#include "frc971/autonomous/auto.q.h"
 #include "y2014_bot3/actors/autonomous_actor.h"
 
 int main(int /*argc*/, char * /*argv*/ []) {
   ::aos::Init(-1);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2014_bot3::actors::AutonomousActor autonomous(&event_loop);
 
   event_loop.Run();
diff --git a/y2014_bot3/control_loops/drivetrain/BUILD b/y2014_bot3/control_loops/drivetrain/BUILD
index 18e0e90..7060ac1 100644
--- a/y2014_bot3/control_loops/drivetrain/BUILD
+++ b/y2014_bot3/control_loops/drivetrain/BUILD
@@ -1,7 +1,5 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
-
 genrule(
     name = "genrule_drivetrain",
     outs = [
@@ -77,7 +75,7 @@
     deps = [
         ":drivetrain_base",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
     ],
 )
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
index 48f09c5..05d09b3 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,6 @@
 #include "aos/init.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
 
@@ -9,7 +9,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
       &event_loop,
       ::y2014_bot3::control_loops::drivetrain::GetDrivetrainConfig());
diff --git a/y2014_bot3/control_loops/rollers/BUILD b/y2014_bot3/control_loops/rollers/BUILD
index 9535489..e0d7dc6 100644
--- a/y2014_bot3/control_loops/rollers/BUILD
+++ b/y2014_bot3/control_loops/rollers/BUILD
@@ -1,16 +1,37 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 
-queue_library(
-    name = "rollers_queue",
+flatbuffer_cc_library(
+    name = "rollers_goal_fbs",
     srcs = [
-        "rollers.q",
+        "rollers_goal.fbs",
     ],
-    deps = [
-        "//aos/controls:control_loop_queues",
-        "//frc971/control_loops:queues",
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "rollers_position_fbs",
+    srcs = [
+        "rollers_position.fbs",
     ],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "rollers_output_fbs",
+    srcs = [
+        "rollers_output.fbs",
+    ],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "rollers_status_fbs",
+    srcs = [
+        "rollers_status.fbs",
+    ],
+    gen_reflections = 1,
 )
 
 cc_library(
@@ -22,7 +43,10 @@
         "rollers.h",
     ],
     deps = [
-        ":rollers_queue",
+        ":rollers_goal_fbs",
+        ":rollers_output_fbs",
+        ":rollers_position_fbs",
+        ":rollers_status_fbs",
         "//aos/controls:control_loop",
         "//aos/logging",
     ],
@@ -36,6 +60,6 @@
     deps = [
         ":rollers_lib",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
     ],
 )
diff --git a/y2014_bot3/control_loops/rollers/rollers.cc b/y2014_bot3/control_loops/rollers/rollers.cc
index d2b4da9..d62831a 100644
--- a/y2014_bot3/control_loops/rollers/rollers.cc
+++ b/y2014_bot3/control_loops/rollers/rollers.cc
@@ -1,46 +1,51 @@
 #include "y2014_bot3/control_loops/rollers/rollers.h"
 
 #include "aos/logging/logging.h"
+#include "y2014_bot3/control_loops/rollers/rollers_goal_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_output_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_position_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_status_generated.h"
 
 namespace y2014_bot3 {
 namespace control_loops {
+namespace rollers {
 
 Rollers::Rollers(::aos::EventLoop *event_loop, const ::std::string &name)
-    : aos::controls::ControlLoop<control_loops::RollersQueue>(event_loop,
-                                                              name) {}
+    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                 name) {}
 
-void Rollers::RunIteration(
-    const control_loops::RollersQueue::Goal *goal,
-    const control_loops::RollersQueue::Position * /*position*/,
-    control_loops::RollersQueue::Output *output,
-    control_loops::RollersQueue::Status * /*status*/) {
+void Rollers::RunIteration(const Goal *goal, const Position * /*position*/,
+                           aos::Sender<Output>::Builder *output,
+                           aos::Sender<Status>::Builder *status) {
   constexpr double k2014Bot3IntakeForwardVoltage = 12.0;
   constexpr double k2014Bot3IntakeBackwardVoltage = -12.0;
   constexpr double k2014Bot3LowGoalForwardVoltage = 6.0;
   constexpr double k2014Bot3LowGoalBackwardVoltage = -6.0;
 
+  status->Send(status->MakeBuilder<Status>().Finish());
+
   if (!output || !goal) {
     return;
   }
 
-  const int intake = goal->intake;
-  const int low_spit = goal->low_spit;
-  const bool human_player = goal->human_player;
+  const int intake = goal->intake();
+  const int low_spit = goal->low_spit();
+  const bool human_player = goal->human_player();
 
-  output->Zero();
+  OutputT output_struct;
 
   switch (low_spit) {
     case 1:
       // Spit towards front
-      output->low_goal_voltage = k2014Bot3LowGoalBackwardVoltage;
-      output->front_intake_voltage = k2014Bot3IntakeBackwardVoltage;
-      output->back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
+      output_struct.low_goal_voltage = k2014Bot3LowGoalBackwardVoltage;
+      output_struct.front_intake_voltage = k2014Bot3IntakeBackwardVoltage;
+      output_struct.back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
       break;
     case -1:
       // Spit towards back
-      output->low_goal_voltage = k2014Bot3LowGoalForwardVoltage;
-      output->back_intake_voltage = -k2014Bot3IntakeBackwardVoltage;
-      output->front_intake_voltage = k2014Bot3IntakeForwardVoltage;
+      output_struct.low_goal_voltage = k2014Bot3LowGoalForwardVoltage;
+      output_struct.back_intake_voltage = -k2014Bot3IntakeBackwardVoltage;
+      output_struct.front_intake_voltage = k2014Bot3IntakeForwardVoltage;
       break;
     default:
       // Stationary
@@ -50,17 +55,17 @@
   switch (intake) {
     case 1:
       // Front intake.
-      output->front_extended = true;
-      output->back_extended = false;
-      output->front_intake_voltage = k2014Bot3IntakeForwardVoltage;
-      output->back_intake_voltage = 0.0;
+      output_struct.front_extended = true;
+      output_struct.back_extended = false;
+      output_struct.front_intake_voltage = k2014Bot3IntakeForwardVoltage;
+      output_struct.back_intake_voltage = 0.0;
       break;
     case -1:
       // Back intake.
-      output->back_extended = true;
-      output->front_extended = false;
-      output->back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
-      output->front_intake_voltage = 0.0;
+      output_struct.back_extended = true;
+      output_struct.front_extended = false;
+      output_struct.back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
+      output_struct.front_intake_voltage = 0.0;
       break;
     default:
       // Stationary
@@ -69,12 +74,15 @@
 
   if (human_player) {
     // Intake for human player.
-    output->front_extended = false;
-    output->back_extended = false;
-    output->front_intake_voltage = k2014Bot3IntakeForwardVoltage;
-    output->back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
+    output_struct.front_extended = false;
+    output_struct.back_extended = false;
+    output_struct.front_intake_voltage = k2014Bot3IntakeForwardVoltage;
+    output_struct.back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
   }
+
+  output->Send(Output::Pack(*output->fbb(), &output_struct));
 }
 
+}  //  namespace rollers
 }  //  namespace control_loops
 }  //  namespace y2014_bot3
diff --git a/y2014_bot3/control_loops/rollers/rollers.h b/y2014_bot3/control_loops/rollers/rollers.h
index 9890871..8903cd2 100644
--- a/y2014_bot3/control_loops/rollers/rollers.h
+++ b/y2014_bot3/control_loops/rollers/rollers.h
@@ -3,27 +3,31 @@
 
 #include "aos/controls/control_loop.h"
 
-#include "y2014_bot3/control_loops/rollers/rollers.q.h"
+#include "y2014_bot3/control_loops/rollers/rollers_goal_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_output_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_position_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_status_generated.h"
 
 namespace y2014_bot3 {
 namespace control_loops {
+namespace rollers {
 
-class Rollers : public aos::controls::ControlLoop<control_loops::RollersQueue> {
+class Rollers
+    : public aos::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
   // Constructs a control loops which can take a rollers or defaults to the
   // rollers at ::2014_bot3::control_loops::rollers.
-  explicit Rollers(
-      ::aos::EventLoop *event_loop,
-      const ::std::string &name = ".y2014_bot3.control_loops.rollers_queue");
+  explicit Rollers(::aos::EventLoop *event_loop,
+                   const ::std::string &name = "/rollers");
 
  protected:
   // Executes one cycle of the control loop.
-  void RunIteration(const control_loops::RollersQueue::Goal *goal,
-                    const control_loops::RollersQueue::Position *position,
-                    control_loops::RollersQueue::Output *output,
-                    control_loops::RollersQueue::Status *status) override;
+  void RunIteration(const Goal *goal, const Position *position,
+                    aos::Sender<Output>::Builder *output,
+                    aos::Sender<Status>::Builder *status) override;
 };
 
+}  // namespace rollers
 }  // namespace control_loops
 }  // namespace y2014_bot3
 
diff --git a/y2014_bot3/control_loops/rollers/rollers.q b/y2014_bot3/control_loops/rollers/rollers.q
deleted file mode 100644
index 1e40369..0000000
--- a/y2014_bot3/control_loops/rollers/rollers.q
+++ /dev/null
@@ -1,40 +0,0 @@
-package y2014_bot3.control_loops;
-
-import "aos/controls/control_loops.q";
-import "frc971/control_loops/control_loops.q";
-
-// on ".y2014_bot3.control_loops.rollers_queue"
-queue_group RollersQueue {
-  implements aos.control_loops.ControlLoop;
-
-  message Goal {
-    // -1 = back intake, 1 = front intake, all else = stationary.
-    int16_t intake;
-    // -1 = backwards, 1 = forwards, all else = stationary.
-    int16_t low_spit;
-    // Whether we want the human player load function.
-    bool human_player;
-  };
-
-  message Position {};
-
-  message Output {
-    // Positive voltage = intaking, Negative = spitting.
-    double front_intake_voltage;
-    double back_intake_voltage;
-    // Voltage for the low goal rollers.
-    // Positive voltage = ball towards back, Negative = ball towards front.
-    double low_goal_voltage;
-
-    // Whether the front and back intake pistons are extended.
-    bool front_extended;
-    bool back_extended;
-  };
-
-  message Status {};
-
-  queue Goal goal;
-  queue Position position;
-  queue Output output;
-  queue Status status;
-};
diff --git a/y2014_bot3/control_loops/rollers/rollers_goal.fbs b/y2014_bot3/control_loops/rollers/rollers_goal.fbs
new file mode 100644
index 0000000..92ee589
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers_goal.fbs
@@ -0,0 +1,12 @@
+namespace y2014_bot3.control_loops.rollers;
+
+table Goal {
+  // -1 = back intake, 1 = front intake, all else = stationary.
+  intake:int;
+  // -1 = backwards, 1 = forwards, all else = stationary.
+  low_spit:int;
+  // Whether we want the human player load function.
+  human_player:bool;
+}
+
+root_type Goal;
diff --git a/y2014_bot3/control_loops/rollers/rollers_main.cc b/y2014_bot3/control_loops/rollers/rollers_main.cc
index 1a0d82b..906c067 100644
--- a/y2014_bot3/control_loops/rollers/rollers_main.cc
+++ b/y2014_bot3/control_loops/rollers/rollers_main.cc
@@ -1,13 +1,16 @@
 #include "y2014_bot3/control_loops/rollers/rollers.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
-  ::y2014_bot3::control_loops::Rollers rollers(&event_loop);
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
+  ::y2014_bot3::control_loops::rollers::Rollers rollers(&event_loop);
 
   event_loop.Run();
 
diff --git a/y2014_bot3/control_loops/rollers/rollers_output.fbs b/y2014_bot3/control_loops/rollers/rollers_output.fbs
new file mode 100644
index 0000000..daae09b
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers_output.fbs
@@ -0,0 +1,16 @@
+namespace y2014_bot3.control_loops.rollers;
+
+table Output {
+  // Positive voltage = intaking, Negative = spitting.
+  front_intake_voltage:double;
+  back_intake_voltage:double;
+  // Voltage for the low goal rollers.
+  // Positive voltage = ball towards back, Negative = ball towards front.
+  low_goal_voltage:double;
+
+  // Whether the front and back intake pistons are extended.
+  front_extended:bool;
+  back_extended:bool;
+}
+
+root_type Output;
diff --git a/y2014_bot3/control_loops/rollers/rollers_position.fbs b/y2014_bot3/control_loops/rollers/rollers_position.fbs
new file mode 100644
index 0000000..040502c
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers_position.fbs
@@ -0,0 +1,6 @@
+namespace y2014_bot3.control_loops.rollers;
+
+table Position {
+}
+
+root_type Position;
diff --git a/y2014_bot3/control_loops/rollers/rollers_status.fbs b/y2014_bot3/control_loops/rollers/rollers_status.fbs
new file mode 100644
index 0000000..2486bb7
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers_status.fbs
@@ -0,0 +1,6 @@
+namespace y2014_bot3.control_loops.rollers;
+
+table Status {
+}
+
+root_type Status;
diff --git a/y2014_bot3/joystick_reader.cc b/y2014_bot3/joystick_reader.cc
index dc43f30..47546a7 100644
--- a/y2014_bot3/joystick_reader.cc
+++ b/y2014_bot3/joystick_reader.cc
@@ -11,12 +11,10 @@
 #include "aos/time/time.h"
 
 #include "aos/input/drivetrain_input.h"
-#include "frc971/autonomous/auto.q.h"
 #include "frc971/autonomous/base_autonomous_actor.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/queues/gyro.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
 #include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
-#include "y2014_bot3/control_loops/rollers/rollers.q.h"
+#include "y2014_bot3/control_loops/rollers/rollers_goal_generated.h"
 
 using ::aos::input::driver_station::ButtonLocation;
 using ::aos::input::driver_station::POVLocation;
@@ -47,9 +45,8 @@
   Reader(::aos::EventLoop *event_loop)
       : ::aos::input::JoystickInput(event_loop),
         rollers_goal_sender_(
-            event_loop
-                ->MakeSender<::y2014_bot3::control_loops::RollersQueue::Goal>(
-                    ".y2014_bot3.control_loops.rollers_queue.goal")),
+            event_loop->MakeSender<::y2014_bot3::control_loops::rollers::Goal>(
+                "/rollers")),
         autonomous_action_factory_(
             ::frc971::autonomous::BaseAutonomousActor::MakeFactory(
                 event_loop)) {
@@ -89,20 +86,21 @@
     }
 
     // Rollers.
-    auto rollers_goal = rollers_goal_sender_.MakeMessage();
-    rollers_goal->Zero();
+    auto builder = rollers_goal_sender_.MakeBuilder();
+    control_loops::rollers::GoalT rollers_goal;
     if (data.IsPressed(kFrontRollersIn)) {
-      rollers_goal->intake = 1;
+      rollers_goal.intake = 1;
     } else if (data.IsPressed(kFrontRollersOut)) {
-      rollers_goal->low_spit = 1;
+      rollers_goal.low_spit = 1;
     } else if (data.IsPressed(kBackRollersIn)) {
-      rollers_goal->intake = -1;
+      rollers_goal.intake = -1;
     } else if (data.IsPressed(kBackRollersOut)) {
-      rollers_goal->low_spit = -1;
+      rollers_goal.low_spit = -1;
     } else if (data.IsPressed(kHumanPlayer)) {
-      rollers_goal->human_player = true;
+      rollers_goal.human_player = true;
     }
-    if (!rollers_goal.Send()) {
+    if (!builder.Send(control_loops::rollers::Goal::Pack(*builder.fbb(),
+                                                         &rollers_goal))) {
       AOS_LOG(WARNING, "Sending rollers values failed.\n");
     }
   }
@@ -110,7 +108,7 @@
  private:
   void StartAuto() {
     AOS_LOG(INFO, "Starting auto mode.\n");
-    ::frc971::autonomous::AutonomousActionParams params;
+    ::frc971::autonomous::AutonomousActionParamsT params;
     params.mode = 0;
     action_queue_.EnqueueAction(autonomous_action_factory_.Make(params));
   }
@@ -129,7 +127,7 @@
   ::aos::common::actions::ActionQueue action_queue_;
 
   ::std::unique_ptr<DrivetrainInputReader> drivetrain_input_reader_;
-  ::aos::Sender<::y2014_bot3::control_loops::RollersQueue::Goal>
+  ::aos::Sender<::y2014_bot3::control_loops::rollers::Goal>
       rollers_goal_sender_;
 
   ::frc971::autonomous::BaseAutonomousActor::Factory autonomous_action_factory_;
@@ -142,7 +140,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2014_bot3::input::joysticks::Reader reader(&event_loop);
 
   event_loop.Run();
diff --git a/y2014_bot3/wpilib_interface.cc b/y2014_bot3/wpilib_interface.cc
index 9b1d4e8..89b3ad1 100644
--- a/y2014_bot3/wpilib_interface.cc
+++ b/y2014_bot3/wpilib_interface.cc
@@ -18,31 +18,32 @@
 #include "frc971/wpilib/wpilib_robot_base.h"
 #undef ERROR
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/make_unique.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/robot_state/robot_state_generated.h"
 #include "aos/stl_mutex/stl_mutex.h"
 #include "aos/time/time.h"
 #include "aos/util/log_interval.h"
 #include "aos/util/phased_loop.h"
 #include "aos/util/wrapping_counter.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
 #include "frc971/wpilib/buffered_pcm.h"
 #include "frc971/wpilib/buffered_solenoid.h"
 #include "frc971/wpilib/dma.h"
 #include "frc971/wpilib/drivetrain_writer.h"
 #include "frc971/wpilib/gyro_sender.h"
 #include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/logging_generated.h"
 #include "frc971/wpilib/loop_output_handler.h"
 #include "frc971/wpilib/pdp_fetcher.h"
 #include "frc971/wpilib/sensor_reader.h"
 #include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
 #include "y2014_bot3/control_loops/rollers/rollers.h"
-#include "y2014_bot3/control_loops/rollers/rollers.q.h"
+#include "y2014_bot3/control_loops/rollers/rollers_output_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_position_generated.h"
 
 #ifndef M_PI
 #define M_PI 3.14159265358979323846
@@ -77,41 +78,45 @@
   SensorReader(::aos::EventLoop *event_loop)
       : ::frc971::wpilib::SensorReader(event_loop),
         rollers_position_sender_(
-            event_loop->MakeSender<
-                ::y2014_bot3::control_loops::RollersQueue::Position>(
-                ".y2014_bot3.control_loops.rollers_queue.position")),
+            event_loop
+                ->MakeSender<::y2014_bot3::control_loops::rollers::Position>(
+                    "/rollers")),
         drivetrain_position_sender_(
-            event_loop->MakeSender<
-                ::frc971::control_loops::DrivetrainQueue::Position>(
-                ".frc971.control_loops.drivetrain_queue.position")) {}
+            event_loop
+                ->MakeSender<::frc971::control_loops::drivetrain::Position>(
+                    "/drivetrain")) {}
 
   void RunIteration() {
     // Drivetrain
     {
-      auto drivetrain_message = drivetrain_position_sender_.MakeMessage();
-      drivetrain_message->right_encoder =
-          -drivetrain_translate(drivetrain_right_encoder_->GetRaw());
-      drivetrain_message->left_encoder =
-          drivetrain_translate(drivetrain_left_encoder_->GetRaw());
-      drivetrain_message->left_speed =
-          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod());
-      drivetrain_message->right_speed =
-          drivetrain_velocity_translate(drivetrain_right_encoder_->GetPeriod());
+      auto builder = drivetrain_position_sender_.MakeBuilder();
 
-      drivetrain_message.Send();
+      frc971::control_loops::drivetrain::Position::Builder position_builder =
+          builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
+      position_builder.add_right_encoder(
+          -drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
+      position_builder.add_left_encoder(
+          drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
+      position_builder.add_left_speed(
+          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
+      position_builder.add_right_speed(drivetrain_velocity_translate(
+          drivetrain_right_encoder_->GetPeriod()));
+
+      builder.Send(position_builder.Finish());
     }
 
     // Rollers
     {
-      auto rollers_message = rollers_position_sender_.MakeMessage();
-      rollers_message.Send();
+      auto builder = rollers_position_sender_.MakeBuilder();
+      builder.Send(
+          builder.MakeBuilder<control_loops::rollers::Position>().Finish());
     }
   }
 
  private:
-  ::aos::Sender<::y2014_bot3::control_loops::RollersQueue::Position>
+  ::aos::Sender<::y2014_bot3::control_loops::rollers::Position>
       rollers_position_sender_;
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Position>
+  ::aos::Sender<::frc971::control_loops::drivetrain::Position>
       drivetrain_position_sender_;
 };
 
@@ -123,11 +128,14 @@
       : pcm_(pcm),
         drivetrain_(
             event_loop
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Output>(
-                    ".frc971.control_loops.drivetrain_queue.output")),
-        rollers_(event_loop->MakeFetcher<
-                 ::y2014_bot3::control_loops::RollersQueue::Output>(
-            ".y2014_bot3.control_loops.rollers_queue.output")) {
+                ->MakeFetcher<::frc971::control_loops::drivetrain::Output>(
+                    "/drivetrain")),
+        rollers_(
+            event_loop
+                ->MakeFetcher<::y2014_bot3::control_loops::rollers::Output>(
+                    "/rollers")),
+        pneumatics_to_log_sender_(
+            event_loop->MakeSender<::frc971::wpilib::PneumaticsToLog>("/aos")) {
     event_loop->set_name("Solenoids");
     event_loop->SetRuntimeRealtimePriority(27);
 
@@ -170,9 +178,8 @@
     {
       drivetrain_.Fetch();
       if (drivetrain_.get()) {
-        AOS_LOG_STRUCT(DEBUG, "solenoids", *drivetrain_);
-        drivetrain_left_->Set(drivetrain_->left_high);
-        drivetrain_right_->Set(drivetrain_->right_high);
+        drivetrain_left_->Set(drivetrain_->left_high());
+        drivetrain_right_->Set(drivetrain_->right_high());
       }
     }
 
@@ -180,19 +187,22 @@
     {
       rollers_.Fetch();
       if (rollers_.get()) {
-        AOS_LOG_STRUCT(DEBUG, "solenoids", *rollers_);
-        rollers_front_->Set(rollers_->front_extended);
-        rollers_back_->Set(rollers_->back_extended);
+        rollers_front_->Set(rollers_->front_extended());
+        rollers_back_->Set(rollers_->back_extended());
       }
     }
 
     // Compressor
     {
-      ::frc971::wpilib::PneumaticsToLog to_log;
+      auto builder = pneumatics_to_log_sender_.MakeBuilder();
+
+      ::frc971::wpilib::PneumaticsToLog::Builder to_log_builder =
+          builder.MakeBuilder<frc971::wpilib::PneumaticsToLog>();
+
       {
         // Refill if pneumatic pressure goes too low.
         const bool compressor_on = !pressure_switch_->Get();
-        to_log.compressor_on = compressor_on;
+        to_log_builder.add_compressor_on(compressor_on);
         if (compressor_on) {
           compressor_relay_->Set(::frc::Relay::kForward);
         } else {
@@ -201,8 +211,8 @@
       }
 
       pcm_->Flush();
-      to_log.read_solenoids = pcm_->GetAll();
-      AOS_LOG_STRUCT(DEBUG, "pneumatics info", to_log);
+      to_log_builder.add_read_solenoids(pcm_->GetAll());
+      builder.Send(to_log_builder.Finish());
     }
   }
 
@@ -215,18 +225,19 @@
   ::std::unique_ptr<::frc::DigitalInput> pressure_switch_;
   ::std::unique_ptr<::frc::Relay> compressor_relay_;
 
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Output> drivetrain_;
-  ::aos::Fetcher<::y2014_bot3::control_loops::RollersQueue::Output> rollers_;
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Output> drivetrain_;
+  ::aos::Fetcher<::y2014_bot3::control_loops::rollers::Output> rollers_;
+  aos::Sender<::frc971::wpilib::PneumaticsToLog> pneumatics_to_log_sender_;
 };
 
 // Writes out rollers voltages.
 class RollersWriter : public LoopOutputHandler<
-                          ::y2014_bot3::control_loops::RollersQueue::Output> {
+                          ::y2014_bot3::control_loops::rollers::Output> {
  public:
   RollersWriter(::aos::EventLoop *event_loop)
       : ::frc971::wpilib::LoopOutputHandler<
-            ::y2014_bot3::control_loops::RollersQueue::Output>(
-            event_loop, ".y2014_bot3.control_loops.rollers_queue.output") {}
+            ::y2014_bot3::control_loops::rollers::Output>(event_loop,
+                                                          "/rollers") {}
 
   void set_rollers_front_intake_talon(::std::unique_ptr<::frc::Talon> t_left,
                                       ::std::unique_ptr<::frc::Talon> t_right) {
@@ -245,18 +256,17 @@
   }
 
  private:
-  virtual void Write(const ::y2014_bot3::control_loops::RollersQueue::Output
+  virtual void Write(const ::y2014_bot3::control_loops::rollers::Output
                          &output) override {
-    AOS_LOG_STRUCT(DEBUG, "will output", output);
-    rollers_front_left_intake_talon_->SetSpeed(output.front_intake_voltage /
+    rollers_front_left_intake_talon_->SetSpeed(output.front_intake_voltage() /
                                                12.0);
     rollers_front_right_intake_talon_->SetSpeed(
-        -(output.front_intake_voltage / 12.0));
-    rollers_back_left_intake_talon_->SetSpeed(output.back_intake_voltage /
+        -(output.front_intake_voltage() / 12.0));
+    rollers_back_left_intake_talon_->SetSpeed(output.back_intake_voltage() /
                                               12.0);
     rollers_back_right_intake_talon_->SetSpeed(
-        -(output.back_intake_voltage / 12.0));
-    rollers_low_goal_talon_->SetSpeed(output.low_goal_voltage / 12.0);
+        -(output.back_intake_voltage() / 12.0));
+    rollers_low_goal_talon_->SetSpeed(output.low_goal_voltage() / 12.0);
   }
 
   virtual void Stop() override {
@@ -280,33 +290,36 @@
                                        ::frc::Encoder::k4X);
   }
   void Run() override {
+    aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+        aos::configuration::ReadConfig("config.json");
+
     // Thread 1.
-    ::aos::ShmEventLoop joystick_sender_event_loop;
+    ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
     ::frc971::wpilib::JoystickSender joystick_sender(
         &joystick_sender_event_loop);
     AddLoop(&joystick_sender_event_loop);
 
     // Thread 2.
-    ::aos::ShmEventLoop pdp_fetcher_event_loop;
+    ::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
     ::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
     AddLoop(&pdp_fetcher_event_loop);
 
     // Thread 3.
     // Sensors
-    ::aos::ShmEventLoop sensor_reader_event_loop;
+    ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
     SensorReader sensor_reader(&sensor_reader_event_loop);
     sensor_reader.set_drivetrain_left_encoder(make_encoder(4));
     sensor_reader.set_drivetrain_right_encoder(make_encoder(5));
     AddLoop(&sensor_reader_event_loop);
 
     // Thread 4.
-    ::aos::ShmEventLoop gyro_event_loop;
+    ::aos::ShmEventLoop gyro_event_loop(&config.message());
     GyroSender gyro_sender(&gyro_event_loop);
     AddLoop(&gyro_event_loop);
 
     // Thread 5.
     // Outputs
-    ::aos::ShmEventLoop output_event_loop;
+    ::aos::ShmEventLoop output_event_loop(&config.message());
     ::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
     drivetrain_writer.set_left_controller0(
         ::std::unique_ptr<::frc::Talon>(new ::frc::Talon(5)), true);
@@ -326,7 +339,7 @@
     AddLoop(&output_event_loop);
 
     // Thread 6.
-    ::aos::ShmEventLoop solenoid_writer_event_loop;
+    ::aos::ShmEventLoop solenoid_writer_event_loop(&config.message());
     ::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
         new ::frc971::wpilib::BufferedPcm());
     SolenoidWriter solenoid_writer(&solenoid_writer_event_loop, pcm);
diff --git a/y2016/BUILD b/y2016/BUILD
index ee77f00..f3887b5 100644
--- a/y2016/BUILD
+++ b/y2016/BUILD
@@ -1,4 +1,5 @@
 load("//frc971:downloader.bzl", "robot_downloader")
+load("//aos:config.bzl", "aos_config")
 
 cc_library(
     name = "constants",
@@ -34,16 +35,18 @@
         "//aos/logging",
         "//aos/time",
         "//aos/util:log_interval",
-        "//frc971/autonomous:auto_queue",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/autonomous:auto_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_goal_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//frc971/queues:gyro",
         "//y2016/actors:autonomous_action_lib",
         "//y2016/actors:superstructure_action_lib",
         "//y2016/actors:vision_align_action_lib",
-        "//y2016/control_loops/shooter:shooter_queue",
+        "//y2016/control_loops/shooter:shooter_goal_fbs",
+        "//y2016/control_loops/superstructure:superstructure_goal_fbs",
         "//y2016/control_loops/superstructure:superstructure_lib",
-        "//y2016/control_loops/superstructure:superstructure_queue",
-        "//y2016/queues:ball_detector",
+        "//y2016/control_loops/superstructure:superstructure_status_fbs",
+        "//y2016/queues:ball_detector_fbs",
     ],
 )
 
@@ -65,6 +68,28 @@
     ],
 )
 
+aos_config(
+    name = "config",
+    src = "y2016.json",
+    flatbuffers = [
+        "//y2016/control_loops/shooter:shooter_goal_fbs",
+        "//y2016/control_loops/shooter:shooter_output_fbs",
+        "//y2016/control_loops/shooter:shooter_position_fbs",
+        "//y2016/control_loops/shooter:shooter_status_fbs",
+        "//y2016/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2016/control_loops/superstructure:superstructure_output_fbs",
+        "//y2016/control_loops/superstructure:superstructure_position_fbs",
+        "//y2016/control_loops/superstructure:superstructure_status_fbs",
+        "//y2016/queues:ball_detector_fbs",
+        "//y2017/vision:vision_fbs",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//aos/robot_state:config",
+        "//frc971/control_loops/drivetrain:config",
+    ],
+)
+
 cc_binary(
     name = "wpilib_interface",
     srcs = [
@@ -78,16 +103,16 @@
         "//aos:math",
         "//aos/controls:control_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/stl_mutex",
         "//aos/time",
         "//aos/util:log_interval",
         "//aos/util:phased_loop",
         "//aos/util:wrapping_counter",
-        "//frc971/autonomous:auto_queue",
-        "//frc971/control_loops:queues",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/autonomous:auto_fbs",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
         "//frc971/wpilib:ADIS16448",
         "//frc971/wpilib:buffered_pcm",
         "//frc971/wpilib:dma",
@@ -97,16 +122,18 @@
         "//frc971/wpilib:gyro_sender",
         "//frc971/wpilib:interrupt_edge_counting",
         "//frc971/wpilib:joystick_sender",
-        "//frc971/wpilib:logging_queue",
+        "//frc971/wpilib:logging_fbs",
         "//frc971/wpilib:loop_output_handler",
         "//frc971/wpilib:pdp_fetcher",
         "//frc971/wpilib:sensor_reader",
         "//frc971/wpilib:wpilib_robot_base",
         "//third_party:wpilib",
         "//y2016/control_loops/drivetrain:polydrivetrain_plants",
-        "//y2016/control_loops/shooter:shooter_queue",
-        "//y2016/control_loops/superstructure:superstructure_queue",
-        "//y2016/queues:ball_detector",
+        "//y2016/control_loops/shooter:shooter_output_fbs",
+        "//y2016/control_loops/shooter:shooter_position_fbs",
+        "//y2016/control_loops/superstructure:superstructure_output_fbs",
+        "//y2016/control_loops/superstructure:superstructure_position_fbs",
+        "//y2016/queues:ball_detector_fbs",
     ],
 )
 
diff --git a/y2016/actors/BUILD b/y2016/actors/BUILD
index f5b2566..f80128d 100644
--- a/y2016/actors/BUILD
+++ b/y2016/actors/BUILD
@@ -1,6 +1,6 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 
 filegroup(
     name = "binaries",
@@ -10,14 +10,13 @@
     ],
 )
 
-queue_library(
-    name = "superstructure_action_queue",
+flatbuffer_cc_library(
+    name = "superstructure_action_fbs",
     srcs = [
-        "superstructure_action.q",
+        "superstructure_action.fbs",
     ],
-    deps = [
-        "//aos/actions:action_queue",
-    ],
+    gen_reflections = 1,
+    visibility = ["//visibility:public"],
 )
 
 cc_library(
@@ -29,12 +28,14 @@
         "superstructure_actor.h",
     ],
     deps = [
-        ":superstructure_action_queue",
+        ":superstructure_action_fbs",
         "//aos/actions:action_lib",
-        "//aos/events:event-loop",
+        "//aos/events:event_loop",
         "//aos/logging",
         "//aos/util:phased_loop",
-        "//y2016/control_loops/superstructure:superstructure_queue",
+        "//frc971/control_loops:control_loops_fbs",
+        "//y2016/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2016/control_loops/superstructure:superstructure_status_fbs",
     ],
 )
 
@@ -44,10 +45,10 @@
         "superstructure_actor_main.cc",
     ],
     deps = [
+        ":superstructure_action_fbs",
         ":superstructure_action_lib",
-        ":superstructure_action_queue",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
     ],
 )
 
@@ -65,13 +66,13 @@
         "//aos/logging",
         "//aos/util:phased_loop",
         "//frc971/autonomous:base_autonomous_actor",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
         "//y2016/control_loops/drivetrain:drivetrain_base",
-        "//y2016/control_loops/shooter:shooter_queue",
-        "//y2016/control_loops/superstructure:superstructure_queue",
-        "//y2016/queues:ball_detector",
-        "//y2016/queues:profile_params",
-        "//y2016/vision:vision_queue",
+        "//y2016/control_loops/shooter:shooter_goal_fbs",
+        "//y2016/control_loops/shooter:shooter_status_fbs",
+        "//y2016/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2016/control_loops/superstructure:superstructure_status_fbs",
+        "//y2016/queues:ball_detector_fbs",
+        "//y2016/vision:vision_fbs",
     ],
 )
 
@@ -86,14 +87,13 @@
     ],
 )
 
-queue_library(
-    name = "vision_align_action_queue",
+flatbuffer_cc_library(
+    name = "vision_align_action_fbs",
     srcs = [
-        "vision_align_action.q",
+        "vision_align_action.fbs",
     ],
-    deps = [
-        "//aos/actions:action_queue",
-    ],
+    gen_reflections = 1,
+    visibility = ["//visibility:public"],
 )
 
 cc_library(
@@ -105,19 +105,19 @@
         "vision_align_actor.h",
     ],
     deps = [
-        ":vision_align_action_queue",
+        ":vision_align_action_fbs",
         "//aos:math",
         "//aos/actions:action_lib",
         "//aos/logging",
-        "//aos/logging:queue_logging",
         "//aos/time",
         "//aos/util:phased_loop",
         "//aos/util:trapezoid_profile",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
-        "//third_party/eigen",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_goal_fbs",
         "//y2016:constants",
         "//y2016/control_loops/drivetrain:drivetrain_base",
-        "//y2016/vision:vision_queue",
+        "//y2016/vision:vision_fbs",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -127,8 +127,8 @@
         "vision_align_actor_main.cc",
     ],
     deps = [
+        ":vision_align_action_fbs",
         ":vision_align_action_lib",
-        ":vision_align_action_queue",
         "//aos:init",
     ],
 )
diff --git a/y2016/actors/autonomous_actor.cc b/y2016/actors/autonomous_actor.cc
index 498a6f1..a665c28 100644
--- a/y2016/actors/autonomous_actor.cc
+++ b/y2016/actors/autonomous_actor.cc
@@ -8,39 +8,52 @@
 #include "aos/logging/logging.h"
 #include "aos/util/phased_loop.h"
 
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "y2016/control_loops/drivetrain/drivetrain_base.h"
-#include "y2016/control_loops/shooter/shooter.q.h"
-#include "y2016/control_loops/superstructure/superstructure.q.h"
-#include "y2016/queues/ball_detector.q.h"
-#include "y2016/vision/vision.q.h"
+#include "y2016/control_loops/shooter/shooter_goal_generated.h"
+#include "y2016/control_loops/shooter/shooter_status_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2016/queues/ball_detector_generated.h"
+#include "y2016/vision/vision_generated.h"
 
 namespace y2016 {
 namespace actors {
 using ::aos::monotonic_clock;
+using ::frc971::ProfileParametersT;
+namespace superstructure = y2016::control_loops::superstructure;
+namespace shooter = y2016::control_loops::shooter;
 namespace chrono = ::std::chrono;
 namespace this_thread = ::std::this_thread;
 
 namespace {
-const ProfileParameters kSlowDrive = {0.8, 2.5};
-const ProfileParameters kLowBarDrive = {1.3, 2.5};
-const ProfileParameters kMoatDrive = {1.2, 3.5};
-const ProfileParameters kRealignDrive = {2.0, 2.5};
-const ProfileParameters kRockWallDrive = {0.8, 2.5};
-const ProfileParameters kFastDrive = {3.0, 2.5};
+ProfileParametersT MakeProfileParameters(float max_velocity,
+                                         float max_acceleration) {
+  ProfileParametersT result;
+  result.max_velocity = max_velocity;
+  result.max_acceleration = max_acceleration;
+  return result;
+}
 
-const ProfileParameters kSlowTurn = {0.8, 3.0};
-const ProfileParameters kFastTurn = {3.0, 10.0};
-const ProfileParameters kStealTurn = {4.0, 15.0};
-const ProfileParameters kSwerveTurn = {2.0, 7.0};
-const ProfileParameters kFinishTurn = {2.0, 5.0};
+const ProfileParametersT kSlowDrive = MakeProfileParameters(0.8, 2.5);
+const ProfileParametersT kLowBarDrive = MakeProfileParameters(1.3, 2.5);
+const ProfileParametersT kMoatDrive = MakeProfileParameters(1.2, 3.5);
+const ProfileParametersT kRealignDrive = MakeProfileParameters(2.0, 2.5);
+const ProfileParametersT kRockWallDrive = MakeProfileParameters(0.8, 2.5);
+const ProfileParametersT kFastDrive = MakeProfileParameters(3.0, 2.5);
 
-const ProfileParameters kTwoBallLowDrive = {1.7, 3.5};
-const ProfileParameters kTwoBallFastDrive = {3.0, 1.5};
-const ProfileParameters kTwoBallReturnDrive = {3.0, 1.9};
-const ProfileParameters kTwoBallReturnSlow = {3.0, 2.5};
-const ProfileParameters kTwoBallBallPickup = {2.0, 1.75};
-const ProfileParameters kTwoBallBallPickupAccel = {2.0, 2.5};
+const ProfileParametersT kSlowTurn = MakeProfileParameters(0.8, 3.0);
+const ProfileParametersT kFastTurn = MakeProfileParameters(3.0, 10.0);
+const ProfileParametersT kStealTurn = MakeProfileParameters(4.0, 15.0);
+const ProfileParametersT kSwerveTurn = MakeProfileParameters(2.0, 7.0);
+const ProfileParametersT kFinishTurn = MakeProfileParameters(2.0, 5.0);
+
+const ProfileParametersT kTwoBallLowDrive = MakeProfileParameters(1.7, 3.5);
+const ProfileParametersT kTwoBallFastDrive = MakeProfileParameters(3.0, 1.5);
+const ProfileParametersT kTwoBallReturnDrive = MakeProfileParameters(3.0, 1.9);
+const ProfileParametersT kTwoBallReturnSlow = MakeProfileParameters(3.0, 2.5);
+const ProfileParametersT kTwoBallBallPickup = MakeProfileParameters(2.0, 1.75);
+const ProfileParametersT kTwoBallBallPickupAccel =
+    MakeProfileParameters(2.0, 2.5);
 
 }  // namespace
 
@@ -51,66 +64,66 @@
           actors::VisionAlignActor::MakeFactory(event_loop)),
       vision_status_fetcher_(
           event_loop->MakeFetcher<::y2016::vision::VisionStatus>(
-              ".y2016.vision.vision_status")),
+              "/superstructure")),
       ball_detector_fetcher_(
           event_loop->MakeFetcher<::y2016::sensors::BallDetector>(
-              ".y2016.sensors.ball_detector")),
+              "/superstructure")),
       shooter_goal_sender_(
-          event_loop
-              ->MakeSender<::y2016::control_loops::shooter::ShooterQueue::Goal>(
-                  ".y2016.control_loops.shooter.shooter_queue.goal")),
+          event_loop->MakeSender<::y2016::control_loops::shooter::Goal>(
+              "/shooter")),
       shooter_status_fetcher_(
-          event_loop->MakeFetcher<
-              ::y2016::control_loops::shooter::ShooterQueue::Status>(
-              ".y2016.control_loops.shooter.shooter_queue.status")),
+          event_loop->MakeFetcher<::y2016::control_loops::shooter::Status>(
+              "/shooter")),
       superstructure_status_fetcher_(
-          event_loop->MakeFetcher<
-              ::y2016::control_loops::SuperstructureQueue::Status>(
-              ".y2016.control_loops.superstructure_queue.status")),
-      superstructure_goal_sender_(
           event_loop
-              ->MakeSender<::y2016::control_loops::SuperstructureQueue::Goal>(
-                  ".y2016.control_loops.superstructure_queue.goal")) {}
+              ->MakeFetcher<::y2016::control_loops::superstructure::Status>(
+                  "/superstructure")),
+      superstructure_goal_sender_(
+          event_loop->MakeSender<::y2016::control_loops::superstructure::Goal>(
+              "/superstructure")) {}
 
 constexpr double kDoNotTurnCare = 2.0;
 
 void AutonomousActor::MoveSuperstructure(
     double intake, double shoulder, double wrist,
-    const ProfileParameters intake_params,
-    const ProfileParameters shoulder_params,
-    const ProfileParameters wrist_params, bool traverse_up,
+    const ProfileParametersT intake_params,
+    const ProfileParametersT shoulder_params,
+    const ProfileParametersT wrist_params, bool traverse_up,
     double roller_power) {
   superstructure_goal_ = {intake, shoulder, wrist};
 
-  auto new_superstructure_goal = superstructure_goal_sender_.MakeMessage();
+  auto builder = superstructure_goal_sender_.MakeBuilder();
 
-  new_superstructure_goal->angle_intake = intake;
-  new_superstructure_goal->angle_shoulder = shoulder;
-  new_superstructure_goal->angle_wrist = wrist;
+  superstructure::Goal::Builder superstructure_goal_builder =
+      builder.MakeBuilder<superstructure::Goal>();
 
-  new_superstructure_goal->max_angular_velocity_intake =
-      intake_params.max_velocity;
-  new_superstructure_goal->max_angular_velocity_shoulder =
-      shoulder_params.max_velocity;
-  new_superstructure_goal->max_angular_velocity_wrist =
-      wrist_params.max_velocity;
+  superstructure_goal_builder.add_angle_intake(intake);
+  superstructure_goal_builder.add_angle_shoulder(shoulder);
+  superstructure_goal_builder.add_angle_wrist(wrist);
 
-  new_superstructure_goal->max_angular_acceleration_intake =
-      intake_params.max_acceleration;
-  new_superstructure_goal->max_angular_acceleration_shoulder =
-      shoulder_params.max_acceleration;
-  new_superstructure_goal->max_angular_acceleration_wrist =
-      wrist_params.max_acceleration;
+  superstructure_goal_builder.add_max_angular_velocity_intake(
+      intake_params.max_velocity);
+  superstructure_goal_builder.add_max_angular_velocity_shoulder(
+      shoulder_params.max_velocity);
+  superstructure_goal_builder.add_max_angular_velocity_wrist(
+      wrist_params.max_velocity);
 
-  new_superstructure_goal->voltage_top_rollers = roller_power;
-  new_superstructure_goal->voltage_bottom_rollers = roller_power;
+  superstructure_goal_builder.add_max_angular_acceleration_intake(
+      intake_params.max_acceleration);
+  superstructure_goal_builder.add_max_angular_acceleration_shoulder(
+      shoulder_params.max_acceleration);
+  superstructure_goal_builder.add_max_angular_acceleration_wrist(
+      wrist_params.max_acceleration);
 
-  new_superstructure_goal->traverse_unlatched = true;
-  new_superstructure_goal->traverse_down = !traverse_up;
-  new_superstructure_goal->voltage_climber = 0.0;
-  new_superstructure_goal->unfold_climber = false;
+  superstructure_goal_builder.add_voltage_top_rollers(roller_power);
+  superstructure_goal_builder.add_voltage_bottom_rollers(roller_power);
 
-  if (!new_superstructure_goal.Send()) {
+  superstructure_goal_builder.add_traverse_unlatched(true);
+  superstructure_goal_builder.add_traverse_down(!traverse_up);
+  superstructure_goal_builder.add_voltage_climber(0.0);
+  superstructure_goal_builder.add_unfold_climber(false);
+
+  if (!builder.Send(superstructure_goal_builder.Finish())) {
     AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
   }
 }
@@ -118,12 +131,14 @@
 void AutonomousActor::OpenShooter() {
   shooter_speed_ = 0.0;
 
-  auto shooter_goal = shooter_goal_sender_.MakeMessage();
-  shooter_goal->angular_velocity = shooter_speed_;
-  shooter_goal->clamp_open = true;
-  shooter_goal->push_to_shooter = false;
-  shooter_goal->force_lights_on = false;
-  if (!shooter_goal.Send()) {
+  auto builder = shooter_goal_sender_.MakeBuilder();
+  shooter::Goal::Builder shooter_goal_builder =
+      builder.MakeBuilder<shooter::Goal>();
+  shooter_goal_builder.add_angular_velocity(shooter_speed_);
+  shooter_goal_builder.add_clamp_open(true);
+  shooter_goal_builder.add_push_to_shooter(false);
+  shooter_goal_builder.add_force_lights_on(false);
+  if (!builder.Send(shooter_goal_builder.Finish())) {
     AOS_LOG(ERROR, "Sending shooter goal failed.\n");
   }
 }
@@ -131,13 +146,15 @@
 void AutonomousActor::CloseShooter() {
   shooter_speed_ = 0.0;
 
-  auto shooter_goal = shooter_goal_sender_.MakeMessage();
-  shooter_goal->angular_velocity = shooter_speed_;
-  shooter_goal->clamp_open = false;
-  shooter_goal->push_to_shooter = false;
-  shooter_goal->force_lights_on = false;
+  auto builder = shooter_goal_sender_.MakeBuilder();
+  shooter::Goal::Builder shooter_goal_builder =
+      builder.MakeBuilder<shooter::Goal>();
+  shooter_goal_builder.add_angular_velocity(shooter_speed_);
+  shooter_goal_builder.add_clamp_open(false);
+  shooter_goal_builder.add_push_to_shooter(false);
+  shooter_goal_builder.add_force_lights_on(false);
 
-  if (!shooter_goal.Send()) {
+  if (!builder.Send(shooter_goal_builder.Finish())) {
     AOS_LOG(ERROR, "Sending shooter goal failed.\n");
   }
 }
@@ -149,13 +166,15 @@
   // hope of a human aligning the robot.
   bool force_lights_on = shooter_speed_ > 1.0;
 
-  auto shooter_goal = shooter_goal_sender_.MakeMessage();
-  shooter_goal->angular_velocity = shooter_speed_;
-  shooter_goal->clamp_open = false;
-  shooter_goal->push_to_shooter = false;
-  shooter_goal->force_lights_on = force_lights_on;
+  auto builder = shooter_goal_sender_.MakeBuilder();
+  shooter::Goal::Builder shooter_goal_builder =
+      builder.MakeBuilder<shooter::Goal>();
+  shooter_goal_builder.add_angular_velocity(shooter_speed_);
+  shooter_goal_builder.add_clamp_open(false);
+  shooter_goal_builder.add_push_to_shooter(false);
+  shooter_goal_builder.add_force_lights_on(force_lights_on);
 
-  if (!shooter_goal.Send()) {
+  if (!builder.Send(shooter_goal_builder.Finish())) {
     AOS_LOG(ERROR, "Sending shooter goal failed.\n");
   }
 }
@@ -165,20 +184,22 @@
 
   shooter_status_fetcher_.Fetch();
   if (shooter_status_fetcher_.get()) {
-    initial_shots = shooter_status_fetcher_->shots;
+    initial_shots = shooter_status_fetcher_->shots();
   }
 
   // In auto, we want to have the lights on whenever possible since we have no
   // hope of a human aligning the robot.
   bool force_lights_on = shooter_speed_ > 1.0;
 
-  auto shooter_goal = shooter_goal_sender_.MakeMessage();
-  shooter_goal->angular_velocity = shooter_speed_;
-  shooter_goal->clamp_open = false;
-  shooter_goal->push_to_shooter = true;
-  shooter_goal->force_lights_on = force_lights_on;
+  auto builder = shooter_goal_sender_.MakeBuilder();
+  shooter::Goal::Builder shooter_goal_builder =
+      builder.MakeBuilder<shooter::Goal>();
+  shooter_goal_builder.add_angular_velocity(shooter_speed_);
+  shooter_goal_builder.add_clamp_open(false);
+  shooter_goal_builder.add_push_to_shooter(true);
+  shooter_goal_builder.add_force_lights_on(force_lights_on);
 
-  if (!shooter_goal.Send()) {
+  if (!builder.Send(shooter_goal_builder.Finish())) {
     AOS_LOG(ERROR, "Sending shooter goal failed.\n");
   }
 
@@ -191,7 +212,7 @@
     // Wait for the shot count to change so we know when the shot is complete.
     shooter_status_fetcher_.Fetch();
     if (shooter_status_fetcher_.get()) {
-      if (initial_shots < shooter_status_fetcher_->shots) {
+      if (initial_shots < shooter_status_fetcher_->shots()) {
         return;
       }
     }
@@ -208,8 +229,8 @@
 
     shooter_status_fetcher_.Fetch();
     if (shooter_status_fetcher_.get()) {
-      if (shooter_status_fetcher_->left.ready &&
-          shooter_status_fetcher_->right.ready) {
+      if (shooter_status_fetcher_->left()->ready() &&
+          shooter_status_fetcher_->right()->ready()) {
         return;
       }
     }
@@ -218,7 +239,7 @@
 }
 
 void AutonomousActor::AlignWithVisionGoal() {
-  actors::VisionAlignActionParams params;
+  vision_align_action::VisionAlignActionParamsT params;
   vision_action_ = vision_align_actor_factory_.Make(params);
   vision_action_->Start();
 }
@@ -238,25 +259,25 @@
 
     vision_status_fetcher_.Fetch();
     if (vision_status_fetcher_.get()) {
-      vision_valid = (vision_status_fetcher_->left_image_valid &&
-                      vision_status_fetcher_->right_image_valid);
-      last_angle = vision_status_fetcher_->horizontal_angle;
+      vision_valid = (vision_status_fetcher_->left_image_valid() &&
+                      vision_status_fetcher_->right_image_valid());
+      last_angle = vision_status_fetcher_->horizontal_angle();
     }
 
     drivetrain_status_fetcher_.Fetch();
     drivetrain_goal_fetcher_.Fetch();
 
     if (drivetrain_status_fetcher_.get() && drivetrain_goal_fetcher_.get()) {
-      const double left_goal = drivetrain_goal_fetcher_->left_goal;
-      const double right_goal = drivetrain_goal_fetcher_->right_goal;
+      const double left_goal = drivetrain_goal_fetcher_->left_goal();
+      const double right_goal = drivetrain_goal_fetcher_->right_goal();
       const double left_current =
-          drivetrain_status_fetcher_->estimated_left_position;
+          drivetrain_status_fetcher_->estimated_left_position();
       const double right_current =
-          drivetrain_status_fetcher_->estimated_right_position;
+          drivetrain_status_fetcher_->estimated_right_position();
       const double left_velocity =
-          drivetrain_status_fetcher_->estimated_left_velocity;
+          drivetrain_status_fetcher_->estimated_left_velocity();
       const double right_velocity =
-          drivetrain_status_fetcher_->estimated_right_velocity;
+          drivetrain_status_fetcher_->estimated_right_velocity();
 
       if (vision_valid && ::std::abs(last_angle) < 0.02 &&
           ::std::abs((left_goal - right_goal) -
@@ -287,21 +308,23 @@
   constexpr double kProfileError = 1e-5;
   constexpr double kEpsilon = 0.15;
 
-  if (superstructure_status_fetcher_->state < 12 ||
-      superstructure_status_fetcher_->state == 16) {
+  if (superstructure_status_fetcher_->state() < 12 ||
+      superstructure_status_fetcher_->state() == 16) {
     AOS_LOG(ERROR, "Superstructure no longer running, aborting action\n");
     return true;
   }
 
-  if (::std::abs(superstructure_status_fetcher_->intake.goal_angle -
+  if (::std::abs(superstructure_status_fetcher_->intake()->goal_angle() -
                  superstructure_goal_.intake) < kProfileError &&
-      ::std::abs(superstructure_status_fetcher_->intake
-                     .goal_angular_velocity) < kProfileError) {
+      ::std::abs(
+          superstructure_status_fetcher_->intake()->goal_angular_velocity()) <
+          kProfileError) {
     AOS_LOG(DEBUG, "Profile done.\n");
-    if (::std::abs(superstructure_status_fetcher_->intake.angle -
+    if (::std::abs(superstructure_status_fetcher_->intake()->angle() -
                    superstructure_goal_.intake) < kEpsilon &&
-        ::std::abs(superstructure_status_fetcher_->intake
-                       .angular_velocity) < kEpsilon) {
+        ::std::abs(
+            superstructure_status_fetcher_->intake()->angular_velocity()) <
+            kEpsilon) {
       AOS_LOG(INFO, "Near goal, done.\n");
       return true;
     }
@@ -310,28 +333,26 @@
 }
 
 bool AutonomousActor::SuperstructureProfileDone() {
-  if (superstructure_status_fetcher_->state < 12 ||
-      superstructure_status_fetcher_->state == 16) {
+  if (superstructure_status_fetcher_->state() < 12 ||
+      superstructure_status_fetcher_->state() == 16) {
     AOS_LOG(ERROR, "Superstructure no longer running, aborting action\n");
     return true;
   }
 
   constexpr double kProfileError = 1e-5;
-  return ::std::abs(
-             superstructure_status_fetcher_->intake.goal_angle -
-             superstructure_goal_.intake) < kProfileError &&
+  return ::std::abs(superstructure_status_fetcher_->intake()->goal_angle() -
+                    superstructure_goal_.intake) < kProfileError &&
+         ::std::abs(superstructure_status_fetcher_->shoulder()->goal_angle() -
+                    superstructure_goal_.shoulder) < kProfileError &&
+         ::std::abs(superstructure_status_fetcher_->wrist()->goal_angle() -
+                    superstructure_goal_.wrist) < kProfileError &&
+         ::std::abs(superstructure_status_fetcher_->intake()
+                        ->goal_angular_velocity()) < kProfileError &&
+         ::std::abs(superstructure_status_fetcher_->shoulder()
+                        ->goal_angular_velocity()) < kProfileError &&
          ::std::abs(
-             superstructure_status_fetcher_->shoulder.goal_angle -
-             superstructure_goal_.shoulder) < kProfileError &&
-         ::std::abs(
-             superstructure_status_fetcher_->wrist.goal_angle -
-             superstructure_goal_.wrist) < kProfileError &&
-         ::std::abs(superstructure_status_fetcher_->intake
-                        .goal_angular_velocity) < kProfileError &&
-         ::std::abs(superstructure_status_fetcher_->shoulder
-                        .goal_angular_velocity) < kProfileError &&
-         ::std::abs(superstructure_status_fetcher_->wrist
-                        .goal_angular_velocity) < kProfileError;
+             superstructure_status_fetcher_->wrist()->goal_angular_velocity()) <
+             kProfileError;
 }
 
 bool AutonomousActor::SuperstructureDone() {
@@ -340,18 +361,21 @@
   constexpr double kEpsilon = 0.03;
   if (SuperstructureProfileDone()) {
     AOS_LOG(DEBUG, "Profile done.\n");
-    if (::std::abs(superstructure_status_fetcher_->intake.angle -
+    if (::std::abs(superstructure_status_fetcher_->intake()->angle() -
                    superstructure_goal_.intake) < (kEpsilon + 0.1) &&
-        ::std::abs(superstructure_status_fetcher_->shoulder.angle -
+        ::std::abs(superstructure_status_fetcher_->shoulder()->angle() -
                    superstructure_goal_.shoulder) < (kEpsilon + 0.05) &&
-        ::std::abs(superstructure_status_fetcher_->wrist.angle -
+        ::std::abs(superstructure_status_fetcher_->wrist()->angle() -
                    superstructure_goal_.wrist) < (kEpsilon + 0.01) &&
-        ::std::abs(superstructure_status_fetcher_->intake
-                       .angular_velocity) < (kEpsilon + 0.1) &&
-        ::std::abs(superstructure_status_fetcher_->shoulder
-                       .angular_velocity) < (kEpsilon + 0.10) &&
-        ::std::abs(superstructure_status_fetcher_->wrist
-                       .angular_velocity) < (kEpsilon + 0.05)) {
+        ::std::abs(
+            superstructure_status_fetcher_->intake()->angular_velocity()) <
+            (kEpsilon + 0.1) &&
+        ::std::abs(
+            superstructure_status_fetcher_->shoulder()->angular_velocity()) <
+            (kEpsilon + 0.10) &&
+        ::std::abs(
+            superstructure_status_fetcher_->wrist()->angular_velocity()) <
+            (kEpsilon + 0.05)) {
       AOS_LOG(INFO, "Near goal, done.\n");
       return true;
     }
@@ -379,55 +403,71 @@
     superstructure_status_fetcher_.Fetch();
 
     return SuperstructureProfileDone() ||
-           superstructure_status_fetcher_->shoulder.angle < 0.1;
+           superstructure_status_fetcher_->shoulder()->angle() < 0.1;
   });
 }
 
 void AutonomousActor::BackLongShotLowBarTwoBall() {
   AOS_LOG(INFO, "Expanding for back long shot\n");
-  MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.55, {7.0, 40.0}, {4.0, 6.0},
-                     {10.0, 25.0}, false, 0.0);
+  MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.55,
+                     MakeProfileParameters(7.0, 40.0),
+                     MakeProfileParameters(4.0, 6.0),
+                     MakeProfileParameters(10.0, 25.0), false, 0.0);
 }
 
 void AutonomousActor::BackLongShotTwoBall() {
   AOS_LOG(INFO, "Expanding for back long shot\n");
-  MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.55, {7.0, 40.0}, {4.0, 6.0},
-                     {10.0, 25.0}, false, 0.0);
+  MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.55,
+                     MakeProfileParameters(7.0, 40.0),
+                     MakeProfileParameters(4.0, 6.0),
+                     MakeProfileParameters(10.0, 25.0), false, 0.0);
 }
 
 void AutonomousActor::BackLongShotTwoBallFinish() {
   AOS_LOG(INFO, "Expanding for back long shot\n");
-  MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.625 + 0.03, {7.0, 40.0},
-                     {4.0, 6.0}, {10.0, 25.0}, false, 0.0);
+  MoveSuperstructure(0.00, M_PI / 2.0 - 0.2, -0.625 + 0.03,
+                     MakeProfileParameters(7.0, 40.0),
+                     MakeProfileParameters(4.0, 6.0),
+                     MakeProfileParameters(10.0, 25.0), false, 0.0);
 }
 
 void AutonomousActor::BackLongShot() {
   AOS_LOG(INFO, "Expanding for back long shot\n");
-  MoveSuperstructure(0.80, M_PI / 2.0 - 0.2, -0.62, {7.0, 40.0}, {4.0, 6.0},
-                     {10.0, 25.0}, false, 0.0);
+  MoveSuperstructure(0.80, M_PI / 2.0 - 0.2, -0.62,
+                     MakeProfileParameters(7.0, 40.0),
+                     MakeProfileParameters(4.0, 6.0),
+                     MakeProfileParameters(10.0, 25.0), false, 0.0);
 }
 
 void AutonomousActor::BackMiddleShot() {
   AOS_LOG(INFO, "Expanding for back middle shot\n");
-  MoveSuperstructure(-0.05, M_PI / 2.0 - 0.2, -0.665, {7.0, 40.0}, {4.0, 10.0},
-                     {10.0, 25.0}, false, 0.0);
+  MoveSuperstructure(-0.05, M_PI / 2.0 - 0.2, -0.665,
+                     MakeProfileParameters(7.0, 40.0),
+                     MakeProfileParameters(4.0, 10.0),
+                     MakeProfileParameters(10.0, 25.0), false, 0.0);
 }
 
 void AutonomousActor::FrontLongShot() {
   AOS_LOG(INFO, "Expanding for front long shot\n");
-  MoveSuperstructure(0.80, M_PI / 2.0 + 0.1, M_PI + 0.41 + 0.02, {7.0, 40.0},
-                     {4.0, 6.0}, {10.0, 25.0}, false, 0.0);
+  MoveSuperstructure(0.80, M_PI / 2.0 + 0.1, M_PI + 0.41 + 0.02,
+                     MakeProfileParameters(7.0, 40.0),
+                     MakeProfileParameters(4.0, 6.0),
+                     MakeProfileParameters(10.0, 25.0), false, 0.0);
 }
 
 void AutonomousActor::FrontMiddleShot() {
   AOS_LOG(INFO, "Expanding for front middle shot\n");
-  MoveSuperstructure(-0.05, M_PI / 2.0 + 0.1, M_PI + 0.44, {7.0, 40.0},
-                     {4.0, 10.0}, {10.0, 25.0}, true, 0.0);
+  MoveSuperstructure(-0.05, M_PI / 2.0 + 0.1, M_PI + 0.44,
+                     MakeProfileParameters(7.0, 40.0),
+                     MakeProfileParameters(4.0, 10.0),
+                     MakeProfileParameters(10.0, 25.0), true, 0.0);
 }
 
 void AutonomousActor::TuckArm(bool low_bar, bool traverse_down) {
-  MoveSuperstructure(low_bar ? -0.05 : 2.0, -0.010, 0.0, {7.0, 40.0},
-                     {4.0, 10.0}, {10.0, 25.0}, !traverse_down, 0.0);
+  MoveSuperstructure(low_bar ? -0.05 : 2.0, -0.010, 0.0,
+                     MakeProfileParameters(7.0, 40.0),
+                     MakeProfileParameters(4.0, 10.0),
+                     MakeProfileParameters(10.0, 25.0), !traverse_down, 0.0);
 }
 
 void AutonomousActor::DoFullShot() {
@@ -498,10 +538,10 @@
   if (drivetrain_status_fetcher_.get()) {
     const double left_error =
         (initial_drivetrain_.left -
-         drivetrain_status_fetcher_->estimated_left_position);
+         drivetrain_status_fetcher_->estimated_left_position());
     const double right_error =
         (initial_drivetrain_.right -
-         drivetrain_status_fetcher_->estimated_right_position);
+         drivetrain_status_fetcher_->estimated_right_position());
     const double distance_to_go = (left_error + right_error) / 2.0;
     const double distance_compensation =
         goal_distance - tip_distance - distance_to_go;
@@ -540,7 +580,7 @@
 void AutonomousActor::CloseIfBall() {
   ball_detector_fetcher_.Fetch();
   if (ball_detector_fetcher_.get()) {
-    const bool ball_detected = ball_detector_fetcher_->voltage > 2.5;
+    const bool ball_detected = ball_detector_fetcher_->voltage() > 2.5;
     if (ball_detected) {
       CloseShooter();
     }
@@ -563,7 +603,7 @@
 
     ball_detector_fetcher_.Fetch();
     if (ball_detector_fetcher_.get()) {
-      const bool ball_detected = ball_detector_fetcher_->voltage > 2.5;
+      const bool ball_detected = ball_detector_fetcher_->voltage() > 2.5;
       if (ball_detected) {
         return;
       }
@@ -574,8 +614,9 @@
 void AutonomousActor::TwoBallAuto() {
   const monotonic_clock::time_point start_time = monotonic_now();
   OpenShooter();
-  MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
-                     false, 12.0);
+  MoveSuperstructure(0.10, -0.010, 0.0, MakeProfileParameters(8.0, 60.0),
+                     MakeProfileParameters(4.0, 10.0),
+                     MakeProfileParameters(10.0, 25.0), false, 12.0);
   if (ShouldCancel()) return;
   AOS_LOG(INFO, "Waiting for the intake to come down.\n");
 
@@ -593,19 +634,21 @@
   bool first_ball_there = true;
   ball_detector_fetcher_.Fetch();
   if (ball_detector_fetcher_.get()) {
-    const bool ball_detected = ball_detector_fetcher_->voltage > 2.5;
+    const bool ball_detected = ball_detector_fetcher_->voltage() > 2.5;
     first_ball_there = ball_detected;
     AOS_LOG(INFO, "Saw the ball: %d at %f\n", first_ball_there,
             ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   }
-  MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 40.0}, {4.0, 10.0}, {10.0, 25.0},
-                     false, 0.0);
+  MoveSuperstructure(0.10, -0.010, 0.0, MakeProfileParameters(8.0, 40.0),
+                     MakeProfileParameters(4.0, 10.0),
+                     MakeProfileParameters(10.0, 25.0), false, 0.0);
   AOS_LOG(INFO,
           "Shutting off rollers at %f seconds, starting to straighten out\n",
           ::aos::time::DurationInSeconds(monotonic_now() - start_time));
   StartDrive(0.0, -0.4, kTwoBallLowDrive, kSwerveTurn);
-  MoveSuperstructure(-0.05, -0.010, 0.0, {8.0, 40.0}, {4.0, 10.0}, {10.0, 25.0},
-                     false, 0.0);
+  MoveSuperstructure(-0.05, -0.010, 0.0, MakeProfileParameters(8.0, 40.0),
+                     MakeProfileParameters(4.0, 10.0),
+                     MakeProfileParameters(10.0, 25.0), false, 0.0);
   CloseShooter();
   if (!WaitForDriveNear(kDriveDistance - 2.4, kDoNotTurnCare)) return;
 
@@ -674,13 +717,15 @@
   constexpr double kBallSmallWallTurn = -0.11;
   StartDrive(0, kBallSmallWallTurn, kTwoBallBallPickup, kFinishTurn);
 
-  MoveSuperstructure(0.03, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
-                     false, 12.0);
+  MoveSuperstructure(0.03, -0.010, 0.0, MakeProfileParameters(8.0, 60.0),
+                     MakeProfileParameters(4.0, 10.0),
+                     MakeProfileParameters(10.0, 25.0), false, 12.0);
 
   if (!WaitForDriveProfileDone()) return;
 
-  MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
-                     false, 12.0);
+  MoveSuperstructure(0.10, -0.010, 0.0, MakeProfileParameters(8.0, 60.0),
+                     MakeProfileParameters(4.0, 10.0),
+                     MakeProfileParameters(10.0, 25.0), false, 12.0);
 
   AOS_LOG(INFO, "Done backing up %f\n",
           ::aos::time::DurationInSeconds(monotonic_now() - start_time));
@@ -699,7 +744,7 @@
 
   ball_detector_fetcher_.Fetch();
   if (ball_detector_fetcher_.get()) {
-    const bool ball_detected = ball_detector_fetcher_->voltage > 2.5;
+    const bool ball_detected = ball_detector_fetcher_->voltage() > 2.5;
     if (!ball_detected) {
       if (!WaitForDriveDone()) return;
       AOS_LOG(INFO, "Aborting, no ball %f\n",
@@ -760,8 +805,9 @@
 
 void AutonomousActor::StealAndMoveOverBy(double distance) {
   OpenShooter();
-  MoveSuperstructure(0.10, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
-                     true, 12.0);
+  MoveSuperstructure(0.10, -0.010, 0.0, MakeProfileParameters(8.0, 60.0),
+                     MakeProfileParameters(4.0, 10.0),
+                     MakeProfileParameters(10.0, 25.0), true, 12.0);
   if (ShouldCancel()) return;
   AOS_LOG(INFO, "Waiting for the intake to come down.\n");
 
@@ -770,8 +816,9 @@
   StartDrive(-distance, M_PI / 2.0, kFastDrive, kStealTurn);
   WaitForBallOrDriveDone();
   if (ShouldCancel()) return;
-  MoveSuperstructure(1.0, -0.010, 0.0, {8.0, 60.0}, {4.0, 10.0}, {10.0, 25.0},
-                     true, 12.0);
+  MoveSuperstructure(1.0, -0.010, 0.0, MakeProfileParameters(8.0, 60.0),
+                     MakeProfileParameters(4.0, 10.0),
+                     MakeProfileParameters(10.0, 25.0), true, 12.0);
 
   if (!WaitForDriveDone()) return;
   StartDrive(0.0, M_PI / 2.0, kFastDrive, kStealTurn);
@@ -779,15 +826,15 @@
 }
 
 bool AutonomousActor::RunAction(
-    const ::frc971::autonomous::AutonomousActionParams &params) {
+    const ::frc971::autonomous::AutonomousActionParams *params) {
   monotonic_clock::time_point start_time = monotonic_now();
   AOS_LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n",
-          params.mode);
+          params->mode());
 
   InitializeEncoders();
   ResetDrivetrain();
 
-  switch (params.mode) {
+  switch (params->mode()) {
     case 0:
       LowBarDrive();
       if (!WaitForDriveDone()) return true;
@@ -914,7 +961,7 @@
 
     } break;
     default:
-      AOS_LOG(ERROR, "Invalid auto mode %d\n", params.mode);
+      AOS_LOG(ERROR, "Invalid auto mode %d\n", params->mode());
       return true;
   }
 
diff --git a/y2016/actors/autonomous_actor.h b/y2016/actors/autonomous_actor.h
index 8d7baaa..538322b 100644
--- a/y2016/actors/autonomous_actor.h
+++ b/y2016/actors/autonomous_actor.h
@@ -6,25 +6,25 @@
 
 #include "aos/actions/actions.h"
 #include "aos/actions/actor.h"
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
 #include "frc971/autonomous/base_autonomous_actor.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 #include "y2016/actors/vision_align_actor.h"
-#include "y2016/control_loops/shooter/shooter.q.h"
-#include "y2016/control_loops/superstructure/superstructure.q.h"
-#include "y2016/queues/ball_detector.q.h"
+#include "y2016/control_loops/shooter/shooter_goal_generated.h"
+#include "y2016/control_loops/shooter/shooter_status_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2016/queues/ball_detector_generated.h"
 
 namespace y2016 {
 namespace actors {
-using ::frc971::ProfileParameters;
 
 class AutonomousActor : public ::frc971::autonomous::BaseAutonomousActor {
  public:
   explicit AutonomousActor(::aos::EventLoop *event_loop);
 
   bool RunAction(
-      const ::frc971::autonomous::AutonomousActionParams &params) override;
+      const ::frc971::autonomous::AutonomousActionParams *params) override;
 
  private:
   void WaitForBallOrDriveDone();
@@ -41,9 +41,9 @@
   SuperstructureGoal superstructure_goal_;
 
   void MoveSuperstructure(double intake, double shoulder, double wrist,
-                          const ProfileParameters intake_params,
-                          const ProfileParameters shoulder_params,
-                          const ProfileParameters wrist_params,
+                          const frc971::ProfileParametersT intake_params,
+                          const frc971::ProfileParametersT shoulder_params,
+                          const frc971::ProfileParametersT wrist_params,
                           bool traverse_up, double roller_power);
   void WaitForSuperstructure();
   void WaitForSuperstructureProfile();
@@ -91,13 +91,12 @@
 
   ::aos::Fetcher<::y2016::vision::VisionStatus> vision_status_fetcher_;
   ::aos::Fetcher<::y2016::sensors::BallDetector> ball_detector_fetcher_;
-  ::aos::Sender<::y2016::control_loops::shooter::ShooterQueue::Goal>
-      shooter_goal_sender_;
-  ::aos::Fetcher<::y2016::control_loops::shooter::ShooterQueue::Status>
+  ::aos::Sender<::y2016::control_loops::shooter::Goal> shooter_goal_sender_;
+  ::aos::Fetcher<::y2016::control_loops::shooter::Status>
       shooter_status_fetcher_;
-  ::aos::Fetcher<::y2016::control_loops::SuperstructureQueue::Status>
+  ::aos::Fetcher<::y2016::control_loops::superstructure::Status>
       superstructure_status_fetcher_;
-  ::aos::Sender<::y2016::control_loops::SuperstructureQueue::Goal>
+  ::aos::Sender<::y2016::control_loops::superstructure::Goal>
       superstructure_goal_sender_;
 };
 
diff --git a/y2016/actors/autonomous_actor_main.cc b/y2016/actors/autonomous_actor_main.cc
index 1e2628b..79a1250 100644
--- a/y2016/actors/autonomous_actor_main.cc
+++ b/y2016/actors/autonomous_actor_main.cc
@@ -1,13 +1,16 @@
 #include <stdio.h>
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "y2016/actors/autonomous_actor.h"
 
 int main(int /*argc*/, char * /*argv*/ []) {
   ::aos::Init(-1);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2016::actors::AutonomousActor autonomous(&event_loop);
   event_loop.Run();
 
diff --git a/y2016/actors/superstructure_action.fbs b/y2016/actors/superstructure_action.fbs
new file mode 100644
index 0000000..405f35b
--- /dev/null
+++ b/y2016/actors/superstructure_action.fbs
@@ -0,0 +1,16 @@
+namespace y2016.actors.superstructure_action;
+
+// Parameters to send with start.
+table SuperstructureActionParams {
+  partial_angle:double;
+  delay_time:double;
+  full_angle:double;
+  shooter_angle:double;
+}
+
+table Goal {
+  run:uint;
+  params:SuperstructureActionParams;
+}
+
+root_type Goal;
diff --git a/y2016/actors/superstructure_action.q b/y2016/actors/superstructure_action.q
deleted file mode 100644
index 1b937aa..0000000
--- a/y2016/actors/superstructure_action.q
+++ /dev/null
@@ -1,23 +0,0 @@
-package y2016.actors;
-
-import "aos/actions/actions.q";
-
-// Parameters to send with start.
-struct SuperstructureActionParams {
-  double partial_angle;
-  double delay_time;
-  double full_angle;
-  double shooter_angle;
-};
-
-queue_group SuperstructureActionQueueGroup {
-  implements aos.common.actions.ActionQueueGroup;
-
-  message Goal {
-    uint32_t run;
-    SuperstructureActionParams params;
-  };
-
-  queue Goal goal;
-  queue aos.common.actions.Status status;
-};
diff --git a/y2016/actors/superstructure_actor.cc b/y2016/actors/superstructure_actor.cc
index 2875cbd..bed7b3a 100644
--- a/y2016/actors/superstructure_actor.cc
+++ b/y2016/actors/superstructure_actor.cc
@@ -2,10 +2,11 @@
 
 #include <cmath>
 
-#include "aos/util/phased_loop.h"
 #include "aos/logging/logging.h"
+#include "aos/util/phased_loop.h"
 #include "y2016/actors/superstructure_actor.h"
-#include "y2016/control_loops/superstructure/superstructure.q.h"
+#include "y2016/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2016 {
 namespace actors {
@@ -13,29 +14,28 @@
 namespace chrono = ::std::chrono;
 
 SuperstructureActor::SuperstructureActor(::aos::EventLoop *event_loop)
-    : aos::common::actions::ActorBase<actors::SuperstructureActionQueueGroup>(
-          event_loop, ".y2016.actors.superstructure_action"),
+    : aos::common::actions::ActorBase<superstructure_action::Goal>(
+          event_loop, "/superstructure_action"),
       superstructure_goal_sender_(
-          event_loop
-              ->MakeSender<::y2016::control_loops::SuperstructureQueue::Goal>(
-                  ".y2016.control_loops.superstructure_queue.goal")),
+          event_loop->MakeSender<::y2016::control_loops::superstructure::Goal>(
+              "/superstructure")),
       superstructure_status_fetcher_(
-          event_loop->MakeFetcher<
-              ::y2016::control_loops::SuperstructureQueue::Status>(
-              ".y2016.control_loops.superstructure_queue.status")) {}
+          event_loop
+              ->MakeFetcher<::y2016::control_loops::superstructure::Status>(
+                  "/superstructure")) {}
 
 bool SuperstructureActor::RunAction(
-    const actors::SuperstructureActionParams &params) {
+    const superstructure_action::SuperstructureActionParams *params) {
   AOS_LOG(INFO, "Starting superstructure action\n");
 
-  MoveSuperstructure(params.partial_angle, params.shooter_angle, false);
+  MoveSuperstructure(params->partial_angle(), params->shooter_angle(), false);
   WaitForSuperstructure();
   if (ShouldCancel()) return true;
-  MoveSuperstructure(params.partial_angle, params.shooter_angle, true);
+  MoveSuperstructure(params->partial_angle(), params->shooter_angle(), true);
   if (!WaitOrCancel(chrono::duration_cast<::aos::monotonic_clock::duration>(
-          chrono::duration<double>(params.delay_time))))
+          chrono::duration<double>(params->delay_time()))))
     return true;
-  MoveSuperstructure(params.full_angle, params.shooter_angle, true);
+  MoveSuperstructure(params->full_angle(), params->shooter_angle(), true);
   WaitForSuperstructure();
   if (ShouldCancel()) return true;
   return true;
@@ -45,45 +45,46 @@
                                              bool unfold_climber) {
   superstructure_goal_ = {0, shoulder, shooter};
 
-  auto new_superstructure_goal = superstructure_goal_sender_.MakeMessage();
+  auto builder = superstructure_goal_sender_.MakeBuilder();
 
-  new_superstructure_goal->angle_intake = 0;
-  new_superstructure_goal->angle_shoulder = shoulder;
-  new_superstructure_goal->angle_wrist = shooter;
+  control_loops::superstructure::Goal::Builder superstructure_goal_builder =
+      builder.MakeBuilder<control_loops::superstructure::Goal>();
 
-  new_superstructure_goal->max_angular_velocity_intake = 7.0;
-  new_superstructure_goal->max_angular_velocity_shoulder = 4.0;
-  new_superstructure_goal->max_angular_velocity_wrist = 10.0;
+  superstructure_goal_builder.add_angle_intake(0);
+  superstructure_goal_builder.add_angle_shoulder(shoulder);
+  superstructure_goal_builder.add_angle_wrist(shooter);
 
-  new_superstructure_goal->max_angular_acceleration_intake = 40.0;
-  new_superstructure_goal->max_angular_acceleration_shoulder = 5.0;
-  new_superstructure_goal->max_angular_acceleration_wrist = 25.0;
+  superstructure_goal_builder.add_max_angular_velocity_intake(7.0);
+  superstructure_goal_builder.add_max_angular_velocity_shoulder(4.0);
+  superstructure_goal_builder.add_max_angular_velocity_wrist(10.0);
 
-  new_superstructure_goal->voltage_top_rollers = 0;
-  new_superstructure_goal->voltage_bottom_rollers = 0;
+  superstructure_goal_builder.add_max_angular_acceleration_intake(40.0);
+  superstructure_goal_builder.add_max_angular_acceleration_shoulder(5.0);
+  superstructure_goal_builder.add_max_angular_acceleration_wrist(25.0);
 
-  new_superstructure_goal->traverse_unlatched = true;
-  new_superstructure_goal->traverse_down = false;
-  new_superstructure_goal->voltage_climber = 0.0;
-  new_superstructure_goal->unfold_climber = unfold_climber;
+  superstructure_goal_builder.add_voltage_top_rollers(0);
+  superstructure_goal_builder.add_voltage_bottom_rollers(0);
 
-  if (!new_superstructure_goal.Send()) {
+  superstructure_goal_builder.add_traverse_unlatched(true);
+  superstructure_goal_builder.add_traverse_down(false);
+  superstructure_goal_builder.add_voltage_climber(0.0);
+  superstructure_goal_builder.add_unfold_climber(unfold_climber);
+
+  if (!builder.Send(superstructure_goal_builder.Finish())) {
     AOS_LOG(ERROR, "Sending superstructure move failed.\n");
   }
 }
 
 bool SuperstructureActor::SuperstructureProfileDone() {
   constexpr double kProfileError = 1e-2;
-  return ::std::abs(superstructure_status_fetcher_->intake.goal_angle -
+  return ::std::abs(superstructure_status_fetcher_->intake()->goal_angle() -
                     superstructure_goal_.intake) < kProfileError &&
-         ::std::abs(superstructure_status_fetcher_->shoulder.goal_angle -
+         ::std::abs(superstructure_status_fetcher_->shoulder()->goal_angle() -
                     superstructure_goal_.shoulder) < kProfileError &&
-         ::std::abs(
-             superstructure_status_fetcher_->intake.goal_angular_velocity) <
-             kProfileError &&
-         ::std::abs(
-             superstructure_status_fetcher_->shoulder.goal_angular_velocity) <
-             kProfileError;
+         ::std::abs(superstructure_status_fetcher_->intake()
+                        ->goal_angular_velocity()) < kProfileError &&
+         ::std::abs(superstructure_status_fetcher_->shoulder()
+                        ->goal_angular_velocity()) < kProfileError;
 }
 
 bool SuperstructureActor::SuperstructureDone() {
@@ -91,8 +92,8 @@
 
   // We are no longer running if we are in the zeroing states (below 12), or
   // estopped.
-  if (superstructure_status_fetcher_->state < 12 ||
-      superstructure_status_fetcher_->state == 16) {
+  if (superstructure_status_fetcher_->state() < 12 ||
+      superstructure_status_fetcher_->state() == 16) {
     AOS_LOG(ERROR, "Superstructure no longer running, aborting action\n");
     return true;
   }
diff --git a/y2016/actors/superstructure_actor.h b/y2016/actors/superstructure_actor.h
index ab84db5..f1ae1fe 100644
--- a/y2016/actors/superstructure_actor.h
+++ b/y2016/actors/superstructure_actor.h
@@ -5,29 +5,30 @@
 
 #include "aos/actions/actions.h"
 #include "aos/actions/actor.h"
-#include "y2016/actors/superstructure_action.q.h"
-#include "y2016/control_loops/superstructure/superstructure.q.h"
+#include "y2016/actors/superstructure_action_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2016 {
 namespace actors {
 
 class SuperstructureActor
-    : public ::aos::common::actions::ActorBase<SuperstructureActionQueueGroup> {
+    : public ::aos::common::actions::ActorBase<superstructure_action::Goal> {
  public:
   typedef ::aos::common::actions::TypedActionFactory<
-      SuperstructureActionQueueGroup>
+      superstructure_action::Goal>
       Factory;
 
   explicit SuperstructureActor(::aos::EventLoop *event_loop);
 
   static Factory MakeFactory(::aos::EventLoop *event_loop) {
-    return Factory(event_loop, ".y2016.actors.superstructure_action");
+    return Factory(event_loop, "/superstructure_action");
   }
 
  private:
-  ::aos::Sender<::y2016::control_loops::SuperstructureQueue::Goal>
+  ::aos::Sender<::y2016::control_loops::superstructure::Goal>
       superstructure_goal_sender_;
-  ::aos::Fetcher<::y2016::control_loops::SuperstructureQueue::Status>
+  ::aos::Fetcher<::y2016::control_loops::superstructure::Status>
       superstructure_status_fetcher_;
   // Internal struct holding superstructure goals sent by autonomous to the
   // loop.
@@ -37,7 +38,8 @@
     double wrist;
   };
   SuperstructureGoal superstructure_goal_;
-  bool RunAction(const actors::SuperstructureActionParams &params) override;
+  bool RunAction(
+      const superstructure_action::SuperstructureActionParams *params) override;
   void MoveSuperstructure(double shoulder, double shooter, bool unfold_climber);
   void WaitForSuperstructure();
   bool SuperstructureProfileDone();
diff --git a/y2016/actors/superstructure_actor_main.cc b/y2016/actors/superstructure_actor_main.cc
index a97802c..fe512d7 100644
--- a/y2016/actors/superstructure_actor_main.cc
+++ b/y2016/actors/superstructure_actor_main.cc
@@ -1,14 +1,16 @@
 #include <stdio.h>
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
-#include "y2016/actors/superstructure_action.q.h"
 #include "y2016/actors/superstructure_actor.h"
 
 int main(int /*argc*/, char* /*argv*/ []) {
   ::aos::Init(-1);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2016::actors::SuperstructureActor superstructure(&event_loop);
   event_loop.Run();
 
diff --git a/y2016/actors/vision_align_action.fbs b/y2016/actors/vision_align_action.fbs
new file mode 100644
index 0000000..1dd66fc
--- /dev/null
+++ b/y2016/actors/vision_align_action.fbs
@@ -0,0 +1,13 @@
+namespace y2016.actors.vision_align_action;
+
+// Parameters to send with start.
+table VisionAlignActionParams {
+  run:int;
+}
+
+table Goal {
+  run:uint;
+  params:VisionAlignActionParams;
+}
+
+root_type Goal;
diff --git a/y2016/actors/vision_align_action.q b/y2016/actors/vision_align_action.q
deleted file mode 100644
index f9f3024..0000000
--- a/y2016/actors/vision_align_action.q
+++ /dev/null
@@ -1,20 +0,0 @@
-package y2016.actors;
-
-import "aos/actions/actions.q";
-
-// Parameters to send with start.
-struct VisionAlignActionParams {
-  int32_t run;
-};
-
-queue_group VisionAlignActionQueueGroup {
-  implements aos.common.actions.ActionQueueGroup;
-
-  message Goal {
-    uint32_t run;
-    VisionAlignActionParams params;
-  };
-
-  queue Goal goal;
-  queue aos.common.actions.Status status;
-};
diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index 1685d22..e1c1892 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -6,34 +6,31 @@
 
 #include <Eigen/Dense>
 
-#include "aos/util/phased_loop.h"
-#include "aos/logging/logging.h"
-#include "aos/util/trapezoid_profile.h"
 #include "aos/commonmath.h"
+#include "aos/logging/logging.h"
 #include "aos/time/time.h"
-
-#include "y2016/actors/vision_align_actor.h"
+#include "aos/util/phased_loop.h"
+#include "aos/util/trapezoid_profile.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
 #include "y2016/constants.h"
-#include "y2016/vision/vision.q.h"
 #include "y2016/control_loops/drivetrain/drivetrain_base.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "y2016/vision/vision_generated.h"
 
 namespace y2016 {
 namespace actors {
 
 VisionAlignActor::VisionAlignActor(::aos::EventLoop *event_loop)
-    : aos::common::actions::ActorBase<actors::VisionAlignActionQueueGroup>(
-          event_loop, ".y2016.actors.vision_align_action"),
+    : aos::common::actions::ActorBase<vision_align_action::Goal>(
+          event_loop, "/vision_align_action"),
       vision_status_fetcher_(
           event_loop->MakeFetcher<::y2016::vision::VisionStatus>(
-              ".y2016.vision.vision_status")),
+              "/superstructure")),
       drivetrain_goal_sender_(
-          event_loop
-              ->MakeSender<::frc971::control_loops::DrivetrainQueue::Goal>(
-                  ".frc971.control_loops.drivetrain_queue.goal")) {}
+          event_loop->MakeSender<::frc971::control_loops::drivetrain::Goal>(
+              "/drivetrain")) {}
 
 bool VisionAlignActor::RunAction(
-    const actors::VisionAlignActionParams & /*params*/) {
+    const vision_align_action::VisionAlignActionParams * /*params*/) {
   const double robot_radius =
       control_loops::drivetrain::GetDrivetrainConfig().robot_radius;
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
@@ -52,31 +49,36 @@
     if (!vision_status_fetcher_.Fetch()) {
       continue;
     }
-    const auto &vision_status = *vision_status_fetcher_;
-
-    if (!vision_status.left_image_valid || !vision_status.right_image_valid) {
+    if (!vision_status_fetcher_->left_image_valid() ||
+        !vision_status_fetcher_->right_image_valid()) {
       continue;
     }
 
     const double side_distance_change =
-        vision_status.horizontal_angle * robot_radius;
+        vision_status_fetcher_->horizontal_angle() * robot_radius;
     if (!::std::isfinite(side_distance_change)) {
       continue;
     }
 
-    const double left_current = vision_status.drivetrain_left_position;
-    const double right_current = vision_status.drivetrain_right_position;
+    const double left_current =
+        vision_status_fetcher_->drivetrain_left_position();
+    const double right_current =
+        vision_status_fetcher_->drivetrain_right_position();
 
-    auto drivetrain_message = drivetrain_goal_sender_.MakeMessage();
-    drivetrain_message->wheel = 0.0;
-    drivetrain_message->throttle = 0.0;
-    drivetrain_message->highgear = false;
-    drivetrain_message->quickturn = false;
-    drivetrain_message->controller_type = 1;
-    drivetrain_message->left_goal = left_current + side_distance_change;
-    drivetrain_message->right_goal = right_current - side_distance_change;
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
 
-    if (!drivetrain_message.Send()) {
+    frc971::control_loops::drivetrain::Goal::Builder goal_builder =
+        builder.MakeBuilder<frc971::control_loops::drivetrain::Goal>();
+    goal_builder.add_wheel(0.0);
+    goal_builder.add_throttle(0.0);
+    goal_builder.add_highgear(false);
+    goal_builder.add_quickturn(false);
+    goal_builder.add_controller_type(
+        frc971::control_loops::drivetrain::ControllerType_MOTION_PROFILE);
+    goal_builder.add_left_goal(left_current + side_distance_change);
+    goal_builder.add_right_goal(right_current - side_distance_change);
+
+    if (!builder.Send(goal_builder.Finish())) {
       AOS_LOG(WARNING, "sending drivetrain goal failed\n");
     }
   }
diff --git a/y2016/actors/vision_align_actor.h b/y2016/actors/vision_align_actor.h
index 586f7d0..ac25439 100644
--- a/y2016/actors/vision_align_actor.h
+++ b/y2016/actors/vision_align_actor.h
@@ -5,32 +5,32 @@
 
 #include "aos/actions/actions.h"
 #include "aos/actions/actor.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
 #include "frc971/control_loops/state_feedback_loop.h"
-#include "y2016/actors/vision_align_action.q.h"
-#include "y2016/vision/vision.q.h"
+#include "y2016/actors/vision_align_action_generated.h"
+#include "y2016/vision/vision_generated.h"
 
 namespace y2016 {
 namespace actors {
 
 class VisionAlignActor
-    : public ::aos::common::actions::ActorBase<VisionAlignActionQueueGroup> {
+    : public ::aos::common::actions::ActorBase<vision_align_action::Goal> {
  public:
-  typedef ::aos::common::actions::TypedActionFactory<
-      VisionAlignActionQueueGroup>
+  typedef ::aos::common::actions::TypedActionFactory<vision_align_action::Goal>
       Factory;
 
   explicit VisionAlignActor(::aos::EventLoop *event_loop);
 
   static Factory MakeFactory(::aos::EventLoop *event_loop) {
-    return Factory(event_loop, ".y2016.actors.vision_align_action");
+    return Factory(event_loop, "/vision_align_action");
   }
 
-  bool RunAction(const actors::VisionAlignActionParams &params) override;
+  bool RunAction(
+      const vision_align_action::VisionAlignActionParams *params) override;
 
  private:
   ::aos::Fetcher<::y2016::vision::VisionStatus> vision_status_fetcher_;
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Goal>
+  ::aos::Sender<::frc971::control_loops::drivetrain::Goal>
       drivetrain_goal_sender_;
 };
 
diff --git a/y2016/actors/vision_align_actor_main.cc b/y2016/actors/vision_align_actor_main.cc
index 2fd9eb2..c7aaf50 100644
--- a/y2016/actors/vision_align_actor_main.cc
+++ b/y2016/actors/vision_align_actor_main.cc
@@ -1,14 +1,16 @@
 #include <stdio.h>
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
-#include "y2016/actors/vision_align_action.q.h"
 #include "y2016/actors/vision_align_actor.h"
 
 int main(int /*argc*/, char* /*argv*/ []) {
   ::aos::Init(-1);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2016::actors::VisionAlignActor vision_align(&event_loop);
   event_loop.Run();
 
diff --git a/y2016/control_loops/drivetrain/BUILD b/y2016/control_loops/drivetrain/BUILD
index 629c957..e706f25 100644
--- a/y2016/control_loops/drivetrain/BUILD
+++ b/y2016/control_loops/drivetrain/BUILD
@@ -1,5 +1,3 @@
-load("//aos/build:queues.bzl", "queue_library")
-
 genrule(
     name = "genrule_drivetrain",
     outs = [
diff --git a/y2016/control_loops/drivetrain/drivetrain_main.cc b/y2016/control_loops/drivetrain/drivetrain_main.cc
index 58ba7ce..b4fd9d8 100644
--- a/y2016/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,6 @@
 #include "aos/init.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2016/control_loops/drivetrain/drivetrain_base.h"
 
@@ -9,7 +9,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
       &event_loop, ::y2016::control_loops::drivetrain::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(
diff --git a/y2016/control_loops/shooter/BUILD b/y2016/control_loops/shooter/BUILD
index 8938a2b..794c4fc 100644
--- a/y2016/control_loops/shooter/BUILD
+++ b/y2016/control_loops/shooter/BUILD
@@ -1,16 +1,37 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 
-queue_library(
-    name = "shooter_queue",
+flatbuffer_cc_library(
+    name = "shooter_goal_fbs",
     srcs = [
-        "shooter.q",
+        "shooter_goal.fbs",
     ],
-    deps = [
-        "//aos/controls:control_loop_queues",
-        "//frc971/control_loops:queues",
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "shooter_position_fbs",
+    srcs = [
+        "shooter_position.fbs",
     ],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "shooter_output_fbs",
+    srcs = [
+        "shooter_output.fbs",
+    ],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "shooter_status_fbs",
+    srcs = [
+        "shooter_status.fbs",
+    ],
+    gen_reflections = 1,
 )
 
 genrule(
@@ -52,8 +73,11 @@
         "shooter.h",
     ],
     deps = [
+        ":shooter_goal_fbs",
+        ":shooter_output_fbs",
         ":shooter_plants",
-        ":shooter_queue",
+        ":shooter_position_fbs",
+        ":shooter_status_fbs",
         "//aos/controls:control_loop",
     ],
 )
@@ -63,10 +87,13 @@
     srcs = [
         "shooter_lib_test.cc",
     ],
+    data = ["//y2016:config.json"],
     deps = [
+        ":shooter_goal_fbs",
         ":shooter_lib",
-        ":shooter_queue",
-        "//aos:queues",
+        ":shooter_output_fbs",
+        ":shooter_position_fbs",
+        ":shooter_status_fbs",
         "//aos/controls:control_loop_test",
         "//aos/testing:googletest",
         "//frc971/control_loops:state_feedback_loop",
@@ -80,9 +107,12 @@
         "shooter_main.cc",
     ],
     deps = [
+        ":shooter_goal_fbs",
         ":shooter_lib",
-        ":shooter_queue",
+        ":shooter_output_fbs",
+        ":shooter_position_fbs",
+        ":shooter_status_fbs",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
     ],
 )
diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index bf527ec..5156a61 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -2,10 +2,7 @@
 
 #include <chrono>
 
-#include "aos/controls/control_loops.q.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
-
 #include "y2016/control_loops/shooter/shooter_plant.h"
 
 namespace y2016 {
@@ -49,80 +46,99 @@
   loop_->Update(disabled);
 }
 
-void ShooterSide::SetStatus(ShooterSideStatus *status) {
+flatbuffers::Offset<ShooterSideStatus> ShooterSide::SetStatus(
+    flatbuffers::FlatBufferBuilder *fbb) {
+  ShooterSideStatus::Builder shooter_side_status_builder(*fbb);
   // Compute the oldest point in the history.
   const int oldest_history_position =
       ((history_position_ == 0) ? kHistoryLength : history_position_) - 1;
 
   // Compute the distance moved over that time period.
-  status->avg_angular_velocity =
+  const double avg_angular_velocity =
       (history_[oldest_history_position] - history_[history_position_]) /
       (::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency) *
        static_cast<double>(kHistoryLength - 1));
+  shooter_side_status_builder.add_avg_angular_velocity(avg_angular_velocity);
 
-  status->angular_velocity = loop_->X_hat(1, 0);
+  shooter_side_status_builder.add_angular_velocity(loop_->X_hat(1, 0));
 
   // Ready if average angular velocity is close to the goal.
-  status->ready = (std::abs(loop_->next_R(1, 0) -
-                            status->avg_angular_velocity) < kTolerance &&
-                   loop_->next_R(1, 0) > 1.0);
+  shooter_side_status_builder.add_ready(
+      (std::abs(loop_->next_R(1, 0) - avg_angular_velocity) < kTolerance &&
+       loop_->next_R(1, 0) > 1.0));
+
+  return shooter_side_status_builder.Finish();
 }
 
 Shooter::Shooter(::aos::EventLoop *event_loop, const ::std::string &name)
-    : aos::controls::ControlLoop<ShooterQueue>(event_loop, name),
+    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                 name),
       shots_(0),
       last_pre_shot_timeout_(::aos::monotonic_clock::min_time) {}
 
-void Shooter::RunIteration(const ShooterQueue::Goal *goal,
-                           const ShooterQueue::Position *position,
-                           ShooterQueue::Output *output,
-                           ShooterQueue::Status *status) {
+void Shooter::RunIteration(const Goal *goal, const Position *position,
+                           aos::Sender<Output>::Builder *output,
+                           aos::Sender<Status>::Builder *status) {
   const ::aos::monotonic_clock::time_point monotonic_now =
       event_loop()->monotonic_now();
   if (goal) {
     // Update position/goal for our two shooter sides.
-    left_.set_goal(goal->angular_velocity);
-    right_.set_goal(goal->angular_velocity);
-
-    // Turn the lights on if we are supposed to spin.
-    if (output) {
-      if (::std::abs(goal->angular_velocity) > 0.0) {
-        output->lights_on = true;
-        if (goal->shooting_forwards) {
-          output->forwards_flashlight = true;
-          output->backwards_flashlight = false;
-        } else {
-          output->forwards_flashlight = false;
-          output->backwards_flashlight = true;
-        }
-      }
-      if (goal->force_lights_on) {
-        output->lights_on = true;
-      }
-    }
+    left_.set_goal(goal->angular_velocity());
+    right_.set_goal(goal->angular_velocity());
   }
 
-  left_.set_position(position->theta_left);
-  right_.set_position(position->theta_right);
+  left_.set_position(position->theta_left());
+  right_.set_position(position->theta_right());
 
   left_.Update(output == nullptr);
   right_.Update(output == nullptr);
 
-  left_.SetStatus(&status->left);
-  right_.SetStatus(&status->right);
-  status->ready = (status->left.ready && status->right.ready);
+  flatbuffers::Offset<ShooterSideStatus> left_status_offset =
+      left_.SetStatus(status->fbb());
+  flatbuffers::Offset<ShooterSideStatus> right_status_offset =
+      right_.SetStatus(status->fbb());
+
+  ShooterSideStatus *left_status =
+      GetMutableTemporaryPointer(*status->fbb(), left_status_offset);
+  ShooterSideStatus *right_status =
+      GetMutableTemporaryPointer(*status->fbb(), right_status_offset);
+
+  const bool ready = (left_status->ready() && right_status->ready());
+
+  Status::Builder status_builder = status->MakeBuilder<Status>();
+  status_builder.add_ready((left_status->ready() && right_status->ready()));
+  status_builder.add_left(left_status_offset);
+  status_builder.add_right(right_status_offset);
 
   if (output) {
-    output->voltage_left = left_.voltage();
-    output->voltage_right = right_.voltage();
+    Output::Builder output_builder = output->MakeBuilder<Output>();
 
+    output_builder.add_voltage_left(left_.voltage());
+    output_builder.add_voltage_right(right_.voltage());
+    // Turn the lights on if we are supposed to spin.
     if (goal) {
+      bool lights_on = false;
+      if (::std::abs(goal->angular_velocity()) > 0.0) {
+        lights_on = true;
+        if (goal->shooting_forwards()) {
+          output_builder.add_forwards_flashlight(true);
+          output_builder.add_backwards_flashlight(false);
+        } else {
+          output_builder.add_forwards_flashlight(false);
+          output_builder.add_backwards_flashlight(true);
+        }
+      }
+      if (goal->force_lights_on()) {
+        lights_on = true;
+      }
+      output_builder.add_lights_on(lights_on);
+
       bool shoot = false;
       switch (state_) {
         case ShooterLatchState::PASS_THROUGH:
-          if (goal->push_to_shooter) {
-            if (::std::abs(goal->angular_velocity) > 10) {
-              if (status->ready) {
+          if (goal->push_to_shooter()) {
+            if (::std::abs(goal->angular_velocity()) > 10) {
+              if (ready) {
                 state_ = ShooterLatchState::WAITING_FOR_SPINDOWN;
                 shoot = true;
               }
@@ -134,22 +150,22 @@
           break;
         case ShooterLatchState::WAITING_FOR_SPINDOWN:
           shoot = true;
-          if (left_.velocity() < goal->angular_velocity * 0.9 ||
-              right_.velocity() < goal->angular_velocity * 0.9) {
+          if (left_.velocity() < goal->angular_velocity() * 0.9 ||
+              right_.velocity() < goal->angular_velocity() * 0.9) {
             state_ = ShooterLatchState::WAITING_FOR_SPINUP;
           }
-          if (::std::abs(goal->angular_velocity) < 10 ||
+          if (::std::abs(goal->angular_velocity()) < 10 ||
               last_pre_shot_timeout_ < monotonic_now) {
             state_ = ShooterLatchState::INCREMENT_SHOT_COUNT;
           }
           break;
         case ShooterLatchState::WAITING_FOR_SPINUP:
           shoot = true;
-          if (left_.velocity() > goal->angular_velocity * 0.95 &&
-              right_.velocity() > goal->angular_velocity * 0.95) {
+          if (left_.velocity() > goal->angular_velocity() * 0.95 &&
+              right_.velocity() > goal->angular_velocity() * 0.95) {
             state_ = ShooterLatchState::INCREMENT_SHOT_COUNT;
           }
-          if (::std::abs(goal->angular_velocity) < 10 ||
+          if (::std::abs(goal->angular_velocity()) < 10 ||
               last_pre_shot_timeout_ < monotonic_now) {
             state_ = ShooterLatchState::INCREMENT_SHOT_COUNT;
           }
@@ -160,18 +176,22 @@
           break;
         case ShooterLatchState::WAITING_FOR_SHOT_NEGEDGE:
           shoot = true;
-          if (!goal->push_to_shooter) {
+          if (!goal->push_to_shooter()) {
             state_ = ShooterLatchState::PASS_THROUGH;
           }
           break;
       }
 
-      output->clamp_open = goal->clamp_open;
-      output->push_to_shooter = shoot;
+      output_builder.add_clamp_open(goal->clamp_open());
+      output_builder.add_push_to_shooter(shoot);
     }
+
+    output->Send(output_builder.Finish());
   }
 
-  status->shots = shots_;
+  status_builder.add_shots(shots_);
+
+  status->Send(status_builder.Finish());
 }
 
 }  // namespace shooter
diff --git a/y2016/control_loops/shooter/shooter.h b/y2016/control_loops/shooter/shooter.h
index 9e6968f..07fee84 100644
--- a/y2016/control_loops/shooter/shooter.h
+++ b/y2016/control_loops/shooter/shooter.h
@@ -4,11 +4,14 @@
 #include <memory>
 
 #include "aos/controls/control_loop.h"
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
 #include "aos/time/time.h"
 #include "frc971/control_loops/state_feedback_loop.h"
-#include "y2016/control_loops/shooter/shooter.q.h"
+#include "y2016/control_loops/shooter/shooter_goal_generated.h"
 #include "y2016/control_loops/shooter/shooter_integral_plant.h"
+#include "y2016/control_loops/shooter/shooter_output_generated.h"
+#include "y2016/control_loops/shooter/shooter_position_generated.h"
+#include "y2016/control_loops/shooter/shooter_status_generated.h"
 
 namespace y2016 {
 namespace control_loops {
@@ -28,7 +31,8 @@
   void set_position(double current_position);
 
   // Populates the status structure.
-  void SetStatus(ShooterSideStatus *status);
+  flatbuffers::Offset<ShooterSideStatus> SetStatus(
+      flatbuffers::FlatBufferBuilder *fbb);
 
   // Returns the control loop calculated voltage.
   double voltage() const;
@@ -53,11 +57,11 @@
   DISALLOW_COPY_AND_ASSIGN(ShooterSide);
 };
 
-class Shooter : public ::aos::controls::ControlLoop<ShooterQueue> {
+class Shooter
+    : public ::aos::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
-  explicit Shooter(
-      ::aos::EventLoop *event_loop,
-      const ::std::string &name = ".y2016.control_loops.shooter.shooter_queue");
+  explicit Shooter(::aos::EventLoop *event_loop,
+                   const ::std::string &name = "/shooter");
 
   enum class ShooterLatchState {
     // Any shoot commands will be passed through without modification.
@@ -73,10 +77,9 @@
   };
 
  protected:
-  void RunIteration(const ShooterQueue::Goal *goal,
-                    const ShooterQueue::Position *position,
-                    ShooterQueue::Output *output,
-                    ShooterQueue::Status *status) override;
+  void RunIteration(const Goal *goal, const Position *position,
+                    aos::Sender<Output>::Builder *output,
+                    aos::Sender<Status>::Builder *status) override;
 
  private:
   ShooterSide left_, right_;
diff --git a/y2016/control_loops/shooter/shooter.q b/y2016/control_loops/shooter/shooter.q
deleted file mode 100644
index 583b762..0000000
--- a/y2016/control_loops/shooter/shooter.q
+++ /dev/null
@@ -1,81 +0,0 @@
-package y2016.control_loops.shooter;
-
-import "aos/controls/control_loops.q";
-import "frc971/control_loops/control_loops.q";
-
-struct ShooterSideStatus {
-  // True if the shooter side is up to speed and stable.
-  bool ready;
-  // The current average velocity in radians/second.
-  double avg_angular_velocity;
-  // The current instantaneous filtered velocity in radians/second.
-  double angular_velocity;
-};
-
-// Published on ".y2016.control_loops.shooter.shooter_queue"
-queue_group ShooterQueue {
-  implements aos.control_loops.ControlLoop;
-
-  // All angles are in radians, and angular velocities are in radians/second.
-  // For all angular velocities, positive is shooting the ball out of the robot.
-
-  message Goal {
-    // Angular velocity goals in radians/second.
-    double angular_velocity;
-
-    bool clamp_open; // True to release our clamp on the ball.
-    // True to push the ball into the shooter.
-    // If we are in the act of shooting with a goal velocity != 0, wait until it
-    // is up to speed, push the ball into the shooter, and then wait until it
-    // spins up and down before letting the piston be released.
-    bool push_to_shooter;
-
-    // Forces the lights on.
-    bool force_lights_on;
-
-    // If true, the robot is shooting forwards.
-    bool shooting_forwards;
-  };
-
-  message Position {
-    // Wheel angle in radians/second.
-    double theta_left;
-    double theta_right;
-  };
-
-  message Status {
-    // Left side status.
-    ShooterSideStatus left;
-    // Right side status.
-    ShooterSideStatus right;
-
-    // True if the shooter is ready.  It is better to compare the velocities
-    // directly so there isn't confusion on if the goal is up to date.
-    bool ready;
-
-    // The number of shots that have been fired since the start of the shooter
-    // control loop.
-    uint32_t shots;
-  };
-
-  message Output {
-    // Voltage in volts of the left and right shooter motors.
-    double voltage_left;
-    double voltage_right;
-
-    // See comments on the identical fields in Goal for details.
-    bool clamp_open;
-    bool push_to_shooter;
-
-    // If true, the lights are on.
-    bool lights_on;
-
-    bool forwards_flashlight;
-    bool backwards_flashlight;
-  };
-
-  queue Goal goal;
-  queue Position position;
-  queue Output output;
-  queue Status status;
-};
diff --git a/y2016/control_loops/shooter/shooter_goal.fbs b/y2016/control_loops/shooter/shooter_goal.fbs
new file mode 100644
index 0000000..f041503
--- /dev/null
+++ b/y2016/control_loops/shooter/shooter_goal.fbs
@@ -0,0 +1,23 @@
+namespace y2016.control_loops.shooter;
+
+// All angles are in radians, and angular velocities are in radians/second.
+// For all angular velocities, positive is shooting the ball out of the robot.
+table Goal {
+  // Angular velocity goals in radians/second.
+  angular_velocity:double;
+
+  clamp_open:bool; // True to release our clamp on the ball.
+  // True to push the ball into the shooter.
+  // If we are in the act of shooting with a goal velocity != 0, wait until it
+  // is up to speed, push the ball into the shooter, and then wait until it
+  // spins up and down before letting the piston be released.
+  push_to_shooter:bool;
+
+  // Forces the lights on.
+  force_lights_on:bool;
+
+  // If true, the robot is shooting forwards.
+  shooting_forwards:bool;
+}
+
+root_type Goal;
diff --git a/y2016/control_loops/shooter/shooter_lib_test.cc b/y2016/control_loops/shooter/shooter_lib_test.cc
index 30b5166..b432049 100644
--- a/y2016/control_loops/shooter/shooter_lib_test.cc
+++ b/y2016/control_loops/shooter/shooter_lib_test.cc
@@ -5,13 +5,15 @@
 #include <chrono>
 #include <memory>
 
-#include "gtest/gtest.h"
-#include "aos/queue.h"
 #include "aos/controls/control_loop_test.h"
 #include "frc971/control_loops/team_number_test_environment.h"
-#include "y2016/control_loops/shooter/shooter.q.h"
+#include "gtest/gtest.h"
 #include "y2016/control_loops/shooter/shooter.h"
+#include "y2016/control_loops/shooter/shooter_goal_generated.h"
+#include "y2016/control_loops/shooter/shooter_output_generated.h"
 #include "y2016/control_loops/shooter/shooter_plant.h"
+#include "y2016/control_loops/shooter/shooter_position_generated.h"
+#include "y2016/control_loops/shooter/shooter_status_generated.h"
 
 using ::frc971::control_loops::testing::kTeamNumber;
 
@@ -50,11 +52,8 @@
   // Constructs a shooter simulation.
   ShooterSimulation(::aos::EventLoop *event_loop, chrono::nanoseconds dt)
       : event_loop_(event_loop),
-        shooter_position_sender_(
-            event_loop_->MakeSender<ShooterQueue::Position>(
-                ".y2016.control_loops.shooter.shooter_queue.position")),
-        shooter_output_fetcher_(event_loop_->MakeFetcher<ShooterQueue::Output>(
-            ".y2016.control_loops.shooter.shooter_queue.output")),
+        shooter_position_sender_(event_loop_->MakeSender<Position>("/shooter")),
+        shooter_output_fetcher_(event_loop_->MakeFetcher<Output>("/shooter")),
         shooter_plant_left_(new ShooterPlant(
             ::y2016::control_loops::shooter::MakeShooterPlant())),
         shooter_plant_right_(new ShooterPlant(
@@ -73,12 +72,14 @@
 
   // Sends a queue message with the position of the shooter.
   void SendPositionMessage() {
-    ::aos::Sender<ShooterQueue::Position>::Message position =
-        shooter_position_sender_.MakeMessage();
+    ::aos::Sender<Position>::Builder builder =
+        shooter_position_sender_.MakeBuilder();
 
-    position->theta_left = shooter_plant_left_->Y(0, 0);
-    position->theta_right = shooter_plant_right_->Y(0, 0);
-    position.Send();
+    Position::Builder position_builder = builder.MakeBuilder<Position>();
+
+    position_builder.add_theta_left(shooter_plant_left_->Y(0, 0));
+    position_builder.add_theta_right(shooter_plant_right_->Y(0, 0));
+    builder.Send(position_builder.Finish());
   }
 
   void set_left_voltage_offset(double voltage_offset) {
@@ -95,9 +96,9 @@
 
     ::Eigen::Matrix<double, 1, 1> U_left;
     ::Eigen::Matrix<double, 1, 1> U_right;
-    U_left(0, 0) = shooter_output_fetcher_->voltage_left +
+    U_left(0, 0) = shooter_output_fetcher_->voltage_left() +
                    shooter_plant_left_->voltage_offset();
-    U_right(0, 0) = shooter_output_fetcher_->voltage_right +
+    U_right(0, 0) = shooter_output_fetcher_->voltage_right() +
                     shooter_plant_right_->voltage_offset();
 
     shooter_plant_left_->Update(U_left);
@@ -107,8 +108,8 @@
  private:
   ::aos::EventLoop *event_loop_;
 
-  ::aos::Sender<ShooterQueue::Position> shooter_position_sender_;
-  ::aos::Fetcher<ShooterQueue::Output> shooter_output_fetcher_;
+  ::aos::Sender<Position> shooter_position_sender_;
+  ::aos::Fetcher<Output> shooter_output_fetcher_;
 
   ::std::unique_ptr<ShooterPlant> shooter_plant_left_, shooter_plant_right_;
 
@@ -118,18 +119,16 @@
 class ShooterTest : public ::aos::testing::ControlLoopTest {
  protected:
   ShooterTest()
-      : ::aos::testing::ControlLoopTest(chrono::microseconds(5000)),
+      : ::aos::testing::ControlLoopTest(
+            aos::configuration::ReadConfig("y2016/config.json"),
+            chrono::microseconds(5000)),
         test_event_loop_(MakeEventLoop()),
-        shooter_goal_fetcher_(test_event_loop_->MakeFetcher<ShooterQueue::Goal>(
-            ".y2016.control_loops.shooter.shooter_queue.goal")),
-        shooter_goal_sender_(test_event_loop_->MakeSender<ShooterQueue::Goal>(
-            ".y2016.control_loops.shooter.shooter_queue.goal")),
+        shooter_goal_fetcher_(test_event_loop_->MakeFetcher<Goal>("/shooter")),
+        shooter_goal_sender_(test_event_loop_->MakeSender<Goal>("/shooter")),
         shooter_status_fetcher_(
-            test_event_loop_->MakeFetcher<ShooterQueue::Status>(
-                ".y2016.control_loops.shooter.shooter_queue.status")),
+            test_event_loop_->MakeFetcher<Status>("/shooter")),
         shooter_output_fetcher_(
-            test_event_loop_->MakeFetcher<ShooterQueue::Output>(
-                ".y2016.control_loops.shooter.shooter_queue.output")),
+            test_event_loop_->MakeFetcher<Output>("/shooter")),
         shooter_event_loop_(MakeEventLoop()),
         shooter_(shooter_event_loop_.get()),
         shooter_plant_event_loop_(MakeEventLoop()),
@@ -144,22 +143,22 @@
     EXPECT_TRUE(shooter_goal_fetcher_.get() != nullptr);
     EXPECT_TRUE(shooter_status_fetcher_.get() != nullptr);
 
-    EXPECT_NEAR(shooter_goal_fetcher_->angular_velocity,
-                shooter_status_fetcher_->left.angular_velocity, 10.0);
-    EXPECT_NEAR(shooter_goal_fetcher_->angular_velocity,
-                shooter_status_fetcher_->right.angular_velocity, 10.0);
+    EXPECT_NEAR(shooter_goal_fetcher_->angular_velocity(),
+                shooter_status_fetcher_->left()->angular_velocity(), 10.0);
+    EXPECT_NEAR(shooter_goal_fetcher_->angular_velocity(),
+                shooter_status_fetcher_->right()->angular_velocity(), 10.0);
 
-    EXPECT_NEAR(shooter_goal_fetcher_->angular_velocity,
-                shooter_status_fetcher_->left.avg_angular_velocity, 10.0);
-    EXPECT_NEAR(shooter_goal_fetcher_->angular_velocity,
-                shooter_status_fetcher_->right.avg_angular_velocity, 10.0);
+    EXPECT_NEAR(shooter_goal_fetcher_->angular_velocity(),
+                shooter_status_fetcher_->left()->avg_angular_velocity(), 10.0);
+    EXPECT_NEAR(shooter_goal_fetcher_->angular_velocity(),
+                shooter_status_fetcher_->right()->avg_angular_velocity(), 10.0);
   }
 
   ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
-  ::aos::Fetcher<ShooterQueue::Goal> shooter_goal_fetcher_;
-  ::aos::Sender<ShooterQueue::Goal> shooter_goal_sender_;
-  ::aos::Fetcher<ShooterQueue::Status> shooter_status_fetcher_;
-  ::aos::Fetcher<ShooterQueue::Output> shooter_output_fetcher_;
+  ::aos::Fetcher<Goal> shooter_goal_fetcher_;
+  ::aos::Sender<Goal> shooter_goal_sender_;
+  ::aos::Fetcher<Status> shooter_status_fetcher_;
+  ::aos::Fetcher<Output> shooter_output_fetcher_;
 
   // Create a control loop and simulation.
   ::std::unique_ptr<::aos::EventLoop> shooter_event_loop_;
@@ -173,9 +172,10 @@
 TEST_F(ShooterTest, DoesNothing) {
   SetEnabled(true);
   {
-    auto message = shooter_goal_sender_.MakeMessage();
-    message->angular_velocity = 0.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angular_velocity(0.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(dt());
@@ -183,8 +183,8 @@
   VerifyNearGoal();
 
   EXPECT_TRUE(shooter_output_fetcher_.Fetch());
-  EXPECT_EQ(shooter_output_fetcher_->voltage_left, 0.0);
-  EXPECT_EQ(shooter_output_fetcher_->voltage_right, 0.0);
+  EXPECT_EQ(shooter_output_fetcher_->voltage_left(), 0.0);
+  EXPECT_EQ(shooter_output_fetcher_->voltage_right(), 0.0);
 }
 
 // Tests that the shooter spins up to speed and that it then spins down
@@ -193,32 +193,34 @@
   SetEnabled(true);
   // Spin up.
   {
-    auto message = shooter_goal_sender_.MakeMessage();
-    message->angular_velocity = 450.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angular_velocity(450.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(1));
   VerifyNearGoal();
   shooter_status_fetcher_.Fetch();
-  EXPECT_TRUE(shooter_status_fetcher_->ready);
+  EXPECT_TRUE(shooter_status_fetcher_->ready());
   {
-    auto message = shooter_goal_sender_.MakeMessage();
-    message->angular_velocity = 0.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angular_velocity(0.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Make sure we don't apply voltage on spin-down.
   RunFor(dt());
   EXPECT_TRUE(shooter_output_fetcher_.Fetch());
-  EXPECT_EQ(0.0, shooter_output_fetcher_->voltage_left);
-  EXPECT_EQ(0.0, shooter_output_fetcher_->voltage_right);
+  EXPECT_EQ(0.0, shooter_output_fetcher_->voltage_left());
+  EXPECT_EQ(0.0, shooter_output_fetcher_->voltage_right());
 
   // Continue to stop.
   RunFor(chrono::seconds(5));
   EXPECT_TRUE(shooter_output_fetcher_.Fetch());
-  EXPECT_EQ(0.0, shooter_output_fetcher_->voltage_left);
-  EXPECT_EQ(0.0, shooter_output_fetcher_->voltage_right);
+  EXPECT_EQ(0.0, shooter_output_fetcher_->voltage_left());
+  EXPECT_EQ(0.0, shooter_output_fetcher_->voltage_right());
 }
 
 // Tests that the shooter doesn't say it is ready if one side isn't up to speed.
@@ -228,9 +230,10 @@
   SetEnabled(true);
   // Spin up.
   {
-    auto message = shooter_goal_sender_.MakeMessage();
-    message->angular_velocity = 20.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angular_velocity(20.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   // Cause problems by adding a voltage error on one side.
   shooter_plant_.set_right_voltage_offset(-4.0);
@@ -243,9 +246,9 @@
   EXPECT_TRUE(shooter_status_fetcher_.get() != nullptr);
 
   // Left should be up to speed, right shouldn't.
-  EXPECT_TRUE(shooter_status_fetcher_->left.ready);
-  EXPECT_FALSE(shooter_status_fetcher_->right.ready);
-  EXPECT_FALSE(shooter_status_fetcher_->ready);
+  EXPECT_TRUE(shooter_status_fetcher_->left()->ready());
+  EXPECT_FALSE(shooter_status_fetcher_->right()->ready());
+  EXPECT_FALSE(shooter_status_fetcher_->ready());
 
   RunFor(chrono::seconds(5));
 
@@ -256,22 +259,23 @@
   EXPECT_TRUE(shooter_status_fetcher_.get() != nullptr);
 
   // Both should be up to speed.
-  EXPECT_TRUE(shooter_status_fetcher_->left.ready);
-  EXPECT_TRUE(shooter_status_fetcher_->right.ready);
-  EXPECT_TRUE(shooter_status_fetcher_->ready);
+  EXPECT_TRUE(shooter_status_fetcher_->left()->ready());
+  EXPECT_TRUE(shooter_status_fetcher_->right()->ready());
+  EXPECT_TRUE(shooter_status_fetcher_->ready());
 }
 
 // Tests that the shooter can spin up nicely after being disabled for a while.
 TEST_F(ShooterTest, Disabled) {
   {
-    auto message = shooter_goal_sender_.MakeMessage();
-    message->angular_velocity = 200.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = shooter_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angular_velocity(200.0);
+    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(5));
   EXPECT_TRUE(shooter_output_fetcher_.Fetch());
-  EXPECT_EQ(shooter_output_fetcher_->voltage_left, 0.0);
-  EXPECT_EQ(shooter_output_fetcher_->voltage_right, 0.0);
+  EXPECT_EQ(shooter_output_fetcher_->voltage_left(), 0.0);
+  EXPECT_EQ(shooter_output_fetcher_->voltage_right(), 0.0);
 
   SetEnabled(true);
   RunFor(chrono::seconds(5));
diff --git a/y2016/control_loops/shooter/shooter_main.cc b/y2016/control_loops/shooter/shooter_main.cc
index b9737fd..6e46114 100644
--- a/y2016/control_loops/shooter/shooter_main.cc
+++ b/y2016/control_loops/shooter/shooter_main.cc
@@ -1,12 +1,15 @@
 #include "y2016/control_loops/shooter/shooter.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2016::control_loops::shooter::Shooter shooter(&event_loop);
 
   event_loop.Run();
diff --git a/y2016/control_loops/shooter/shooter_output.fbs b/y2016/control_loops/shooter/shooter_output.fbs
new file mode 100644
index 0000000..6d7fcdf
--- /dev/null
+++ b/y2016/control_loops/shooter/shooter_output.fbs
@@ -0,0 +1,19 @@
+namespace y2016.control_loops.shooter;
+
+table Output {
+  // Voltage in volts of the left and right shooter motors.
+  voltage_left:double;
+  voltage_right:double;
+
+  // See comments on the identical fields in Goal for details.
+  clamp_open:bool;
+  push_to_shooter:bool;
+
+  // If true, the lights are on.
+  lights_on:bool;
+
+  forwards_flashlight:bool;
+  backwards_flashlight:bool;
+}
+
+root_type Output;
diff --git a/y2016/control_loops/shooter/shooter_position.fbs b/y2016/control_loops/shooter/shooter_position.fbs
new file mode 100644
index 0000000..d97268c
--- /dev/null
+++ b/y2016/control_loops/shooter/shooter_position.fbs
@@ -0,0 +1,11 @@
+namespace y2016.control_loops.shooter;
+
+// All angles are in radians, and angular velocities are in radians/second.
+// For all angular velocities, positive is shooting the ball out of the robot.
+table Position {
+  // Wheel angle in radians/second.
+  theta_left:double;
+  theta_right:double;
+}
+
+root_type Position;
diff --git a/y2016/control_loops/shooter/shooter_status.fbs b/y2016/control_loops/shooter/shooter_status.fbs
new file mode 100644
index 0000000..6f6262b
--- /dev/null
+++ b/y2016/control_loops/shooter/shooter_status.fbs
@@ -0,0 +1,27 @@
+namespace y2016.control_loops.shooter;
+
+table ShooterSideStatus {
+  // True if the shooter side is up to speed and stable.
+  ready:bool;
+  // The current average velocity in radians/second.
+  avg_angular_velocity:double;
+  // The current instantaneous filtered velocity in radians/second.
+  angular_velocity:double;
+}
+
+table Status {
+  // Left side status.
+  left:ShooterSideStatus;
+  // Right side status.
+  right:ShooterSideStatus;
+
+  // True if the shooter is ready.  It is better to compare the velocities
+  // directly so there isn't confusion on if the goal is up to date.
+  ready:bool;
+
+  // The number of shots that have been fired since the start of the shooter
+  // control loop.
+  shots:uint;
+}
+
+root_type Status;
diff --git a/y2016/control_loops/superstructure/BUILD b/y2016/control_loops/superstructure/BUILD
index 6a14a5f..4048cdc 100644
--- a/y2016/control_loops/superstructure/BUILD
+++ b/y2016/control_loops/superstructure/BUILD
@@ -1,15 +1,42 @@
 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:queues",
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "superstructure_position_fbs",
+    srcs = [
+        "superstructure_position.fbs",
+    ],
+    gen_reflections = 1,
+    includes = [
+        "//frc971/control_loops:control_loops_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",
     ],
 )
 
@@ -73,8 +100,11 @@
         "superstructure_controls.h",
     ],
     deps = [
+        ":superstructure_goal_fbs",
+        ":superstructure_output_fbs",
         ":superstructure_plants",
-        ":superstructure_queue",
+        ":superstructure_position_fbs",
+        ":superstructure_status_fbs",
         "//aos:math",
         "//aos/controls:control_loop",
         "//aos/util:trapezoid_profile",
@@ -83,7 +113,7 @@
         "//frc971/control_loops:state_feedback_loop",
         "//frc971/zeroing",
         "//y2016:constants",
-        "//y2016/queues:ball_detector",
+        "//y2016/queues:ball_detector_fbs",
     ],
 )
 
@@ -92,11 +122,14 @@
     srcs = [
         "superstructure_lib_test.cc",
     ],
+    data = ["//y2016: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",
@@ -112,8 +145,7 @@
     ],
     deps = [
         ":superstructure_lib",
-        ":superstructure_queue",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
     ],
 )
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index 99a130c..8f4d02e 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -1,13 +1,12 @@
 #include "y2016/control_loops/superstructure/superstructure.h"
-#include "y2016/control_loops/superstructure/superstructure_controls.h"
 
 #include "aos/commonmath.h"
-#include "aos/controls/control_loops.q.h"
 #include "aos/logging/logging.h"
 
-#include "y2016/control_loops/superstructure/integral_intake_plant.h"
 #include "y2016/control_loops/superstructure/integral_arm_plant.h"
-#include "y2016/queues/ball_detector.q.h"
+#include "y2016/control_loops/superstructure/integral_intake_plant.h"
+#include "y2016/control_loops/superstructure/superstructure_controls.h"
+#include "y2016/queues/ball_detector_generated.h"
 
 #include "y2016/constants.h"
 
@@ -229,11 +228,11 @@
 
 Superstructure::Superstructure(::aos::EventLoop *event_loop,
                                const ::std::string &name)
-    : aos::controls::ControlLoop<control_loops::SuperstructureQueue>(event_loop,
-                                                                     name),
+    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                 name),
       ball_detector_fetcher_(
           event_loop->MakeFetcher<::y2016::sensors::BallDetector>(
-              ".y2016.sensors.ball_detector")),
+              "/superstructure")),
       collision_avoidance_(&intake_, &arm_) {}
 
 bool Superstructure::IsArmNear(double shoulder_tolerance,
@@ -289,10 +288,10 @@
 }
 
 void Superstructure::RunIteration(
-    const control_loops::SuperstructureQueue::Goal *unsafe_goal,
-    const control_loops::SuperstructureQueue::Position *position,
-    control_loops::SuperstructureQueue::Output *output,
-    control_loops::SuperstructureQueue::Status *status) {
+    const Goal *unsafe_goal,
+    const Position *position,
+    aos::Sender<Output>::Builder *output,
+    aos::Sender<Status>::Builder *status) {
   const State state_before_switch = state_;
   if (WasReset()) {
     AOS_LOG(ERROR, "WPILib reset, restarting\n");
@@ -304,8 +303,8 @@
   // Bool to track if we should turn the motors on or not.
   bool disable = output == nullptr;
 
-  arm_.Correct(position->shoulder, position->wrist);
-  intake_.Correct(position->intake);
+  arm_.Correct(position->shoulder(), position->wrist());
+  intake_.Correct(*position->intake());
 
   // There are 2 main zeroing paths, HIGH_ARM_ZERO and LOW_ARM_ZERO.
   //
@@ -571,14 +570,14 @@
                              4.0,    // Shoulder acceleration,
                              4.0,    // Wrist velocity
                              10.0);  // Wrist acceleration.
-          intake_.AdjustProfile(unsafe_goal->max_angular_velocity_intake,
-                                unsafe_goal->max_angular_acceleration_intake);
+          intake_.AdjustProfile(unsafe_goal->max_angular_velocity_intake(),
+                                unsafe_goal->max_angular_acceleration_intake());
 
           requested_shoulder =
-              ::std::max(unsafe_goal->angle_shoulder,
+              ::std::max(unsafe_goal->angle_shoulder(),
                          constants::Values::kShoulderRange.lower);
           requested_wrist = 0.0;
-          requested_intake = unsafe_goal->angle_intake;
+          requested_intake = unsafe_goal->angle_intake();
           // Transition to landing once the profile is close to finished for the
           // shoulder.
           if (arm_.goal(0, 0) > kShoulderTransitionToLanded + 1e-4 ||
@@ -591,18 +590,18 @@
           }
         } else {
           // Otherwise, give the user what he asked for.
-          arm_.AdjustProfile(unsafe_goal->max_angular_velocity_shoulder,
-                             unsafe_goal->max_angular_acceleration_shoulder,
-                             unsafe_goal->max_angular_velocity_wrist,
-                             unsafe_goal->max_angular_acceleration_wrist);
-          intake_.AdjustProfile(unsafe_goal->max_angular_velocity_intake,
-                                unsafe_goal->max_angular_acceleration_intake);
+          arm_.AdjustProfile(unsafe_goal->max_angular_velocity_shoulder(),
+                             unsafe_goal->max_angular_acceleration_shoulder(),
+                             unsafe_goal->max_angular_velocity_wrist(),
+                             unsafe_goal->max_angular_acceleration_wrist());
+          intake_.AdjustProfile(unsafe_goal->max_angular_velocity_intake(),
+                                unsafe_goal->max_angular_acceleration_intake());
 
           // Except, don't let the shoulder go all the way down.
-          requested_shoulder = ::std::max(unsafe_goal->angle_shoulder,
+          requested_shoulder = ::std::max(unsafe_goal->angle_shoulder(),
                                           kShoulderTransitionToLanded);
-          requested_wrist = unsafe_goal->angle_wrist;
-          requested_intake = unsafe_goal->angle_intake;
+          requested_wrist = unsafe_goal->angle_wrist();
+          requested_intake = unsafe_goal->angle_intake();
 
           // Transition to landing once the profile is close to finished for the
           // shoulder.
@@ -641,9 +640,9 @@
   if (unsafe_goal) {
     constexpr float kTriggerThreshold = 12.0 * 0.90 / 0.005;
 
-    if (unsafe_goal->voltage_climber > 1.0) {
+    if (unsafe_goal->voltage_climber() > 1.0) {
       kill_shoulder_accumulator_ +=
-          ::std::min(kMaxClimberVoltage, unsafe_goal->voltage_climber);
+          ::std::min(kMaxClimberVoltage, unsafe_goal->voltage_climber());
     } else {
       kill_shoulder_accumulator_ = 0.0;
     }
@@ -673,24 +672,28 @@
   }
 
   // Calculate the loops for a cycle.
+  double intake_position_power;
+  double intake_velocity_power;
   {
     Eigen::Matrix<double, 3, 1> error = intake_.controller().error();
-    status->intake.position_power =
+    intake_position_power =
         intake_.controller().controller().K(0, 0) * error(0, 0);
-    status->intake.velocity_power =
+    intake_velocity_power =
         intake_.controller().controller().K(0, 1) * error(1, 0);
   }
 
+  double shoulder_position_power;
+  double shoulder_velocity_power;
+  double wrist_position_power;
+  double wrist_velocity_power;
   {
     Eigen::Matrix<double, 6, 1> error = arm_.controller().error();
-    status->shoulder.position_power =
+    shoulder_position_power =
         arm_.controller().controller().K(0, 0) * error(0, 0);
-    status->shoulder.velocity_power =
+    shoulder_velocity_power =
         arm_.controller().controller().K(0, 1) * error(1, 0);
-    status->wrist.position_power =
-        arm_.controller().controller().K(0, 2) * error(2, 0);
-    status->wrist.velocity_power =
-        arm_.controller().controller().K(0, 3) * error(3, 0);
+    wrist_position_power = arm_.controller().controller().K(0, 2) * error(2, 0);
+    wrist_velocity_power = arm_.controller().controller().K(0, 3) * error(3, 0);
   }
 
   arm_.Update(disable);
@@ -698,98 +701,135 @@
 
   // Write out all the voltages.
   if (output) {
-    output->voltage_intake = intake_.voltage();
-    output->voltage_shoulder = arm_.shoulder_voltage();
-    output->voltage_wrist = arm_.wrist_voltage();
+    OutputT output_struct;
+    output_struct.voltage_intake = intake_.voltage();
+    output_struct.voltage_shoulder = arm_.shoulder_voltage();
+    output_struct.voltage_wrist = arm_.wrist_voltage();
 
-    output->voltage_top_rollers = 0.0;
-    output->voltage_bottom_rollers = 0.0;
+    output_struct.voltage_top_rollers = 0.0;
+    output_struct.voltage_bottom_rollers = 0.0;
 
-    output->voltage_climber = 0.0;
-    output->unfold_climber = false;
+    output_struct.voltage_climber = 0.0;
+    output_struct.unfold_climber = false;
     if (unsafe_goal) {
       // Ball detector lights.
       ball_detector_fetcher_.Fetch();
       bool ball_detected = false;
       if (ball_detector_fetcher_.get()) {
-        ball_detected = ball_detector_fetcher_->voltage > 2.5;
+        ball_detected = ball_detector_fetcher_->voltage() > 2.5;
       }
 
       // Climber.
-      output->voltage_climber = ::std::max(
+      output_struct.voltage_climber = ::std::max(
           static_cast<float>(0.0),
-          ::std::min(unsafe_goal->voltage_climber, kMaxClimberVoltage));
-      output->unfold_climber = unsafe_goal->unfold_climber;
+          ::std::min(unsafe_goal->voltage_climber(), kMaxClimberVoltage));
+      output_struct.unfold_climber = unsafe_goal->unfold_climber();
 
       // Intake.
-      if (unsafe_goal->force_intake || !ball_detected) {
-        output->voltage_top_rollers = ::std::max(
+      if (unsafe_goal->force_intake() || !ball_detected) {
+        output_struct.voltage_top_rollers = ::std::max(
             -kMaxIntakeTopVoltage,
-            ::std::min(unsafe_goal->voltage_top_rollers, kMaxIntakeTopVoltage));
-        output->voltage_bottom_rollers =
+            ::std::min(unsafe_goal->voltage_top_rollers(), kMaxIntakeTopVoltage));
+        output_struct.voltage_bottom_rollers =
             ::std::max(-kMaxIntakeBottomVoltage,
-                       ::std::min(unsafe_goal->voltage_bottom_rollers,
+                       ::std::min(unsafe_goal->voltage_bottom_rollers(),
                                   kMaxIntakeBottomVoltage));
       } else {
-        output->voltage_top_rollers = 0.0;
-        output->voltage_bottom_rollers = 0.0;
+        output_struct.voltage_top_rollers = 0.0;
+        output_struct.voltage_bottom_rollers = 0.0;
       }
 
       // Traverse.
-      output->traverse_unlatched = unsafe_goal->traverse_unlatched;
-      output->traverse_down = unsafe_goal->traverse_down;
+      output_struct.traverse_unlatched = unsafe_goal->traverse_unlatched();
+      output_struct.traverse_down = unsafe_goal->traverse_down();
     }
+
+    output->Send(Output::Pack(*output->fbb(), &output_struct));
   }
 
   // Save debug/internal state.
-  status->zeroed = arm_.zeroed() && intake_.zeroed();
+  flatbuffers::Offset<frc971::EstimatorState> shoulder_estimator_state_offset =
+      arm_.EstimatorState(status->fbb(), 0);
 
-  status->shoulder.angle = arm_.X_hat(0, 0);
-  status->shoulder.angular_velocity = arm_.X_hat(1, 0);
-  status->shoulder.goal_angle = arm_.goal(0, 0);
-  status->shoulder.goal_angular_velocity = arm_.goal(1, 0);
-  status->shoulder.unprofiled_goal_angle = arm_.unprofiled_goal(0, 0);
-  status->shoulder.unprofiled_goal_angular_velocity =
-      arm_.unprofiled_goal(1, 0);
-  status->shoulder.voltage_error = arm_.X_hat(4, 0);
-  status->shoulder.calculated_velocity =
-      (arm_.shoulder_angle() - last_shoulder_angle_) / 0.005;
-  status->shoulder.estimator_state = arm_.EstimatorState(0);
+  JointState::Builder shoulder_builder = status->MakeBuilder<JointState>();
 
-  status->wrist.angle = arm_.X_hat(2, 0);
-  status->wrist.angular_velocity = arm_.X_hat(3, 0);
-  status->wrist.goal_angle = arm_.goal(2, 0);
-  status->wrist.goal_angular_velocity = arm_.goal(3, 0);
-  status->wrist.unprofiled_goal_angle = arm_.unprofiled_goal(2, 0);
-  status->wrist.unprofiled_goal_angular_velocity = arm_.unprofiled_goal(3, 0);
-  status->wrist.voltage_error = arm_.X_hat(5, 0);
-  status->wrist.calculated_velocity =
-      (arm_.wrist_angle() - last_wrist_angle_) / 0.005;
-  status->wrist.estimator_state = arm_.EstimatorState(1);
+  shoulder_builder.add_angle(arm_.X_hat(0, 0));
+  shoulder_builder.add_angular_velocity(arm_.X_hat(1, 0));
+  shoulder_builder.add_goal_angle(arm_.goal(0, 0));
+  shoulder_builder.add_goal_angular_velocity(arm_.goal(1, 0));
+  shoulder_builder.add_unprofiled_goal_angle(arm_.unprofiled_goal(0, 0));
+  shoulder_builder.add_unprofiled_goal_angular_velocity(
+      arm_.unprofiled_goal(1, 0));
+  shoulder_builder.add_voltage_error(arm_.X_hat(4, 0));
+  shoulder_builder.add_calculated_velocity(
+      (arm_.shoulder_angle() - last_shoulder_angle_) / 0.005);
+  shoulder_builder.add_position_power(shoulder_position_power);
+  shoulder_builder.add_velocity_power(shoulder_velocity_power);
+  shoulder_builder.add_estimator_state(shoulder_estimator_state_offset);
 
-  status->intake.angle = intake_.X_hat(0, 0);
-  status->intake.angular_velocity = intake_.X_hat(1, 0);
-  status->intake.goal_angle = intake_.goal(0, 0);
-  status->intake.goal_angular_velocity = intake_.goal(1, 0);
-  status->intake.unprofiled_goal_angle = intake_.unprofiled_goal(0, 0);
-  status->intake.unprofiled_goal_angular_velocity =
-      intake_.unprofiled_goal(1, 0);
-  status->intake.calculated_velocity =
-      (intake_.position() - last_intake_angle_) / 0.005;
-  status->intake.voltage_error = intake_.X_hat(2, 0);
-  status->intake.estimator_state = intake_.EstimatorState(0);
-  status->intake.feedforwards_power = intake_.controller().ff_U(0, 0);
+  flatbuffers::Offset<JointState> shoulder_offset = shoulder_builder.Finish();
 
-  status->shoulder_controller_index = arm_.controller_index();
+  flatbuffers::Offset<frc971::EstimatorState> wrist_estimator_state_offset =
+      arm_.EstimatorState(status->fbb(), 1);
+
+  JointState::Builder wrist_builder = status->MakeBuilder<JointState>();
+
+  wrist_builder.add_angle(arm_.X_hat(2, 0));
+  wrist_builder.add_angular_velocity(arm_.X_hat(3, 0));
+  wrist_builder.add_goal_angle(arm_.goal(2, 0));
+  wrist_builder.add_goal_angular_velocity(arm_.goal(3, 0));
+  wrist_builder.add_unprofiled_goal_angle(arm_.unprofiled_goal(2, 0));
+  wrist_builder.add_unprofiled_goal_angular_velocity(
+      arm_.unprofiled_goal(3, 0));
+  wrist_builder.add_voltage_error(arm_.X_hat(5, 0));
+  wrist_builder.add_calculated_velocity(
+      (arm_.wrist_angle() - last_wrist_angle_) / 0.005);
+  wrist_builder.add_position_power(wrist_position_power);
+  wrist_builder.add_velocity_power(wrist_velocity_power);
+  wrist_builder.add_estimator_state(wrist_estimator_state_offset);
+
+  flatbuffers::Offset<JointState> wrist_offset = wrist_builder.Finish();
+
+  flatbuffers::Offset<frc971::EstimatorState> intake_estimator_state_offset =
+      intake_.EstimatorState(status->fbb(), 0);
+
+  JointState::Builder intake_builder = status->MakeBuilder<JointState>();
+  intake_builder.add_position_power(intake_position_power);
+  intake_builder.add_velocity_power(intake_velocity_power);
+  intake_builder.add_angle(intake_.X_hat(0, 0));
+  intake_builder.add_angular_velocity(intake_.X_hat(1, 0));
+  intake_builder.add_goal_angle(intake_.goal(0, 0));
+  intake_builder.add_goal_angular_velocity(intake_.goal(1, 0));
+  intake_builder.add_unprofiled_goal_angle(intake_.unprofiled_goal(0, 0));
+  intake_builder.add_unprofiled_goal_angular_velocity(
+      intake_.unprofiled_goal(1, 0));
+  intake_builder.add_calculated_velocity(
+      (intake_.position() - last_intake_angle_) / 0.005);
+  intake_builder.add_voltage_error(intake_.X_hat(2, 0));
+  intake_builder.add_estimator_state(intake_estimator_state_offset);
+  intake_builder.add_feedforwards_power(intake_.controller().ff_U(0, 0));
+
+  flatbuffers::Offset<JointState> intake_offset = intake_builder.Finish();
+
+  Status::Builder status_builder = status->MakeBuilder<Status>();
+
+  status_builder.add_shoulder(shoulder_offset);
+  status_builder.add_wrist(wrist_offset);
+  status_builder.add_intake(intake_offset);
+
+  status_builder.add_zeroed(arm_.zeroed() && intake_.zeroed());
+  status_builder.add_shoulder_controller_index(arm_.controller_index());
 
   last_shoulder_angle_ = arm_.shoulder_angle();
   last_wrist_angle_ = arm_.wrist_angle();
   last_intake_angle_ = intake_.position();
 
-  status->estopped = (state_ == ESTOP);
+  status_builder.add_estopped((state_ == ESTOP));
 
-  status->state = state_;
-  status->is_collided = is_collided;
+  status_builder.add_state(state_);
+  status_builder.add_is_collided(is_collided);
+
+  status->Send(status_builder.Finish());
 
   last_state_ = state_before_switch;
 }
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index 610db8e..2219c95 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -8,9 +8,12 @@
 #include "frc971/control_loops/state_feedback_loop.h"
 
 #include "frc971/zeroing/zeroing.h"
-#include "y2016/control_loops/superstructure/superstructure.q.h"
 #include "y2016/control_loops/superstructure/superstructure_controls.h"
-#include "y2016/queues/ball_detector.q.h"
+#include "y2016/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2016/queues/ball_detector_generated.h"
 
 namespace y2016 {
 namespace control_loops {
@@ -105,11 +108,10 @@
 };
 
 class Superstructure
-    : public ::aos::controls::ControlLoop<control_loops::SuperstructureQueue> {
+    : public ::aos::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
-  explicit Superstructure(
-      ::aos::EventLoop *event_loop,
-      const ::std::string &name = ".y2016.control_loops.superstructure_queue");
+  explicit Superstructure(::aos::EventLoop *event_loop,
+                          const ::std::string &name = "/superstructure");
 
   static constexpr double kZeroingVoltage = 6.0;
   static constexpr double kShooterHangingVoltage = 6.0;
@@ -209,11 +211,9 @@
   bool collided() const { return collision_avoidance_.collided(); }
 
  protected:
-  virtual void RunIteration(
-      const control_loops::SuperstructureQueue::Goal *unsafe_goal,
-      const control_loops::SuperstructureQueue::Position *position,
-      control_loops::SuperstructureQueue::Output *output,
-      control_loops::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:
   friend class testing::SuperstructureTest_DisabledGoalTest_Test;
diff --git a/y2016/control_loops/superstructure/superstructure.q b/y2016/control_loops/superstructure/superstructure.q
deleted file mode 100644
index d784929..0000000
--- a/y2016/control_loops/superstructure/superstructure.q
+++ /dev/null
@@ -1,145 +0,0 @@
-package y2016.control_loops;
-
-import "aos/controls/control_loops.q";
-import "frc971/control_loops/control_loops.q";
-
-struct JointState {
-  // Angle of the joint in radians.
-  float angle;
-  // Angular velocity of the joint in radians/second.
-  float angular_velocity;
-  // Profiled goal angle of the joint in radians.
-  float goal_angle;
-  // Profiled goal angular velocity of the joint in radians/second.
-  float goal_angular_velocity;
-  // Unprofiled goal angle of the joint in radians.
-  float unprofiled_goal_angle;
-  // Unprofiled goal angular velocity of the joint in radians/second.
-  float unprofiled_goal_angular_velocity;
-
-  // The estimated voltage error.
-  float voltage_error;
-
-  // The calculated velocity with delta x/delta t
-  float calculated_velocity;
-
-  // Components of the control loop output
-  float position_power;
-  float velocity_power;
-  float feedforwards_power;
-
-  // State of the estimator.
-  .frc971.EstimatorState estimator_state;
-};
-
-// Published on ".y2016.control_loops.superstructure_queue"
-queue_group SuperstructureQueue {
-  implements aos.control_loops.ControlLoop;
-
-  message Goal {
-    // Zero on the intake is when the horizontal tube stock members are level
-    // with the top frame rails of the robot.  This will be essentially when we
-    // are in the intaking position.  Positive is up.  The angle is measured
-    // relative to the top
-    // of the robot frame.
-    // Zero on the shoulder is when the shoulder is down against the hard stop
-    // blocks.  Positive is up.  The angle is measured relative to the top of
-    // the robot frame.
-    // Zero on the wrist is horizontal and landed in the bellypan.  Positive is
-    // the same direction as the shoulder.  The angle is measured relative to
-    // the top of the robot frame.  For calibration, 0 is measured as parallel
-    // to the big frame supporting the shooter.
-
-    // Goal angles and angular velocities of the superstructure subsystems.
-    double angle_intake;
-    double angle_shoulder;
-    // In relation to the ground plane.
-    double angle_wrist;
-
-    // Caps on velocity/acceleration for profiling. 0 for the default.
-    float max_angular_velocity_intake;
-    float max_angular_velocity_shoulder;
-    float max_angular_velocity_wrist;
-
-    float max_angular_acceleration_intake;
-    float max_angular_acceleration_shoulder;
-    float max_angular_acceleration_wrist;
-
-    // Voltage to send to the rollers. Positive is sucking in.
-    float voltage_top_rollers;
-    float voltage_bottom_rollers;
-
-    // Voltage to sent to the climber. Positive is pulling the robot up.
-    float voltage_climber;
-    // If true, unlatch the climber and allow it to unfold.
-    bool unfold_climber;
-
-    bool force_intake;
-
-    // If true, release the latch which holds the traverse mechanism in the
-    // middle.
-    bool traverse_unlatched;
-    // If true, fire the traverse mechanism down.
-    bool traverse_down;
-  };
-
-  message Status {
-    // Are the superstructure subsystems zeroed?
-    bool zeroed;
-
-    // If true, we have aborted.
-    bool estopped;
-
-    // The internal state of the state machine.
-    int32_t state;
-
-
-    // Estimated angles and angular velocities of the superstructure subsystems.
-    JointState intake;
-    JointState shoulder;
-    JointState wrist;
-
-    int32_t shoulder_controller_index;
-
-    // Is the superstructure collided?
-    bool is_collided;
-  };
-
-  message Position {
-    // Zero for the intake potentiometer value is horizontal, and positive is
-    // up.
-    // Zero for the shoulder potentiometer value is horizontal, and positive is
-    // up.
-    // Zero for the wrist potentiometer value is parallel to the arm and with
-    // the shooter wheels pointed towards the shoulder joint.  This is measured
-    // relative to the arm, not the ground, not like the world we actually
-    // present to users.
-    .frc971.PotAndIndexPosition intake;
-    .frc971.PotAndIndexPosition shoulder;
-    .frc971.PotAndIndexPosition wrist;
-  };
-
-  message Output {
-    float voltage_intake;
-    float voltage_shoulder;
-    float voltage_wrist;
-
-    float voltage_top_rollers;
-    float voltage_bottom_rollers;
-
-    // Voltage to sent to the climber. Positive is pulling the robot up.
-    float voltage_climber;
-    // If true, release the latch to trigger the climber to unfold.
-    bool unfold_climber;
-
-    // If true, release the latch to hold the traverse mechanism in the middle.
-    bool traverse_unlatched;
-    // If true, fire the traverse mechanism down.
-    bool traverse_down;
-  };
-
-  queue Goal goal;
-  queue Position position;
-  queue Output output;
-  queue Status status;
-};
diff --git a/y2016/control_loops/superstructure/superstructure_controls.cc b/y2016/control_loops/superstructure/superstructure_controls.cc
index b8f3a48..269089b 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.cc
+++ b/y2016/control_loops/superstructure/superstructure_controls.cc
@@ -1,6 +1,5 @@
 #include "y2016/control_loops/superstructure/superstructure_controls.h"
 
-#include "aos/controls/control_loops.q.h"
 #include "aos/logging/logging.h"
 
 #include "y2016/control_loops/superstructure/integral_intake_plant.h"
@@ -96,10 +95,10 @@
 
 // TODO(austin): Handle zeroing errors.
 
-void Arm::Correct(PotAndIndexPosition position_shoulder,
-                  PotAndIndexPosition position_wrist) {
-  estimators_[kShoulderIndex].UpdateEstimate(position_shoulder);
-  estimators_[kWristIndex].UpdateEstimate(position_wrist);
+void Arm::Correct(const PotAndIndexPosition *position_shoulder,
+                  const PotAndIndexPosition *position_wrist) {
+  estimators_[kShoulderIndex].UpdateEstimate(*position_shoulder);
+  estimators_[kWristIndex].UpdateEstimate(*position_wrist);
 
   // Handle zeroing errors
   if (estimators_[kShoulderIndex].error()) {
@@ -130,7 +129,7 @@
   }
 
   {
-    Y_ << position_shoulder.encoder, position_wrist.encoder;
+    Y_ << position_shoulder->encoder(), position_wrist->encoder();
     Y_ += offset_;
     loop_->Correct(Y_);
   }
diff --git a/y2016/control_loops/superstructure/superstructure_controls.h b/y2016/control_loops/superstructure/superstructure_controls.h
index 8936650..d301054 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.h
+++ b/y2016/control_loops/superstructure/superstructure_controls.h
@@ -11,7 +11,7 @@
 
 #include "frc971/zeroing/zeroing.h"
 #include "y2016/control_loops/superstructure/integral_arm_plant.h"
-#include "y2016/control_loops/superstructure/superstructure.q.h"
+#include "y2016/control_loops/superstructure/superstructure_position_generated.h"
 
 namespace y2016 {
 namespace control_loops {
@@ -111,8 +111,8 @@
   Arm();
 
   // Updates our estimator with the latest position.
-  void Correct(::frc971::PotAndIndexPosition position_shoulder,
-               ::frc971::PotAndIndexPosition position_wrist);
+  void Correct(const ::frc971::PotAndIndexPosition *position_shoulder,
+               const ::frc971::PotAndIndexPosition *position_wrist);
 
   // Forces the goal to be the provided goal.
   void ForceGoal(double unprofiled_goal_shoulder, double unprofiled_goal_wrist);
diff --git a/y2016/control_loops/superstructure/superstructure_goal.fbs b/y2016/control_loops/superstructure/superstructure_goal.fbs
new file mode 100644
index 0000000..4274bd8
--- /dev/null
+++ b/y2016/control_loops/superstructure/superstructure_goal.fbs
@@ -0,0 +1,50 @@
+namespace y2016.control_loops.superstructure;
+
+table Goal {
+  // Zero on the intake is when the horizontal tube stock members are level
+  // with the top frame rails of the robot.  This will be essentially when we
+  // are in the intaking position.  Positive is up.  The angle is measured
+  // relative to the top
+  // of the robot frame.
+  // Zero on the shoulder is when the shoulder is down against the hard stop
+  // blocks.  Positive is up.  The angle is measured relative to the top of
+  // the robot frame.
+  // Zero on the wrist is horizontal and landed in the bellypan.  Positive is
+  // the same direction as the shoulder.  The angle is measured relative to
+  // the top of the robot frame.  For calibration, 0 is measured as parallel
+  // to the big frame supporting the shooter.
+
+  // Goal angles and angular velocities of the superstructure subsystems.
+  angle_intake:double;
+  angle_shoulder:double;
+  // In relation to the ground plane.
+  angle_wrist:double;
+
+  // Caps on velocity/acceleration for profiling. 0 for the default.
+  max_angular_velocity_intake:float;
+  max_angular_velocity_shoulder:float;
+  max_angular_velocity_wrist:float;
+
+  max_angular_acceleration_intake:float;
+  max_angular_acceleration_shoulder:float;
+  max_angular_acceleration_wrist:float;
+
+  // Voltage to send to the rollers. Positive is sucking in.
+  voltage_top_rollers:float;
+  voltage_bottom_rollers:float;
+
+  // Voltage to sent to the climber. Positive is pulling the robot up.
+  voltage_climber:float;
+  // If true, unlatch the climber and allow it to unfold.
+  unfold_climber:bool;
+
+  force_intake:bool;
+
+  // If true, release the latch which holds the traverse mechanism in the
+  // middle.
+  traverse_unlatched:bool;
+  // If true, fire the traverse mechanism down.
+  traverse_down:bool;
+}
+
+root_type Goal;
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index 79b4d24..d530cb3 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -7,14 +7,16 @@
 
 #include "aos/commonmath.h"
 #include "aos/controls/control_loop_test.h"
-#include "aos/queue.h"
 #include "aos/time/time.h"
 #include "frc971/control_loops/position_sensor_sim.h"
 #include "frc971/control_loops/team_number_test_environment.h"
 #include "gtest/gtest.h"
 #include "y2016/control_loops/superstructure/arm_plant.h"
 #include "y2016/control_loops/superstructure/intake_plant.h"
-#include "y2016/control_loops/superstructure/superstructure.q.h"
+#include "y2016/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
 
 #include "y2016/constants.h"
 
@@ -85,14 +87,11 @@
       : event_loop_(event_loop),
         dt_(dt),
         superstructure_position_sender_(
-            event_loop_->MakeSender<SuperstructureQueue::Position>(
-                ".y2016.control_loops.superstructure_queue.position")),
+            event_loop_->MakeSender<Position>("/superstructure")),
         superstructure_status_fetcher_(
-            event_loop_->MakeFetcher<SuperstructureQueue::Status>(
-                ".y2016.control_loops.superstructure_queue.status")),
+            event_loop_->MakeFetcher<Status>("/superstructure")),
         superstructure_output_fetcher_(
-            event_loop_->MakeFetcher<SuperstructureQueue::Output>(
-                ".y2016.control_loops.superstructure_queue.output")),
+            event_loop_->MakeFetcher<Output>("/superstructure")),
         intake_plant_(new IntakePlant(MakeIntakePlant())),
         arm_plant_(new ArmPlant(MakeArmPlant())),
         pot_encoder_intake_(constants::Values::kIntakeEncoderIndexDifference),
@@ -144,14 +143,32 @@
 
   // Sends a queue message with the position.
   void SendPositionMessage() {
-    ::aos::Sender<control_loops::SuperstructureQueue::Position>::Message
-        position = superstructure_position_sender_.MakeMessage();
+    ::aos::Sender<Position>::Builder builder =
+        superstructure_position_sender_.MakeBuilder();
 
-    pot_encoder_intake_.GetSensorValues(&position->intake);
-    pot_encoder_shoulder_.GetSensorValues(&position->shoulder);
-    pot_encoder_wrist_.GetSensorValues(&position->wrist);
+    frc971::PotAndIndexPosition::Builder intake_builder =
+        builder.MakeBuilder<frc971::PotAndIndexPosition>();
 
-    position.Send();
+    flatbuffers::Offset<frc971::PotAndIndexPosition> intake_offset =
+        pot_encoder_intake_.GetSensorValues(&intake_builder);
+
+    frc971::PotAndIndexPosition::Builder shoulder_builder =
+        builder.MakeBuilder<frc971::PotAndIndexPosition>();
+    flatbuffers::Offset<frc971::PotAndIndexPosition> shoulder_offset =
+        pot_encoder_shoulder_.GetSensorValues(&shoulder_builder);
+
+    frc971::PotAndIndexPosition::Builder wrist_builder =
+        builder.MakeBuilder<frc971::PotAndIndexPosition>();
+    flatbuffers::Offset<frc971::PotAndIndexPosition> wrist_offset =
+        pot_encoder_wrist_.GetSensorValues(&wrist_builder);
+
+    Position::Builder position_builder = builder.MakeBuilder<Position>();
+
+    position_builder.add_intake(intake_offset);
+    position_builder.add_shoulder(shoulder_offset);
+    position_builder.add_wrist(wrist_offset);
+
+    builder.Send(position_builder.Finish());
   }
 
   double shoulder_angle() const { return arm_plant_->X(0, 0); }
@@ -180,37 +197,39 @@
     // Feed voltages into physics simulation.
     ::Eigen::Matrix<double, 1, 1> intake_U;
     ::Eigen::Matrix<double, 2, 1> arm_U;
-    intake_U << superstructure_output_fetcher_->voltage_intake +
+    intake_U << superstructure_output_fetcher_->voltage_intake() +
                     intake_plant_->voltage_offset();
 
-    arm_U << superstructure_output_fetcher_->voltage_shoulder +
+    arm_U << superstructure_output_fetcher_->voltage_shoulder() +
                  arm_plant_->shoulder_voltage_offset(),
-        superstructure_output_fetcher_->voltage_wrist +
+        superstructure_output_fetcher_->voltage_wrist() +
             arm_plant_->wrist_voltage_offset();
 
     // Verify that the correct power limits are being respected depending on
     // which mode we are in.
     EXPECT_TRUE(superstructure_status_fetcher_.Fetch());
-    if (superstructure_status_fetcher_->state == Superstructure::RUNNING ||
-        superstructure_status_fetcher_->state ==
+    if (superstructure_status_fetcher_->state() == Superstructure::RUNNING ||
+        superstructure_status_fetcher_->state() ==
             Superstructure::LANDING_RUNNING) {
-      AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_intake),
+      AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_intake()),
                    Superstructure::kOperatingVoltage);
-      AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_shoulder),
-                   Superstructure::kOperatingVoltage);
-      AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_wrist),
+      AOS_CHECK_LE(
+          ::std::abs(superstructure_output_fetcher_->voltage_shoulder()),
+          Superstructure::kOperatingVoltage);
+      AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_wrist()),
                    Superstructure::kOperatingVoltage);
     } else {
-      AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_intake),
+      AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_intake()),
                    Superstructure::kZeroingVoltage);
-      AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_shoulder),
-                   Superstructure::kZeroingVoltage);
-      AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_wrist),
+      AOS_CHECK_LE(
+          ::std::abs(superstructure_output_fetcher_->voltage_shoulder()),
+          Superstructure::kZeroingVoltage);
+      AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_wrist()),
                    Superstructure::kZeroingVoltage);
     }
     if (arm_plant_->X(0, 0) <=
         Superstructure::kShoulderTransitionToLanded + 1e-4) {
-      AOS_CHECK_GE(superstructure_output_fetcher_->voltage_shoulder,
+      AOS_CHECK_GE(superstructure_output_fetcher_->voltage_shoulder(),
                    Superstructure::kLandingShoulderDownVoltage - 0.00001);
     }
 
@@ -309,9 +328,9 @@
 
   bool first_ = true;
 
-  ::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_;
 
   ::std::unique_ptr<IntakePlant> intake_plant_;
   ::std::unique_ptr<ArmPlant> arm_plant_;
@@ -334,17 +353,16 @@
 class SuperstructureTest : public ::aos::testing::ControlLoopTest {
  protected:
   SuperstructureTest()
-      : ::aos::testing::ControlLoopTest(chrono::microseconds(5000)),
+      : ::aos::testing::ControlLoopTest(
+            aos::configuration::ReadConfig("y2016/config.json"),
+            chrono::microseconds(5000)),
         test_event_loop_(MakeEventLoop()),
         superstructure_goal_fetcher_(
-            test_event_loop_->MakeFetcher<SuperstructureQueue::Goal>(
-                ".y2016.control_loops.superstructure_queue.goal")),
+            test_event_loop_->MakeFetcher<Goal>("/superstructure")),
         superstructure_goal_sender_(
-            test_event_loop_->MakeSender<SuperstructureQueue::Goal>(
-                ".y2016.control_loops.superstructure_queue.goal")),
+            test_event_loop_->MakeSender<Goal>("/superstructure")),
         superstructure_status_fetcher_(
-            test_event_loop_->MakeFetcher<SuperstructureQueue::Status>(
-                ".y2016.control_loops.superstructure_queue.status")),
+            test_event_loop_->MakeFetcher<Status>("/superstructure")),
         superstructure_event_loop_(MakeEventLoop()),
         superstructure_(superstructure_event_loop_.get()),
         superstructure_plant_event_loop_(MakeEventLoop()),
@@ -357,26 +375,26 @@
     EXPECT_TRUE(superstructure_goal_fetcher_.get() != nullptr);
     EXPECT_TRUE(superstructure_status_fetcher_.get() != nullptr);
 
-    EXPECT_NEAR(superstructure_goal_fetcher_->angle_intake,
-                superstructure_status_fetcher_->intake.angle, 0.001);
-    EXPECT_NEAR(superstructure_goal_fetcher_->angle_shoulder,
-                superstructure_status_fetcher_->shoulder.angle, 0.001);
-    EXPECT_NEAR(superstructure_goal_fetcher_->angle_wrist,
-                superstructure_status_fetcher_->wrist.angle, 0.001);
+    EXPECT_NEAR(superstructure_goal_fetcher_->angle_intake(),
+                superstructure_status_fetcher_->intake()->angle(), 0.001);
+    EXPECT_NEAR(superstructure_goal_fetcher_->angle_shoulder(),
+                superstructure_status_fetcher_->shoulder()->angle(), 0.001);
+    EXPECT_NEAR(superstructure_goal_fetcher_->angle_wrist(),
+                superstructure_status_fetcher_->wrist()->angle(), 0.001);
 
-    EXPECT_NEAR(superstructure_goal_fetcher_->angle_intake,
+    EXPECT_NEAR(superstructure_goal_fetcher_->angle_intake(),
                 superstructure_plant_.intake_angle(), 0.001);
-    EXPECT_NEAR(superstructure_goal_fetcher_->angle_shoulder,
+    EXPECT_NEAR(superstructure_goal_fetcher_->angle_shoulder(),
                 superstructure_plant_.shoulder_angle(), 0.001);
-    EXPECT_NEAR(superstructure_goal_fetcher_->angle_wrist,
+    EXPECT_NEAR(superstructure_goal_fetcher_->angle_wrist(),
                 superstructure_plant_.wrist_angle(), 0.001);
   }
 
   ::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<Goal> superstructure_goal_fetcher_;
+  ::aos::Sender<Goal> superstructure_goal_sender_;
+  ::aos::Fetcher<Status> superstructure_status_fetcher_;
 
   // Create a control loop and simulation.
   ::std::unique_ptr<::aos::EventLoop> superstructure_event_loop_;
@@ -390,17 +408,18 @@
 TEST_F(SuperstructureTest, DoesNothing) {
   SetEnabled(true);
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0;
-    message->angle_shoulder = 0;
-    message->angle_wrist = 0;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0);
+    goal_builder.add_angle_shoulder(0);
+    goal_builder.add_angle_wrist(0);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(5));
@@ -412,17 +431,18 @@
   SetEnabled(true);
   // Set a reasonable goal.
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = M_PI / 4.0;
-    message->angle_shoulder = 1.4;
-    message->angle_wrist = M_PI / 4.0;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(M_PI / 4.0);
+    goal_builder.add_angle_shoulder(1.4);
+    goal_builder.add_angle_wrist(M_PI / 4.0);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Give it a lot of time to get there.
@@ -437,43 +457,45 @@
   SetEnabled(true);
   // Set some ridiculous goals to test upper limits.
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = M_PI * 10;
-    message->angle_shoulder = M_PI * 10;
-    message->angle_wrist = M_PI * 10;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(M_PI * 10);
+    goal_builder.add_angle_shoulder(M_PI * 10);
+    goal_builder.add_angle_wrist(M_PI * 10);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(10));
 
   // Check that we are near our soft limit.
   superstructure_status_fetcher_.Fetch();
   EXPECT_NEAR(constants::Values::kIntakeRange.upper,
-              superstructure_status_fetcher_->intake.angle, 0.001);
+              superstructure_status_fetcher_->intake()->angle(), 0.001);
   EXPECT_NEAR(constants::Values::kShoulderRange.upper,
-              superstructure_status_fetcher_->shoulder.angle, 0.001);
+              superstructure_status_fetcher_->shoulder()->angle(), 0.001);
   EXPECT_NEAR(constants::Values::kWristRange.upper +
                   constants::Values::kShoulderRange.upper,
-              superstructure_status_fetcher_->wrist.angle, 0.001);
+              superstructure_status_fetcher_->wrist()->angle(), 0.001);
 
   // Set some ridiculous goals to test limits.
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = M_PI * 10;
-    message->angle_shoulder = M_PI * 10;
-    message->angle_wrist = -M_PI * 10.0;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(M_PI * 10);
+    goal_builder.add_angle_shoulder(M_PI * 10);
+    goal_builder.add_angle_wrist(-M_PI * 10.0);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(10));
@@ -481,26 +503,27 @@
   // Check that we are near our soft limit.
   superstructure_status_fetcher_.Fetch();
   EXPECT_NEAR(constants::Values::kIntakeRange.upper,
-              superstructure_status_fetcher_->intake.angle, 0.001);
+              superstructure_status_fetcher_->intake()->angle(), 0.001);
   EXPECT_NEAR(constants::Values::kShoulderRange.upper,
-              superstructure_status_fetcher_->shoulder.angle, 0.001);
+              superstructure_status_fetcher_->shoulder()->angle(), 0.001);
   EXPECT_NEAR(constants::Values::kWristRange.lower +
                   constants::Values::kShoulderRange.upper,
-              superstructure_status_fetcher_->wrist.angle, 0.001);
+              superstructure_status_fetcher_->wrist()->angle(), 0.001);
 
   // Set some ridiculous goals to test lower limits.
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = -M_PI * 10;
-    message->angle_shoulder = -M_PI * 10;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(-M_PI * 10);
+    goal_builder.add_angle_shoulder(-M_PI * 10);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(10));
@@ -508,27 +531,28 @@
   // Check that we are near our soft limit.
   superstructure_status_fetcher_.Fetch();
   EXPECT_NEAR(constants::Values::kIntakeRange.lower,
-              superstructure_status_fetcher_->intake.angle, 0.001);
+              superstructure_status_fetcher_->intake()->angle(), 0.001);
   EXPECT_NEAR(constants::Values::kShoulderRange.lower,
-              superstructure_status_fetcher_->shoulder.angle, 0.001);
-  EXPECT_NEAR(0.0, superstructure_status_fetcher_->wrist.angle, 0.001);
+              superstructure_status_fetcher_->shoulder()->angle(), 0.001);
+  EXPECT_NEAR(0.0, superstructure_status_fetcher_->wrist()->angle(), 0.001);
 }
 
 // Tests that the loop zeroes when run for a while.
 TEST_F(SuperstructureTest, ZeroTest) {
   SetEnabled(true);
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = constants::Values::kIntakeRange.lower;
-    message->angle_shoulder = constants::Values::kShoulderRange.lower;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(constants::Values::kIntakeRange.lower);
+    goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(10));
@@ -557,12 +581,13 @@
   superstructure_plant_.InitializeRelativeWristPosition(
       constants::Values::kWristRange.lower);
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = constants::Values::kIntakeRange.upper;
-    message->angle_shoulder = constants::Values::kShoulderRange.upper;
-    message->angle_wrist = constants::Values::kWristRange.upper +
-                           constants::Values::kShoulderRange.upper;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(constants::Values::kIntakeRange.upper);
+    goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.upper);
+    goal_builder.add_angle_wrist(constants::Values::kWristRange.upper +
+                                 constants::Values::kShoulderRange.upper);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   // We have to wait for it to put the elevator in a safe position as well.
   RunFor(chrono::seconds(15));
@@ -580,11 +605,12 @@
   superstructure_plant_.InitializeRelativeWristPosition(
       constants::Values::kWristRange.upper);
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = constants::Values::kIntakeRange.lower;
-    message->angle_shoulder = constants::Values::kShoulderRange.lower;
-    message->angle_wrist = 0.0;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(constants::Values::kIntakeRange.lower);
+    goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
+    goal_builder.add_angle_wrist(0.0);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   // We have to wait for it to put the superstructure in a safe position as
   // well.
@@ -604,11 +630,12 @@
       constants::Values::kWristRange.upper);
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = constants::Values::kIntakeRange.lower + 0.3;
-    message->angle_shoulder = constants::Values::kShoulderRange.upper;
-    message->angle_wrist = 0.0;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(constants::Values::kIntakeRange.lower + 0.3);
+    goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.upper);
+    goal_builder.add_angle_wrist(0.0);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(15));
 
@@ -628,11 +655,13 @@
   superstructure_plant_.set_check_for_collisions(false);
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = constants::Values::kIntakeRange.lower + 0.03;
-    message->angle_shoulder = constants::Values::kShoulderRange.lower + 0.03;
-    message->angle_wrist = constants::Values::kWristRange.lower + 0.03;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(constants::Values::kIntakeRange.lower + 0.03);
+    goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower +
+                                    0.03);
+    goal_builder.add_angle_wrist(constants::Values::kWristRange.lower + 0.03);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::milliseconds(100));
@@ -659,17 +688,18 @@
       constants::Values::kWristRange.upper);
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = constants::Values::kIntakeRange.upper;
-    message->angle_shoulder = constants::Values::kShoulderRange.upper;
-    message->angle_wrist = constants::Values::kWristRange.upper;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(constants::Values::kIntakeRange.upper);
+    goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.upper);
+    goal_builder.add_angle_wrist(constants::Values::kWristRange.upper);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Expected states to cycle through and check in order.
@@ -730,17 +760,18 @@
   superstructure_plant_.InitializeAbsoluteWristPosition(0.0);
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = constants::Values::kIntakeRange.lower;
-    message->angle_shoulder = constants::Values::kShoulderRange.lower;
-    message->angle_wrist = constants::Values::kWristRange.lower;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(constants::Values::kIntakeRange.lower);
+    goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
+    goal_builder.add_angle_wrist(constants::Values::kWristRange.lower);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Expected states to cycle through and check in order.
@@ -812,11 +843,12 @@
   superstructure_plant_.InitializeRelativeWristPosition(0.0);
   superstructure_plant_.set_power_error(1.0, 1.0, 1.0);
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = 0.0;
-    message->angle_wrist = 0.0;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(0.0);
+    goal_builder.add_angle_wrist(0.0);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(8));
@@ -834,12 +866,13 @@
   superstructure_plant_.InitializeRelativeWristPosition(-0.001);
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder =
-        constants::Values::kShoulderEncoderIndexDifference * 10;
-    message->angle_wrist = 0.0;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(
+        constants::Values::kShoulderEncoderIndexDifference * 10);
+    goal_builder.add_angle_wrist(0.0);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Run disabled for 2 seconds
@@ -883,17 +916,18 @@
 TEST_F(SuperstructureTest, ShoulderAccelerationLimitTest) {
   SetEnabled(true);
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = 1.0;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(1.0);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(6));
@@ -902,17 +936,18 @@
   VerifyNearGoal();
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = 1.5;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 1;
-    message->max_angular_acceleration_intake = 1;
-    message->max_angular_velocity_shoulder = 1;
-    message->max_angular_acceleration_shoulder = 1;
-    message->max_angular_velocity_wrist = 1;
-    message->max_angular_acceleration_wrist = 1;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(1.5);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(1);
+    goal_builder.add_max_angular_acceleration_intake(1);
+    goal_builder.add_max_angular_velocity_shoulder(1);
+    goal_builder.add_max_angular_acceleration_shoulder(1);
+    goal_builder.add_max_angular_velocity_wrist(1);
+    goal_builder.add_max_angular_acceleration_wrist(1);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // TODO(austin): The profile isn't feasible, so when we try to track it, we
@@ -930,17 +965,18 @@
 TEST_F(SuperstructureTest, IntakeAccelerationLimitTest) {
   SetEnabled(true);
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = 1.0;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(1.0);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(6));
@@ -949,17 +985,18 @@
   VerifyNearGoal();
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.5;
-    message->angle_shoulder = 1.0;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 1;
-    message->max_angular_acceleration_intake = 1;
-    message->max_angular_velocity_shoulder = 1;
-    message->max_angular_acceleration_shoulder = 1;
-    message->max_angular_velocity_wrist = 1;
-    message->max_angular_acceleration_wrist = 1;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.5);
+    goal_builder.add_angle_shoulder(1.0);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(1);
+    goal_builder.add_max_angular_acceleration_intake(1);
+    goal_builder.add_max_angular_velocity_shoulder(1);
+    goal_builder.add_max_angular_acceleration_shoulder(1);
+    goal_builder.add_max_angular_velocity_wrist(1);
+    goal_builder.add_max_angular_acceleration_wrist(1);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   superstructure_plant_.set_peak_intake_acceleration(1.20);
@@ -974,18 +1011,19 @@
 TEST_F(SuperstructureTest, WristAccelerationLimitTest) {
   SetEnabled(true);
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder =
-        CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference + 0.1;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(
+        CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference + 0.1);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(6));
@@ -994,18 +1032,19 @@
   VerifyNearGoal();
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder =
-        CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference + 0.1;
-    message->angle_wrist = 0.5;
-    message->max_angular_velocity_intake = 1;
-    message->max_angular_acceleration_intake = 1;
-    message->max_angular_velocity_shoulder = 1;
-    message->max_angular_acceleration_shoulder = 1;
-    message->max_angular_velocity_wrist = 1;
-    message->max_angular_acceleration_wrist = 1;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(
+        CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference + 0.1);
+    goal_builder.add_angle_wrist(0.5);
+    goal_builder.add_max_angular_velocity_intake(1);
+    goal_builder.add_max_angular_acceleration_intake(1);
+    goal_builder.add_max_angular_velocity_shoulder(1);
+    goal_builder.add_max_angular_acceleration_shoulder(1);
+    goal_builder.add_max_angular_velocity_wrist(1);
+    goal_builder.add_max_angular_acceleration_wrist(1);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   superstructure_plant_.set_peak_intake_acceleration(1.05);
@@ -1021,18 +1060,19 @@
 TEST_F(SuperstructureTest, SaturatedIntakeProfileTest) {
   SetEnabled(true);
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder =
-        CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(
+        CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(6));
@@ -1041,18 +1081,19 @@
   VerifyNearGoal();
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.5;
-    message->angle_shoulder =
-        CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 4.5;
-    message->max_angular_acceleration_intake = 800;
-    message->max_angular_velocity_shoulder = 1;
-    message->max_angular_acceleration_shoulder = 100;
-    message->max_angular_velocity_wrist = 1;
-    message->max_angular_acceleration_wrist = 100;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.5);
+    goal_builder.add_angle_shoulder(
+        CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(4.5);
+    goal_builder.add_max_angular_acceleration_intake(800);
+    goal_builder.add_max_angular_velocity_shoulder(1);
+    goal_builder.add_max_angular_acceleration_shoulder(100);
+    goal_builder.add_max_angular_velocity_wrist(1);
+    goal_builder.add_max_angular_acceleration_wrist(100);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   superstructure_plant_.set_peak_intake_velocity(4.65);
@@ -1068,17 +1109,18 @@
 TEST_F(SuperstructureTest, SaturatedShoulderProfileTest) {
   SetEnabled(true);
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = 1.0;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(1.0);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(6));
@@ -1087,17 +1129,18 @@
   VerifyNearGoal();
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = 1.9;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 1.0;
-    message->max_angular_acceleration_intake = 1.0;
-    message->max_angular_velocity_shoulder = 5.0;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 1;
-    message->max_angular_acceleration_wrist = 100;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(1.9);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(1.0);
+    goal_builder.add_max_angular_acceleration_intake(1.0);
+    goal_builder.add_max_angular_velocity_shoulder(5.0);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(1);
+    goal_builder.add_max_angular_acceleration_wrist(100);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   superstructure_plant_.set_peak_intake_velocity(1.0);
@@ -1113,18 +1156,19 @@
 TEST_F(SuperstructureTest, SaturatedWristProfileTest) {
   SetEnabled(true);
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder =
-        CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference + 0.1;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(
+        CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference + 0.1);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(6));
@@ -1133,18 +1177,19 @@
   VerifyNearGoal();
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder =
-        CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference + 0.1;
-    message->angle_wrist = 1.3;
-    message->max_angular_velocity_intake = 1.0;
-    message->max_angular_acceleration_intake = 1.0;
-    message->max_angular_velocity_shoulder = 1.0;
-    message->max_angular_acceleration_shoulder = 1.0;
-    message->max_angular_velocity_wrist = 10.0;
-    message->max_angular_acceleration_wrist = 160.0;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(
+        CollisionAvoidance::kMinShoulderAngleForIntakeUpInterference + 0.1);
+    goal_builder.add_angle_wrist(1.3);
+    goal_builder.add_max_angular_velocity_intake(1.0);
+    goal_builder.add_max_angular_acceleration_intake(1.0);
+    goal_builder.add_max_angular_velocity_shoulder(1.0);
+    goal_builder.add_max_angular_acceleration_shoulder(1.0);
+    goal_builder.add_max_angular_velocity_wrist(10.0);
+    goal_builder.add_max_angular_acceleration_wrist(160.0);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   superstructure_plant_.set_peak_intake_velocity(1.0);
@@ -1165,21 +1210,26 @@
   superstructure_plant_.InitializeAbsoluteWristPosition(0.0);
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = constants::Values::kIntakeRange.upper;  // stowed
-    message->angle_shoulder = constants::Values::kShoulderRange.lower;  // Down
-    message->angle_wrist = 0.0;  // Stowed
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(
+        constants::Values::kIntakeRange.upper);  // stowed
+    goal_builder.add_angle_shoulder(
+        constants::Values::kShoulderRange.lower);  // Down
+    goal_builder.add_angle_wrist(0.0);             // Stowed
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(15));
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = constants::Values::kIntakeRange.upper;  // stowed
-    message->angle_shoulder = M_PI / 4.0;  // in the collision area
-    message->angle_wrist = M_PI / 2.0;     // down
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(
+        constants::Values::kIntakeRange.upper);   // stowed
+    goal_builder.add_angle_shoulder(M_PI / 4.0);  // in the collision area
+    goal_builder.add_angle_wrist(M_PI / 2.0);     // down
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(5));
@@ -1188,27 +1238,30 @@
   ASSERT_TRUE(superstructure_status_fetcher_.get() != nullptr);
 
   // The intake should be out of the way despite being told to move to stowing.
-  EXPECT_LT(superstructure_status_fetcher_->intake.angle, M_PI);
-  EXPECT_LT(superstructure_status_fetcher_->intake.angle,
+  EXPECT_LT(superstructure_status_fetcher_->intake()->angle(), M_PI);
+  EXPECT_LT(superstructure_status_fetcher_->intake()->angle(),
             constants::Values::kIntakeRange.upper);
-  EXPECT_LT(superstructure_status_fetcher_->intake.angle,
+  EXPECT_LT(superstructure_status_fetcher_->intake()->angle(),
             CollisionAvoidance::kMaxIntakeAngleBeforeArmInterference);
 
   // The arm should have reached its goal.
-  EXPECT_NEAR(M_PI / 4.0, superstructure_status_fetcher_->shoulder.angle, 0.001);
+  EXPECT_NEAR(M_PI / 4.0, superstructure_status_fetcher_->shoulder()->angle(),
+              0.001);
 
   // The wrist should be forced into a stowing position.
   // Since the intake is kicked out, we can be within
   // kMaxWristAngleForMovingByIntake
-  EXPECT_NEAR(0, superstructure_status_fetcher_->wrist.angle,
+  EXPECT_NEAR(0, superstructure_status_fetcher_->wrist()->angle(),
               CollisionAvoidance::kMaxWristAngleForMovingByIntake + 0.001);
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = constants::Values::kIntakeRange.upper;  // stowed
-    message->angle_shoulder = M_PI / 2.0;  // in the collision area
-    message->angle_wrist = M_PI;           // forward
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(
+        constants::Values::kIntakeRange.upper);   // stowed
+    goal_builder.add_angle_shoulder(M_PI / 2.0);  // in the collision area
+    goal_builder.add_angle_wrist(M_PI);           // forward
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(5));
@@ -1224,11 +1277,12 @@
   superstructure_plant_.InitializeAbsoluteWristPosition(M_PI);   // forward
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = 0.0;
-    message->angle_wrist = M_PI;  // intentionally asking for forward
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(0.0);
+    goal_builder.add_angle_wrist(M_PI);  // intentionally asking for forward
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(15));
@@ -1237,12 +1291,12 @@
   ASSERT_TRUE(superstructure_status_fetcher_.get() != nullptr);
 
   // The intake should be in intaking position, as asked.
-  EXPECT_NEAR(0.0, superstructure_status_fetcher_->intake.angle, 0.001);
+  EXPECT_NEAR(0.0, superstructure_status_fetcher_->intake()->angle(), 0.001);
 
   // The shoulder and wrist should both be at zero degrees (i.e.
   // stowed/intaking position).
-  EXPECT_NEAR(0.0, superstructure_status_fetcher_->shoulder.angle, 0.001);
-  EXPECT_NEAR(0.0, superstructure_status_fetcher_->wrist.angle, 0.001);
+  EXPECT_NEAR(0.0, superstructure_status_fetcher_->shoulder()->angle(), 0.001);
+  EXPECT_NEAR(0.0, superstructure_status_fetcher_->wrist()->angle(), 0.001);
 }
 
 // Make sure that we can properly detect a collision.
@@ -1250,11 +1304,12 @@
   SetEnabled(true);
   // Zero & go straight up with the shoulder.
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = M_PI * 0.5;
-    message->angle_wrist = 0.0;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(M_PI * 0.5);
+    goal_builder.add_angle_wrist(0.0);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(6));
@@ -1290,11 +1345,12 @@
   SetEnabled(true);
   // Zero & go straight up with the shoulder.
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = constants::Values::kShoulderRange.lower;
-    message->angle_wrist = 0.0;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
+    goal_builder.add_angle_wrist(0.0);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(6));
@@ -1333,11 +1389,12 @@
   superstructure_plant_.InitializeAbsoluteWristPosition(0.0);
 
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = constants::Values::kShoulderRange.lower;
-    message->angle_wrist = 0.0;  // intentionally asking for forward
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
+    goal_builder.add_angle_wrist(0.0);  // intentionally asking for forward
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(6));
@@ -1353,7 +1410,7 @@
   RunFor(chrono::seconds(2));
   superstructure_goal_fetcher_.Fetch();
   EXPECT_LE(constants::Values::kShoulderRange.lower,
-            superstructure_goal_fetcher_->angle_shoulder);
+            superstructure_goal_fetcher_->angle_shoulder());
 }
 
 // Make sure that we land slowly.
@@ -1361,27 +1418,29 @@
   SetEnabled(true);
   // Zero & go to initial position.
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = M_PI * 0.25;
-    message->angle_wrist = 0.0;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(M_PI * 0.25);
+    goal_builder.add_angle_wrist(0.0);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(8));
 
   // Tell it to land in the bellypan as fast as possible.
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = 0.0;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(0.0);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Wait until we hit the transition point.
@@ -1400,27 +1459,29 @@
   SetEnabled(true);
   // Zero & go to initial position.
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = 0.0;
-    message->angle_wrist = 0.0;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(0.0);
+    goal_builder.add_angle_wrist(0.0);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(8));
 
   // Tell it to take off as fast as possible.
   {
-    auto message = superstructure_goal_sender_.MakeMessage();
-    message->angle_intake = 0.0;
-    message->angle_shoulder = M_PI / 2.0;
-    message->angle_wrist = 0.0;
-    message->max_angular_velocity_intake = 20;
-    message->max_angular_acceleration_intake = 20;
-    message->max_angular_velocity_shoulder = 20;
-    message->max_angular_acceleration_shoulder = 20;
-    message->max_angular_velocity_wrist = 20;
-    message->max_angular_acceleration_wrist = 20;
-    ASSERT_TRUE(message.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_angle_intake(0.0);
+    goal_builder.add_angle_shoulder(M_PI / 2.0);
+    goal_builder.add_angle_wrist(0.0);
+    goal_builder.add_max_angular_velocity_intake(20);
+    goal_builder.add_max_angular_acceleration_intake(20);
+    goal_builder.add_max_angular_velocity_shoulder(20);
+    goal_builder.add_max_angular_acceleration_shoulder(20);
+    goal_builder.add_max_angular_velocity_wrist(20);
+    goal_builder.add_max_angular_acceleration_wrist(20);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Wait until we hit the transition point.
diff --git a/y2016/control_loops/superstructure/superstructure_main.cc b/y2016/control_loops/superstructure/superstructure_main.cc
index 00fa7dd..abe2ec9 100644
--- a/y2016/control_loops/superstructure/superstructure_main.cc
+++ b/y2016/control_loops/superstructure/superstructure_main.cc
@@ -1,12 +1,15 @@
 #include "y2016/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() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2016::control_loops::superstructure::Superstructure superstructure(
       &event_loop);
 
diff --git a/y2016/control_loops/superstructure/superstructure_output.fbs b/y2016/control_loops/superstructure/superstructure_output.fbs
new file mode 100644
index 0000000..40a0091
--- /dev/null
+++ b/y2016/control_loops/superstructure/superstructure_output.fbs
@@ -0,0 +1,22 @@
+namespace y2016.control_loops.superstructure;
+
+table Output {
+  voltage_intake:float;
+  voltage_shoulder:float;
+  voltage_wrist:float;
+
+  voltage_top_rollers:float;
+  voltage_bottom_rollers:float;
+
+  // Voltage to sent to the climber. Positive is pulling the robot up.
+  voltage_climber:float;
+  // If true, release the latch to trigger the climber to unfold.
+  unfold_climber:bool;
+
+  // If true, release the latch to hold the traverse mechanism in the middle.
+  traverse_unlatched:bool;
+  // If true, fire the traverse mechanism down.
+  traverse_down:bool;
+}
+
+root_type Output;
diff --git a/y2016/control_loops/superstructure/superstructure_position.fbs b/y2016/control_loops/superstructure/superstructure_position.fbs
new file mode 100644
index 0000000..fb356e0
--- /dev/null
+++ b/y2016/control_loops/superstructure/superstructure_position.fbs
@@ -0,0 +1,19 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2016.control_loops.superstructure;
+
+table Position {
+  // Zero for the intake potentiometer value is horizontal, and positive is
+  // up.
+  // Zero for the shoulder potentiometer value is horizontal, and positive is
+  // up.
+  // Zero for the wrist potentiometer value is parallel to the arm and with
+  // the shooter wheels pointed towards the shoulder joint.  This is measured
+  // relative to the arm, not the ground, not like the world we actually
+  // present to users.
+  intake:frc971.PotAndIndexPosition;
+  shoulder:frc971.PotAndIndexPosition;
+  wrist:frc971.PotAndIndexPosition;
+}
+
+root_type Position;
diff --git a/y2016/control_loops/superstructure/superstructure_status.fbs b/y2016/control_loops/superstructure/superstructure_status.fbs
new file mode 100644
index 0000000..373bfe2
--- /dev/null
+++ b/y2016/control_loops/superstructure/superstructure_status.fbs
@@ -0,0 +1,56 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2016.control_loops.superstructure;
+
+table JointState {
+  // Angle of the joint in radians.
+  angle:float;
+  // Angular velocity of the joint in radians/second.
+  angular_velocity:float;
+  // Profiled goal angle of the joint in radians.
+  goal_angle:float;
+  // Profiled goal angular velocity of the joint in radians/second.
+  goal_angular_velocity:float;
+  // Unprofiled goal angle of the joint in radians.
+  unprofiled_goal_angle:float;
+  // Unprofiled goal angular velocity of the joint in radians/second.
+  unprofiled_goal_angular_velocity:float;
+
+  // The estimated voltage error.
+  voltage_error:float;
+
+  // The calculated velocity with delta x/delta t
+  calculated_velocity:float;
+
+  // Components of the control loop output
+  position_power:float;
+  velocity_power:float;
+  feedforwards_power:float;
+
+  // State of the estimator.
+  estimator_state:frc971.EstimatorState;
+}
+
+table Status {
+  // Are the superstructure subsystems zeroed?
+  zeroed:bool;
+
+  // If true, we have aborted.
+  estopped:bool;
+
+  // The internal state of the state machine.
+  state:int;
+
+
+  // Estimated angles and angular velocities of the superstructure subsystems.
+  intake:JointState;
+  shoulder:JointState;
+  wrist:JointState;
+
+  shoulder_controller_index:int;
+
+  // Is the superstructure collided?
+  is_collided:bool;
+}
+
+root_type Status;
diff --git a/y2016/dashboard/BUILD b/y2016/dashboard/BUILD
index f3998a1..dbc6214 100644
--- a/y2016/dashboard/BUILD
+++ b/y2016/dashboard/BUILD
@@ -1,5 +1,5 @@
 load("//aos/seasocks:gen_embedded.bzl", "gen_embedded")
-load("//aos/downloader:downloader.bzl", "aos_downloader_dir")
+load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
 
 gen_embedded(
     name = "gen_embedded",
@@ -28,16 +28,17 @@
     deps = [
         ":gen_embedded",
         "//aos:init",
-        "//aos/events:event-loop",
-        "//aos/events:shm-event-loop",
+        "//aos/events:event_loop",
+        "//aos/events:shm_event_loop",
         "//aos/logging",
         "//aos/seasocks:seasocks_logger",
         "//aos/time",
         "//aos/util:phased_loop",
-        "//frc971/autonomous:auto_queue",
+        "//frc971/autonomous:auto_fbs",
+        "//frc971/control_loops:control_loops_fbs",
         "//third_party/seasocks",
-        "//y2016/control_loops/superstructure:superstructure_queue",
-        "//y2016/queues:ball_detector",
-        "//y2016/vision:vision_queue",
+        "//y2016/control_loops/superstructure:superstructure_status_fbs",
+        "//y2016/queues:ball_detector_fbs",
+        "//y2016/vision:vision_fbs",
     ],
 )
diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
index 27036e0..7f13fbe 100644
--- a/y2016/dashboard/dashboard.cc
+++ b/y2016/dashboard/dashboard.cc
@@ -11,17 +11,18 @@
 #include "internal/Embedded.h"
 #include "seasocks/Server.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
 #include "aos/mutex/mutex.h"
+#include "aos/realtime.h"
 #include "aos/seasocks/seasocks_logger.h"
 #include "aos/time/time.h"
 #include "aos/util/phased_loop.h"
-#include "frc971/autonomous/auto.q.h"
-#include "y2016/control_loops/superstructure/superstructure.q.h"
-#include "y2016/queues/ball_detector.q.h"
-#include "y2016/vision/vision.q.h"
+#include "frc971/autonomous/auto_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2016/queues/ball_detector_generated.h"
+#include "y2016/vision/vision_generated.h"
 
 namespace chrono = ::std::chrono;
 
@@ -52,17 +53,17 @@
     : event_loop_(event_loop),
       vision_status_fetcher_(
           event_loop->MakeFetcher<::y2016::vision::VisionStatus>(
-              ".y2016.vision.vision_status")),
+              "/superstructure")),
       ball_detector_fetcher_(
           event_loop->MakeFetcher<::y2016::sensors::BallDetector>(
-              ".y2016.sensors.ball_detector")),
+              "/superstructure")),
       autonomous_mode_fetcher_(
           event_loop->MakeFetcher<::frc971::autonomous::AutonomousMode>(
-              ".frc971.autonomous.auto_mode")),
+              "/aos")),
       superstructure_status_fetcher_(
-          event_loop->MakeFetcher<
-              ::y2016::control_loops::SuperstructureQueue::Status>(
-              ".y2016.control_loops.superstructure_queue.status")),
+          event_loop
+              ->MakeFetcher<::y2016::control_loops::superstructure::Status>(
+                  "/superstructure")),
       cur_raw_data_("no data"),
       sample_id_(0),
       measure_index_(0),
@@ -121,22 +122,22 @@
     // TODO(comran): Grab detected voltage from joystick_reader. Except this
     // value may not change, so it may be worth it to keep it as it is right
     // now.
-    if (ball_detector_fetcher_->voltage > 2.5) {
+    if (ball_detector_fetcher_->voltage() > 2.5) {
       big_indicator = big_indicator::kBallIntaked;
     }
   }
 
   if (superstructure_status_fetcher_.get()) {
-    if (!superstructure_status_fetcher_->zeroed) {
+    if (!superstructure_status_fetcher_->zeroed()) {
       superstructure_state_indicator = superstructure_indicator::kNotZeroed;
     }
-    if (superstructure_status_fetcher_->estopped) {
+    if (superstructure_status_fetcher_->estopped()) {
       superstructure_state_indicator = superstructure_indicator::kEstopped;
     }
   }
 
   if (autonomous_mode_fetcher_.get()) {
-    auto_mode_indicator = autonomous_mode_fetcher_->mode;
+    auto_mode_indicator = autonomous_mode_fetcher_->mode();
   }
 
   AddPoint("big indicator", big_indicator);
@@ -285,7 +286,10 @@
 
   ::aos::InitNRT();
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
 
   ::seasocks::Server server(::std::shared_ptr<seasocks::Logger>(
       new ::aos::seasocks::SeasocksLogger(::seasocks::Logger::Level::Info)));
diff --git a/y2016/dashboard/dashboard.h b/y2016/dashboard/dashboard.h
index ed5a579..f019ec7 100644
--- a/y2016/dashboard/dashboard.h
+++ b/y2016/dashboard/dashboard.h
@@ -14,13 +14,13 @@
 #include "seasocks/StringUtil.h"
 #include "seasocks/WebSocket.h"
 
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
 #include "aos/mutex/mutex.h"
 #include "aos/time/time.h"
-#include "frc971/autonomous/auto.q.h"
-#include "y2016/control_loops/superstructure/superstructure.q.h"
-#include "y2016/queues/ball_detector.q.h"
-#include "y2016/vision/vision.q.h"
+#include "frc971/autonomous/auto_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2016/queues/ball_detector_generated.h"
+#include "y2016/vision/vision_generated.h"
 
 namespace y2016 {
 namespace dashboard {
@@ -71,7 +71,7 @@
   ::aos::Fetcher<::y2016::vision::VisionStatus> vision_status_fetcher_;
   ::aos::Fetcher<::y2016::sensors::BallDetector> ball_detector_fetcher_;
   ::aos::Fetcher<::frc971::autonomous::AutonomousMode> autonomous_mode_fetcher_;
-  ::aos::Fetcher<::y2016::control_loops::SuperstructureQueue::Status>
+  ::aos::Fetcher<::y2016::control_loops::superstructure::Status>
       superstructure_status_fetcher_;
 
   // Storage vector that is written and overwritten with data in a FIFO fashion.
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 276fda6..50f2f8a 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -11,19 +11,20 @@
 #include "aos/time/time.h"
 #include "aos/util/log_interval.h"
 
-#include "frc971/autonomous/auto.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/queues/gyro.q.h"
+#include "frc971/autonomous/auto_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "y2016/actors/autonomous_actor.h"
 #include "y2016/actors/superstructure_actor.h"
 #include "y2016/actors/vision_align_actor.h"
 #include "y2016/constants.h"
 #include "y2016/control_loops/drivetrain/drivetrain_base.h"
-#include "y2016/control_loops/shooter/shooter.q.h"
+#include "y2016/control_loops/shooter/shooter_goal_generated.h"
 #include "y2016/control_loops/superstructure/superstructure.h"
-#include "y2016/control_loops/superstructure/superstructure.q.h"
-#include "y2016/queues/ball_detector.q.h"
-#include "y2016/vision/vision.q.h"
+#include "y2016/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2016/queues/ball_detector_generated.h"
+#include "y2016/vision/vision_generated.h"
 
 using ::aos::input::driver_station::ButtonLocation;
 using ::aos::input::driver_station::ControlBit;
@@ -73,30 +74,28 @@
             ::aos::input::DrivetrainInputReader::InputType::kSteeringWheel, {}),
         vision_status_fetcher_(
             event_loop->MakeFetcher<::y2016::vision::VisionStatus>(
-                ".y2016.vision.vision_status")),
+                "/superstructure")),
         ball_detector_fetcher_(
             event_loop->MakeFetcher<::y2016::sensors::BallDetector>(
-                ".y2016.sensors.ball_detector")),
+                "/superstructure")),
         shooter_goal_sender_(
-            event_loop->MakeSender<
-                ::y2016::control_loops::shooter::ShooterQueue::Goal>(
-                ".y2016.control_loops.shooter.shooter_queue.goal")),
+            event_loop->MakeSender<::y2016::control_loops::shooter::Goal>(
+                "/shooter")),
         superstructure_status_fetcher_(
-            event_loop->MakeFetcher<
-                ::y2016::control_loops::SuperstructureQueue::Status>(
-                ".y2016.control_loops.superstructure_queue.status")),
+            event_loop
+                ->MakeFetcher<::y2016::control_loops::superstructure::Status>(
+                    "/superstructure")),
         superstructure_goal_sender_(
             event_loop
-                ->MakeSender<::y2016::control_loops::SuperstructureQueue::Goal>(
-                    ".y2016.control_loops.superstructure_queue.goal")),
+                ->MakeSender<::y2016::control_loops::superstructure::Goal>(
+                    "/superstructure")),
         drivetrain_goal_fetcher_(
-            event_loop
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Goal>(
-                    ".frc971.control_loops.drivetrain_queue.goal")),
+            event_loop->MakeFetcher<::frc971::control_loops::drivetrain::Goal>(
+                "/drivetrain")),
         drivetrain_status_fetcher_(
             event_loop
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Status>(
-                    ".frc971.control_loops.drivetrain_queue.status")),
+                ->MakeFetcher<::frc971::control_loops::drivetrain::Status>(
+                    "/drivetrain")),
         intake_goal_(0.0),
         shoulder_goal_(M_PI / 2.0),
         wrist_goal_(0.0),
@@ -116,14 +115,14 @@
     vision_status_fetcher_.Fetch();
 
     if (vision_status_fetcher_.get()) {
-      vision_valid_ = (vision_status_fetcher_->left_image_valid &&
-                       vision_status_fetcher_->right_image_valid);
-      last_angle_ = vision_status_fetcher_->horizontal_angle;
+      vision_valid_ = (vision_status_fetcher_->left_image_valid() &&
+                       vision_status_fetcher_->right_image_valid());
+      last_angle_ = vision_status_fetcher_->horizontal_angle();
     }
 
     if (data.IsPressed(kVisionAlign)) {
       if (vision_valid_ && !vision_action_running_) {
-        actors::VisionAlignActionParams params;
+        actors::vision_align_action::VisionAlignActionParamsT params;
         EnqueueAction(vision_align_action_factory_.Make(params));
         vision_action_running_ = true;
         AOS_LOG(INFO, "Starting vision align\n");
@@ -167,7 +166,7 @@
     }
 
     if (superstructure_status_fetcher_.get() &&
-        superstructure_status_fetcher_->zeroed) {
+        superstructure_status_fetcher_->zeroed()) {
       if (waiting_for_zero_) {
         AOS_LOG(DEBUG, "Zeroed! Starting teleop mode.\n");
         waiting_for_zero_ = false;
@@ -191,7 +190,7 @@
       wrist_goal_ = M_PI + 0.41 + 0.02 - 0.005;
       drivetrain_status_fetcher_.Fetch();
       if (drivetrain_status_fetcher_.get()) {
-        wrist_goal_ += drivetrain_status_fetcher_->ground_angle;
+        wrist_goal_ += drivetrain_status_fetcher_->ground_angle();
       }
       shooter_velocity_ = 640.0;
       intake_goal_ = intake_when_shooting;
@@ -201,7 +200,7 @@
       wrist_goal_ = -0.62 - 0.02;
       drivetrain_status_fetcher_.Fetch();
       if (drivetrain_status_fetcher_.get()) {
-        wrist_goal_ += drivetrain_status_fetcher_->ground_angle;
+        wrist_goal_ += drivetrain_status_fetcher_->ground_angle();
       }
       shooter_velocity_ = 640.0;
       intake_goal_ = intake_when_shooting;
@@ -225,7 +224,7 @@
       intake_goal_ = 0.0;
       if (data.PosEdge(kExpand)) {
         is_expanding_ = true;
-        actors::SuperstructureActionParams params;
+        actors::superstructure_action::SuperstructureActionParamsT params;
         params.partial_angle = 0.3;
         params.delay_time = 0.7;
         params.full_angle = shoulder_goal_;
@@ -248,7 +247,7 @@
     bool ball_detected = false;
     ball_detector_fetcher_.Fetch();
     if (ball_detector_fetcher_.get()) {
-      ball_detected = ball_detector_fetcher_->voltage > 2.5;
+      ball_detected = ball_detector_fetcher_->voltage() > 2.5;
     }
     if (data.PosEdge(kIntakeIn)) {
       saw_ball_when_started_intaking_ = ball_detected;
@@ -271,16 +270,16 @@
         drivetrain_goal_fetcher_.Fetch();
         if (drivetrain_status_fetcher_.get() &&
             drivetrain_goal_fetcher_.get()) {
-          const double left_goal = drivetrain_goal_fetcher_->left_goal;
-          const double right_goal = drivetrain_goal_fetcher_->right_goal;
+          const double left_goal = drivetrain_goal_fetcher_->left_goal();
+          const double right_goal = drivetrain_goal_fetcher_->right_goal();
           const double left_current =
-              drivetrain_status_fetcher_->estimated_left_position;
+              drivetrain_status_fetcher_->estimated_left_position();
           const double right_current =
-              drivetrain_status_fetcher_->estimated_right_position;
+              drivetrain_status_fetcher_->estimated_right_position();
           const double left_velocity =
-              drivetrain_status_fetcher_->estimated_left_velocity;
+              drivetrain_status_fetcher_->estimated_left_velocity();
           const double right_velocity =
-              drivetrain_status_fetcher_->estimated_right_velocity;
+              drivetrain_status_fetcher_->estimated_right_velocity();
           if (vision_action_running_ && ::std::abs(last_angle_) < 0.02 &&
               ::std::abs((left_goal - right_goal) -
                          (left_current - right_current)) /
@@ -331,54 +330,57 @@
 
     if (!waiting_for_zero_) {
       if (!is_expanding_) {
-        auto new_superstructure_goal =
-            superstructure_goal_sender_.MakeMessage();
-        new_superstructure_goal->angle_intake = intake_goal_;
-        new_superstructure_goal->angle_shoulder = shoulder_goal_;
-        new_superstructure_goal->angle_wrist = wrist_goal_;
+        auto builder = superstructure_goal_sender_.MakeBuilder();
 
-        new_superstructure_goal->max_angular_velocity_intake = 7.0;
-        new_superstructure_goal->max_angular_velocity_shoulder = 4.0;
-        new_superstructure_goal->max_angular_velocity_wrist = 10.0;
+        ::y2016::control_loops::superstructure::Goal::Builder
+            superstructure_builder = builder.MakeBuilder<
+                ::y2016::control_loops::superstructure::Goal>();
+        superstructure_builder.add_angle_intake(intake_goal_);
+        superstructure_builder.add_angle_shoulder(shoulder_goal_);
+        superstructure_builder.add_angle_wrist(wrist_goal_);
+
+        superstructure_builder.add_max_angular_velocity_intake(7.0);
+        superstructure_builder.add_max_angular_velocity_shoulder(4.0);
+        superstructure_builder.add_max_angular_velocity_wrist(10.0);
         if (use_slow_profile) {
-          new_superstructure_goal->max_angular_acceleration_intake = 10.0;
+          superstructure_builder.add_max_angular_acceleration_intake(10.0);
         } else {
-          new_superstructure_goal->max_angular_acceleration_intake = 40.0;
+          superstructure_builder.add_max_angular_acceleration_intake(40.0);
         }
-        new_superstructure_goal->max_angular_acceleration_shoulder = 10.0;
+        superstructure_builder.add_max_angular_acceleration_shoulder(10.0);
         if (shoulder_goal_ > 1.0) {
-          new_superstructure_goal->max_angular_acceleration_wrist = 45.0;
+          superstructure_builder.add_max_angular_acceleration_wrist(45.0);
         } else {
-          new_superstructure_goal->max_angular_acceleration_wrist = 25.0;
+          superstructure_builder.add_max_angular_acceleration_wrist(25.0);
         }
 
         // Granny mode
         /*
-        new_superstructure_goal->max_angular_velocity_intake = 0.2;
-        new_superstructure_goal->max_angular_velocity_shoulder = 0.2;
-        new_superstructure_goal->max_angular_velocity_wrist = 0.2;
-        new_superstructure_goal->max_angular_acceleration_intake = 1.0;
-        new_superstructure_goal->max_angular_acceleration_shoulder = 1.0;
-        new_superstructure_goal->max_angular_acceleration_wrist = 1.0;
+        superstructure_builder.add_max_angular_velocity_intake(0.2);
+        superstructure_builder.add_max_angular_velocity_shoulder(0.2);
+        superstructure_builder.add_max_angular_velocity_wrist(0.2);
+        superstructure_builder.add_max_angular_acceleration_intake(1.0);
+        superstructure_builder.add_max_angular_acceleration_shoulder(1.0);
+        superstructure_builder.add_max_angular_acceleration_wrist(1.0);
         */
         if (is_intaking_) {
-          new_superstructure_goal->voltage_top_rollers = 12.0;
-          new_superstructure_goal->voltage_bottom_rollers = 12.0;
+          superstructure_builder.add_voltage_top_rollers(12.0);
+          superstructure_builder.add_voltage_bottom_rollers(12.0);
         } else if (is_outtaking_) {
-          new_superstructure_goal->voltage_top_rollers = -12.0;
-          new_superstructure_goal->voltage_bottom_rollers = -7.0;
+          superstructure_builder.add_voltage_top_rollers(-12.0);
+          superstructure_builder.add_voltage_bottom_rollers(-7.0);
         } else {
-          new_superstructure_goal->voltage_top_rollers = 0.0;
-          new_superstructure_goal->voltage_bottom_rollers = 0.0;
+          superstructure_builder.add_voltage_top_rollers(0.0);
+          superstructure_builder.add_voltage_bottom_rollers(0.0);
         }
 
-        new_superstructure_goal->traverse_unlatched = traverse_unlatched_;
-        new_superstructure_goal->unfold_climber = false;
-        new_superstructure_goal->voltage_climber = voltage_climber;
-        new_superstructure_goal->traverse_down = traverse_down_;
-        new_superstructure_goal->force_intake = true;
+        superstructure_builder.add_traverse_unlatched(traverse_unlatched_);
+        superstructure_builder.add_unfold_climber(false);
+        superstructure_builder.add_voltage_climber(voltage_climber);
+        superstructure_builder.add_traverse_down(traverse_down_);
+        superstructure_builder.add_force_intake(true);
 
-        if (!new_superstructure_goal.Send()) {
+        if (!builder.Send(superstructure_builder.Finish())) {
           AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
         } else {
           AOS_LOG(DEBUG, "sending goals: intake: %f, shoulder: %f, wrist: %f\n",
@@ -386,15 +388,19 @@
         }
       }
 
-      auto shooter_message = shooter_goal_sender_.MakeMessage();
-      shooter_message->angular_velocity = shooter_velocity_;
-      shooter_message->clamp_open = is_intaking_ || is_outtaking_;
-      shooter_message->push_to_shooter = fire_;
-      shooter_message->force_lights_on = force_lights_on;
-      shooter_message->shooting_forwards = wrist_goal_ > 0;
+      {
+        auto builder = shooter_goal_sender_.MakeBuilder();
+        y2016::control_loops::shooter::Goal::Builder shooter_builder =
+            builder.MakeBuilder<y2016::control_loops::shooter::Goal>();
+        shooter_builder.add_angular_velocity(shooter_velocity_);
+        shooter_builder.add_clamp_open(is_intaking_ || is_outtaking_);
+        shooter_builder.add_push_to_shooter(fire_);
+        shooter_builder.add_force_lights_on(force_lights_on);
+        shooter_builder.add_shooting_forwards(wrist_goal_ > 0);
 
-      if (!shooter_message.Send()) {
-        AOS_LOG(ERROR, "Sending shooter goal failed.\n");
+        if (!builder.Send(shooter_builder.Finish())) {
+          AOS_LOG(ERROR, "Sending shooter goal failed.\n");
+        }
       }
     }
   }
@@ -402,15 +408,15 @@
  private:
   ::aos::Fetcher<::y2016::vision::VisionStatus> vision_status_fetcher_;
   ::aos::Fetcher<::y2016::sensors::BallDetector> ball_detector_fetcher_;
-  ::aos::Sender<::y2016::control_loops::shooter::ShooterQueue::Goal>
+  ::aos::Sender<::y2016::control_loops::shooter::Goal>
       shooter_goal_sender_;
-  ::aos::Fetcher<::y2016::control_loops::SuperstructureQueue::Status>
+  ::aos::Fetcher<::y2016::control_loops::superstructure::Status>
       superstructure_status_fetcher_;
-  ::aos::Sender<::y2016::control_loops::SuperstructureQueue::Goal>
+  ::aos::Sender<::y2016::control_loops::superstructure::Goal>
       superstructure_goal_sender_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Goal>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Goal>
       drivetrain_goal_fetcher_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Status>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Status>
       drivetrain_status_fetcher_;
 
   // Whatever these are set to are our default goals to send out after zeroing.
@@ -457,7 +463,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2016::input::joysticks::Reader reader(&event_loop);
 
   event_loop.Run();
diff --git a/y2016/queues/BUILD b/y2016/queues/BUILD
index 0c5d97b..79ec2d9 100644
--- a/y2016/queues/BUILD
+++ b/y2016/queues/BUILD
@@ -1,17 +1,11 @@
 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 = 'ball_detector',
-  srcs = [
-    'ball_detector.q',
-  ],
-)
-
-queue_library(
-  name = 'profile_params',
-  srcs = [
-    'profile_params.q',
-  ],
+flatbuffer_cc_library(
+    name = "ball_detector_fbs",
+    srcs = [
+        "ball_detector.fbs",
+    ],
+    gen_reflections = 1,
 )
diff --git a/y2016/queues/ball_detector.q b/y2016/queues/ball_detector.fbs
similarity index 69%
rename from y2016/queues/ball_detector.q
rename to y2016/queues/ball_detector.fbs
index 9dc686f..c4ef07c 100644
--- a/y2016/queues/ball_detector.q
+++ b/y2016/queues/ball_detector.fbs
@@ -1,7 +1,7 @@
-package y2016.sensors;
+namespace y2016.sensors;
 
-// Published on ".y2016.sensors.ball_detector"
-message BallDetector {
+// Published on "/superstructure"
+table BallDetector {
   // Voltage measured by the ball detector sensor.
 
   // Higher voltage means ball is closer to detector, lower voltage means ball
@@ -9,5 +9,7 @@
   // TODO(comran): Check to see if our sensor's output corresponds with the
   // comment above.
 
-  double voltage;
-};
+  voltage:double;
+}
+
+root_type BallDetector;
diff --git a/y2016/queues/profile_params.q b/y2016/queues/profile_params.q
deleted file mode 100644
index 56b2ab3..0000000
--- a/y2016/queues/profile_params.q
+++ /dev/null
@@ -1,6 +0,0 @@
-package y2016;
-
-struct ProfileParams {
-  double velocity;
-  double acceleration;
-};
diff --git a/y2016/vision/BUILD b/y2016/vision/BUILD
index 3427973..c4d472b 100644
--- a/y2016/vision/BUILD
+++ b/y2016/vision/BUILD
@@ -1,12 +1,13 @@
 load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 load("//tools/build_rules:gtk_dependent.bzl", "gtk_dependent_cc_binary", "gtk_dependent_cc_library")
 
-queue_library(
-    name = "vision_queue",
+flatbuffer_cc_library(
+    name = "vision_fbs",
     srcs = [
-        "vision.q",
+        "vision.fbs",
     ],
+    gen_reflections = 1,
     visibility = ["//visibility:public"],
 )
 
@@ -130,15 +131,15 @@
     deps = [
         ":stereo_geometry",
         ":vision_data",
-        ":vision_queue",
+        ":vision_fbs",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
         "//aos/mutex",
         "//aos/time",
         "//aos/vision/events:udp",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//y2016:constants",
     ],
 )
diff --git a/y2016/vision/target_receiver.cc b/y2016/vision/target_receiver.cc
index a66be59..b946f8b 100644
--- a/y2016/vision/target_receiver.cc
+++ b/y2016/vision/target_receiver.cc
@@ -10,19 +10,18 @@
 #include <thread>
 #include <vector>
 
-#include "aos/events/event-loop.h"
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/event_loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/mutex/mutex.h"
 #include "aos/time/time.h"
 #include "aos/vision/events/udp.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "y2016/constants.h"
 #include "y2016/vision/stereo_geometry.h"
-#include "y2016/vision/vision.q.h"
 #include "y2016/vision/vision_data.pb.h"
+#include "y2016/vision/vision_generated.h"
 
 namespace y2016 {
 namespace vision {
@@ -197,17 +196,20 @@
   DrivetrainOffsetCalculator(::aos::EventLoop *event_loop)
       : drivetrain_status_fetcher_(
             event_loop
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Status>(
-                    ".frc971.control_loops.drivetrain_queue.status")) {}
+                ->MakeFetcher<::frc971::control_loops::drivetrain::Status>(
+                    "/drivetrain")) {}
 
   // Takes a vision status message with everything except
   // drivetrain_{left,right}_position set and sets those.
   // Returns false if it doesn't have enough data to fill them out.
-  bool CompleteVisionStatus(::y2016::vision::VisionStatus *status) {
+  bool CompleteVisionStatus(::y2016::vision::VisionStatusT *status) {
     while (drivetrain_status_fetcher_.FetchNext()) {
-      data_[data_index_].time = drivetrain_status_fetcher_->sent_time;
-      data_[data_index_].left = drivetrain_status_fetcher_->estimated_left_position;
-      data_[data_index_].right = drivetrain_status_fetcher_->estimated_right_position;
+      data_[data_index_].time =
+          drivetrain_status_fetcher_.context().monotonic_sent_time;
+      data_[data_index_].left =
+          drivetrain_status_fetcher_->estimated_left_position();
+      data_[data_index_].right =
+          drivetrain_status_fetcher_->estimated_right_position();
       ++data_index_;
       if (data_index_ == data_.size()) data_index_ = 0;
       if (valid_data_ < data_.size()) ++valid_data_;
@@ -286,7 +288,7 @@
     }
   }
 
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Status>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Status>
       drivetrain_status_fetcher_;
 
   ::std::array<DrivetrainData, 200> data_;
@@ -297,11 +299,13 @@
 };
 
 void Main() {
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
 
   ::aos::Sender<::y2016::vision::VisionStatus> vision_status_sender =
-      event_loop.MakeSender<::y2016::vision::VisionStatus>(
-          ".y2016.vision.vision_status");
+      event_loop.MakeSender<::y2016::vision::VisionStatus>("/superstructure");
 
   StereoGeometry stereo(constants::GetValues().vision_name);
   AOS_LOG(INFO, "calibration: %s\n",
@@ -339,9 +343,10 @@
       const bool left_image_valid = left.is_valid();
       const bool right_image_valid = right.is_valid();
 
-      auto new_vision_status = vision_status_sender.MakeMessage();
-      new_vision_status->left_image_valid = left_image_valid;
-      new_vision_status->right_image_valid = right_image_valid;
+      auto builder = vision_status_sender.MakeBuilder();
+      VisionStatusT new_vision_status;
+      new_vision_status.left_image_valid = left_image_valid;
+      new_vision_status.right_image_valid = right_image_valid;
       if (left_image_valid && right_image_valid) {
         ::aos::vision::Vector<2> center_left(0.0, 0.0);
         ::aos::vision::Vector<2> center_right(0.0, 0.0);
@@ -367,7 +372,7 @@
         if (left.capture_time() < right.capture_time()) {
           filtered_center_left = center_left;
           filtered_angle_left = angle_left;
-          new_vision_status->target_time =
+          new_vision_status.target_time =
               chrono::duration_cast<chrono::nanoseconds>(
                   left.capture_time().time_since_epoch())
                   .count();
@@ -377,7 +382,7 @@
         } else {
           filtered_center_right = center_right;
           filtered_angle_right = angle_right;
-          new_vision_status->target_time =
+          new_vision_status.target_time =
               chrono::duration_cast<chrono::nanoseconds>(
                   right.capture_time().time_since_epoch())
                   .count();
@@ -389,28 +394,27 @@
         double distance, horizontal_angle, vertical_angle;
         stereo.Process(filtered_center_left, filtered_center_right, &distance,
                        &horizontal_angle, &vertical_angle);
-        new_vision_status->left_image_timestamp =
+        new_vision_status.left_image_timestamp =
             left.target().image_timestamp();
-        new_vision_status->right_image_timestamp =
+        new_vision_status.right_image_timestamp =
             right.target().image_timestamp();
-        new_vision_status->left_send_timestamp = left.target().send_timestamp();
-        new_vision_status->right_send_timestamp =
+        new_vision_status.left_send_timestamp = left.target().send_timestamp();
+        new_vision_status.right_send_timestamp =
             right.target().send_timestamp();
-        new_vision_status->horizontal_angle = horizontal_angle;
-        new_vision_status->vertical_angle = vertical_angle;
-        new_vision_status->distance = distance;
-        new_vision_status->angle =
+        new_vision_status.horizontal_angle = horizontal_angle;
+        new_vision_status.vertical_angle = vertical_angle;
+        new_vision_status.distance = distance;
+        new_vision_status.angle =
             (filtered_angle_left + filtered_angle_right) / 2.0;
       }
 
-      if (drivetrain_offset.CompleteVisionStatus(new_vision_status.get())) {
-        AOS_LOG_STRUCT(DEBUG, "vision", *new_vision_status);
-        if (!new_vision_status.Send()) {
+      if (drivetrain_offset.CompleteVisionStatus(&new_vision_status)) {
+        if (!builder.Send(
+                VisionStatus::Pack(*builder.fbb(), &new_vision_status))) {
           AOS_LOG(ERROR, "Failed to send vision information\n");
         }
       } else {
-        AOS_LOG_STRUCT(WARNING, "vision without drivetrain",
-                       *new_vision_status);
+        AOS_LOG(WARNING, "vision without drivetrain");
       }
     }
 
diff --git a/y2016/vision/vision.q b/y2016/vision/vision.fbs
similarity index 65%
rename from y2016/vision/vision.q
rename to y2016/vision/vision.fbs
index 06deb1f..4394b10 100644
--- a/y2016/vision/vision.q
+++ b/y2016/vision/vision.fbs
@@ -1,36 +1,38 @@
-package y2016.vision;
+namespace y2016.vision;
 
 // Published on ".y2016.vision.vision_status"
-message VisionStatus {
-  bool left_image_valid;
-  bool right_image_valid;
+table VisionStatus {
+  left_image_valid:bool;
+  right_image_valid:bool;
   // Times when the images were taken as nanoseconds on CLOCK_MONOTONIC on the
   // TK1.
-  int64_t left_image_timestamp;
-  int64_t right_image_timestamp;
+  left_image_timestamp:long;
+  right_image_timestamp:long;
   // Times when the images were sent from the TK1 as nanoseconds on the TK1's
   // CLOCK_MONOTONIC.
-  int64_t left_send_timestamp;
-  int64_t right_send_timestamp;
+  left_send_timestamp:long;
+  right_send_timestamp:long;
 
   // Horizontal angle of the goal in radians.
   // TODO(Brian): Figure out which way is positive.
-  double horizontal_angle;
+  horizontal_angle:double;
   // Vertical angle of the goal in radians.
   // TODO(Brian): Figure out which way is positive.
-  double vertical_angle;
+  vertical_angle:double;
   // Distance to the target in meters.
-  double distance;
+  distance:double;
   // The angle in radians of the bottom of the target.
-  double angle;
+  angle:double;
 
   // Capture time of the angle using the clock behind monotonic_clock::now().
-  int64_t target_time;
+  target_time:long;
 
   // The estimated positions of both sides of the drivetrain when the frame
   // was captured.
   // These are the estimated_left_position and estimated_right_position members
   // of the drivetrain queue.
-  double drivetrain_left_position;
-  double drivetrain_right_position;
-};
+  drivetrain_left_position:double;
+  drivetrain_right_position:double;
+}
+
+root_type VisionStatus;
diff --git a/y2016/wpilib_interface.cc b/y2016/wpilib_interface.cc
index 9b31a0f..c36bab1 100644
--- a/y2016/wpilib_interface.cc
+++ b/y2016/wpilib_interface.cc
@@ -20,18 +20,18 @@
 #undef ERROR
 
 #include "aos/commonmath.h"
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/make_unique.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/robot_state/robot_state_generated.h"
 #include "aos/stl_mutex/stl_mutex.h"
 #include "aos/time/time.h"
 #include "aos/util/log_interval.h"
 #include "aos/util/wrapping_counter.h"
-#include "frc971/autonomous/auto.q.h"
-#include "frc971/control_loops/control_loops.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/autonomous/auto_generated.h"
+//#include "frc971/control_loops/control_loops.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
 #include "frc971/wpilib/ADIS16448.h"
 #include "frc971/wpilib/buffered_pcm.h"
 #include "frc971/wpilib/buffered_solenoid.h"
@@ -42,21 +42,22 @@
 #include "frc971/wpilib/gyro_sender.h"
 #include "frc971/wpilib/interrupt_edge_counting.h"
 #include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/logging_generated.h"
 #include "frc971/wpilib/loop_output_handler.h"
 #include "frc971/wpilib/pdp_fetcher.h"
 #include "frc971/wpilib/sensor_reader.h"
 #include "y2016/constants.h"
 #include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2016/control_loops/shooter/shooter.q.h"
-#include "y2016/control_loops/shooter/shooter.q.h"
-#include "y2016/control_loops/superstructure/superstructure.q.h"
-#include "y2016/queues/ball_detector.q.h"
+#include "y2016/control_loops/shooter/shooter_output_generated.h"
+#include "y2016/control_loops/shooter/shooter_position_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2016/queues/ball_detector_generated.h"
 
 using aos::make_unique;
 using ::frc971::wpilib::LoopOutputHandler;
-using ::y2016::control_loops::shooter::ShooterQueue;
-using ::y2016::control_loops::SuperstructureQueue;
+namespace shooter = ::y2016::control_loops::shooter;
+namespace superstructure = ::y2016::control_loops::superstructure;
 
 namespace y2016 {
 namespace wpilib {
@@ -149,19 +150,19 @@
       : ::frc971::wpilib::SensorReader(event_loop),
         ball_detector_sender_(
             event_loop->MakeSender<::y2016::sensors::BallDetector>(
-                ".y2016.sensors.ball_detector")),
+                "/superstructure")),
         auto_mode_sender_(
             event_loop->MakeSender<::frc971::autonomous::AutonomousMode>(
-                ".frc971.autonomous.auto_mode")),
-        shooter_position_sender_(event_loop->MakeSender<ShooterQueue::Position>(
-            ".y2016.control_loops.shooter.shooter_queue.position")),
+                "/aos")),
+        shooter_position_sender_(
+            event_loop->MakeSender<shooter::Position>("/shooter")),
         superstructure_position_sender_(
-            event_loop->MakeSender<SuperstructureQueue::Position>(
-                ".y2016.control_loops.superstructure_queue.position")),
+            event_loop->MakeSender<superstructure::Position>(
+                "/superstructure")),
         drivetrain_position_sender_(
-            event_loop->MakeSender<
-                ::frc971::control_loops::DrivetrainQueue::Position>(
-                ".frc971.control_loops.drivetrain_queue.position")) {
+            event_loop
+                ->MakeSender<::frc971::control_loops::drivetrain::Position>(
+                    "/drivetrain")) {
     // Set it to filter out anything shorter than 1/4 of the minimum pulse width
     // we should ever see.
     UpdateFastEncoderFilterHz(kMaxDrivetrainShooterEncoderPulsesPerSecond);
@@ -258,78 +259,101 @@
 
   void RunIteration() {
     {
-      auto drivetrain_message = drivetrain_position_sender_.MakeMessage();
-      drivetrain_message->right_encoder =
-          drivetrain_translate(-drivetrain_right_encoder_->GetRaw());
-      drivetrain_message->left_encoder =
-          -drivetrain_translate(drivetrain_left_encoder_->GetRaw());
-      drivetrain_message->left_speed =
-          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod());
-      drivetrain_message->right_speed =
-          drivetrain_velocity_translate(drivetrain_right_encoder_->GetPeriod());
+      auto builder = drivetrain_position_sender_.MakeBuilder();
+      frc971::control_loops::drivetrain::Position::Builder position_builder =
+          builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
 
-      drivetrain_message->left_shifter_position =
-          hall_translate(drivetrain_left_hall_->GetVoltage());
-      drivetrain_message->right_shifter_position =
-          hall_translate(drivetrain_right_hall_->GetVoltage());
+      position_builder.add_right_encoder(
+          drivetrain_translate(-drivetrain_right_encoder_->GetRaw()));
+      position_builder.add_left_encoder(
+          -drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
+      position_builder.add_left_speed(
+          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
+      position_builder.add_right_speed(drivetrain_velocity_translate(
+          drivetrain_right_encoder_->GetPeriod()));
 
-      drivetrain_message.Send();
+      position_builder.add_left_shifter_position(
+          hall_translate(drivetrain_left_hall_->GetVoltage()));
+      position_builder.add_right_shifter_position(
+          hall_translate(drivetrain_right_hall_->GetVoltage()));
+
+      builder.Send(position_builder.Finish());
     }
   }
 
   void RunDmaIteration() {
     const auto &values = constants::GetValues();
     {
-      auto shooter_message = shooter_position_sender_.MakeMessage();
-      shooter_message->theta_left =
-          shooter_translate(-shooter_left_encoder_->GetRaw());
-      shooter_message->theta_right =
-          shooter_translate(shooter_right_encoder_->GetRaw());
-      shooter_message.Send();
+      auto builder = shooter_position_sender_.MakeBuilder();
+      shooter::Position::Builder shooter_builder =
+          builder.MakeBuilder<shooter::Position>();
+      shooter_builder.add_theta_left(
+          shooter_translate(-shooter_left_encoder_->GetRaw()));
+      shooter_builder.add_theta_right(
+          shooter_translate(shooter_right_encoder_->GetRaw()));
+      builder.Send(shooter_builder.Finish());
     }
 
     {
-      auto superstructure_message =
-          superstructure_position_sender_.MakeMessage();
-      CopyPosition(intake_encoder_, &superstructure_message->intake,
-                   intake_translate, intake_pot_translate, false,
-                   values.intake.pot_offset);
-      CopyPosition(shoulder_encoder_, &superstructure_message->shoulder,
-                   shoulder_translate, shoulder_pot_translate, false,
-                   values.shoulder.pot_offset);
-      CopyPosition(wrist_encoder_, &superstructure_message->wrist,
-                   wrist_translate, wrist_pot_translate, true,
-                   values.wrist.pot_offset);
+      auto builder = superstructure_position_sender_.MakeBuilder();
 
-      superstructure_message.Send();
+      frc971::PotAndIndexPositionT intake;
+      CopyPosition(intake_encoder_, &intake, intake_translate,
+                   intake_pot_translate, false, values.intake.pot_offset);
+      flatbuffers::Offset<frc971::PotAndIndexPosition> intake_offset =
+          frc971::PotAndIndexPosition::Pack(*builder.fbb(), &intake);
+
+      frc971::PotAndIndexPositionT shoulder;
+      CopyPosition(shoulder_encoder_, &shoulder, shoulder_translate,
+                   shoulder_pot_translate, false, values.shoulder.pot_offset);
+      flatbuffers::Offset<frc971::PotAndIndexPosition> shoulder_offset =
+          frc971::PotAndIndexPosition::Pack(*builder.fbb(), &shoulder);
+
+      frc971::PotAndIndexPositionT wrist;
+      CopyPosition(wrist_encoder_, &wrist, wrist_translate, wrist_pot_translate,
+                   true, values.wrist.pot_offset);
+      flatbuffers::Offset<frc971::PotAndIndexPosition> wrist_offset =
+          frc971::PotAndIndexPosition::Pack(*builder.fbb(), &wrist);
+
+      superstructure::Position::Builder position_builder =
+          builder.MakeBuilder<superstructure::Position>();
+
+      position_builder.add_intake(intake_offset);
+      position_builder.add_shoulder(shoulder_offset);
+      position_builder.add_wrist(wrist_offset);
+
+      builder.Send(position_builder.Finish());
     }
 
     {
-      auto ball_detector_message = ball_detector_sender_.MakeMessage();
-      ball_detector_message->voltage = ball_detector_->GetVoltage();
-      AOS_LOG_STRUCT(DEBUG, "ball detector", *ball_detector_message);
-      ball_detector_message.Send();
+      auto builder = ball_detector_sender_.MakeBuilder();
+      ::y2016::sensors::BallDetector::Builder ball_detector_builder =
+          builder.MakeBuilder<y2016::sensors::BallDetector>();
+      ball_detector_builder.add_voltage(ball_detector_->GetVoltage());
+      builder.Send(ball_detector_builder.Finish());
     }
 
     {
-      auto auto_mode_message = auto_mode_sender_.MakeMessage();
-      auto_mode_message->mode = 0;
+      auto builder = auto_mode_sender_.MakeBuilder();
+      ::frc971::autonomous::AutonomousMode::Builder auto_builder =
+          builder.MakeBuilder<frc971::autonomous::AutonomousMode>();
+      int mode = 0;
       for (size_t i = 0; i < autonomous_modes_.size(); ++i) {
         if (autonomous_modes_[i]->Get()) {
-          auto_mode_message->mode |= 1 << i;
+          mode |= 1 << i;
         }
       }
-      AOS_LOG_STRUCT(DEBUG, "auto mode", *auto_mode_message);
-      auto_mode_message.Send();
+      auto_builder.add_mode(mode);
+      builder.Send(auto_builder.Finish());
     }
   }
 
  private:
   ::aos::Sender<::y2016::sensors::BallDetector> ball_detector_sender_;
   ::aos::Sender<::frc971::autonomous::AutonomousMode> auto_mode_sender_;
-  ::aos::Sender<ShooterQueue::Position> shooter_position_sender_;
-  ::aos::Sender<SuperstructureQueue::Position> superstructure_position_sender_;
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Position>
+  ::aos::Sender<shooter::Position> shooter_position_sender_;
+  ::aos::Sender<superstructure::Position> superstructure_position_sender_;
+  ::aos::Sender<::frc971::control_loops::drivetrain::Position>
       drivetrain_position_sender_;
 
   ::std::unique_ptr<::frc::AnalogInput> drivetrain_left_hall_,
@@ -349,17 +373,19 @@
 class SolenoidWriter {
  public:
   SolenoidWriter(::aos::EventLoop *event_loop,
-                 const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm)
+                 ::frc971::wpilib::BufferedPcm *pcm)
       : pcm_(pcm),
+        pneumatics_to_log_sender_(
+            event_loop->MakeSender<::frc971::wpilib::PneumaticsToLog>("/aos")),
         drivetrain_(
             event_loop
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Output>(
-                    ".frc971.control_loops.drivetrain_queue.output")),
-        shooter_(event_loop->MakeFetcher<ShooterQueue::Output>(
-            ".y2016.control_loops.shooter.shooter_queue.output")),
-        superstructure_(event_loop->MakeFetcher<
-                        ::y2016::control_loops::SuperstructureQueue::Output>(
-            ".y2016.control_loops.superstructure_queue.output")) {
+                ->MakeFetcher<::frc971::control_loops::drivetrain::Output>(
+                    "/drivetrain")),
+        shooter_(event_loop->MakeFetcher<shooter::Output>("/shooter")),
+        superstructure_(
+            event_loop
+                ->MakeFetcher<::y2016::control_loops::superstructure::Output>(
+                    "/superstructure")) {
     event_loop->set_name("Solenoids");
     event_loop->SetRuntimeRealtimePriority(27);
 
@@ -420,27 +446,25 @@
     {
       drivetrain_.Fetch();
       if (drivetrain_.get()) {
-        AOS_LOG_STRUCT(DEBUG, "solenoids", *drivetrain_);
         drivetrain_shifter_->Set(
-            !(drivetrain_->left_high || drivetrain_->right_high));
+            !(drivetrain_->left_high() || drivetrain_->right_high()));
       }
     }
 
     {
       shooter_.Fetch();
       if (shooter_.get()) {
-        AOS_LOG_STRUCT(DEBUG, "solenoids", *shooter_);
-        shooter_clamp_->Set(shooter_->clamp_open);
-        shooter_pusher_->Set(shooter_->push_to_shooter);
-        lights_->Set(shooter_->lights_on);
-        if (shooter_->forwards_flashlight) {
-          if (shooter_->backwards_flashlight) {
+        shooter_clamp_->Set(shooter_->clamp_open());
+        shooter_pusher_->Set(shooter_->push_to_shooter());
+        lights_->Set(shooter_->lights_on());
+        if (shooter_->forwards_flashlight()) {
+          if (shooter_->backwards_flashlight()) {
             flashlight_->Set(::frc::Relay::kOn);
           } else {
             flashlight_->Set(::frc::Relay::kReverse);
           }
         } else {
-          if (shooter_->backwards_flashlight) {
+          if (shooter_->backwards_flashlight()) {
             flashlight_->Set(::frc::Relay::kForward);
           } else {
             flashlight_->Set(::frc::Relay::kOff);
@@ -452,26 +476,29 @@
     {
       superstructure_.Fetch();
       if (superstructure_.get()) {
-        AOS_LOG_STRUCT(DEBUG, "solenoids", *superstructure_);
+        climber_trigger_->Set(superstructure_->unfold_climber());
 
-        climber_trigger_->Set(superstructure_->unfold_climber);
-
-        traverse_->Set(superstructure_->traverse_down);
-        traverse_latch_->Set(superstructure_->traverse_unlatched);
+        traverse_->Set(superstructure_->traverse_down());
+        traverse_latch_->Set(superstructure_->traverse_unlatched());
       }
     }
 
     {
-      ::frc971::wpilib::PneumaticsToLog to_log;
-      { to_log.compressor_on = compressor_->Enabled(); }
+      auto builder = pneumatics_to_log_sender_.MakeBuilder();
+
+      ::frc971::wpilib::PneumaticsToLog::Builder to_log_builder =
+          builder.MakeBuilder<frc971::wpilib::PneumaticsToLog>();
+
+      to_log_builder.add_compressor_on(compressor_->Enabled());
 
       pcm_->Flush();
-      to_log.read_solenoids = pcm_->GetAll();
-      AOS_LOG_STRUCT(DEBUG, "pneumatics info", to_log);
+      to_log_builder.add_read_solenoids(pcm_->GetAll());
+      builder.Send(to_log_builder.Finish());
     }
   }
 
-  const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm_;
+  ::frc971::wpilib::BufferedPcm *pcm_;
+  aos::Sender<::frc971::wpilib::PneumaticsToLog> pneumatics_to_log_sender_;
 
   ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> drivetrain_shifter_,
       shooter_clamp_, shooter_pusher_, lights_, traverse_, traverse_latch_,
@@ -479,17 +506,16 @@
   ::std::unique_ptr<::frc::Relay> flashlight_;
   ::std::unique_ptr<::frc::Compressor> compressor_;
 
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Output> drivetrain_;
-  ::aos::Fetcher<ShooterQueue::Output> shooter_;
-  ::aos::Fetcher<::y2016::control_loops::SuperstructureQueue::Output>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Output> drivetrain_;
+  ::aos::Fetcher<shooter::Output> shooter_;
+  ::aos::Fetcher<::y2016::control_loops::superstructure::Output>
       superstructure_;
 };
 
-class ShooterWriter : public LoopOutputHandler<ShooterQueue::Output> {
+class ShooterWriter : public LoopOutputHandler<shooter::Output> {
  public:
   ShooterWriter(::aos::EventLoop *event_loop)
-      : LoopOutputHandler<ShooterQueue::Output>(
-            event_loop, ".y2016.control_loops.shooter.shooter_queue.output") {}
+      : LoopOutputHandler<shooter::Output>(event_loop, "/shooter") {}
 
   void set_shooter_left_talon(::std::unique_ptr<::frc::Talon> t) {
     shooter_left_talon_ = ::std::move(t);
@@ -500,11 +526,9 @@
   }
 
  private:
-  void Write(const ShooterQueue::Output &output) override {
-    AOS_LOG_STRUCT(DEBUG, "will output", output);
-
-    shooter_left_talon_->SetSpeed(output.voltage_left / 12.0);
-    shooter_right_talon_->SetSpeed(-output.voltage_right / 12.0);
+  void Write(const shooter::Output &output) override {
+    shooter_left_talon_->SetSpeed(output.voltage_left() / 12.0);
+    shooter_right_talon_->SetSpeed(-output.voltage_right() / 12.0);
   }
 
   void Stop() override {
@@ -516,13 +540,11 @@
   ::std::unique_ptr<::frc::Talon> shooter_left_talon_, shooter_right_talon_;
 };
 
-class SuperstructureWriter
-    : public LoopOutputHandler<
-          ::y2016::control_loops::SuperstructureQueue::Output> {
+class SuperstructureWriter : public LoopOutputHandler<superstructure::Output> {
  public:
   SuperstructureWriter(::aos::EventLoop *event_loop)
-      : LoopOutputHandler<::y2016::control_loops::SuperstructureQueue::Output>(
-            event_loop, ".y2016.control_loops.superstructure_queue.output") {}
+      : LoopOutputHandler<superstructure::Output>(event_loop,
+                                                  "/superstructure") {}
 
   void set_intake_talon(::std::unique_ptr<::frc::Talon> t) {
     intake_talon_ = ::std::move(t);
@@ -549,21 +571,19 @@
   }
 
  private:
-  virtual void Write(const ::y2016::control_loops::SuperstructureQueue::Output
-                         &output) override {
-    AOS_LOG_STRUCT(DEBUG, "will output", output);
-    intake_talon_->SetSpeed(::aos::Clip(output.voltage_intake,
+  virtual void Write(const superstructure::Output &output) override {
+    intake_talon_->SetSpeed(::aos::Clip(output.voltage_intake(),
                                         -kMaxBringupPower, kMaxBringupPower) /
                             12.0);
-    shoulder_talon_->SetSpeed(::aos::Clip(-output.voltage_shoulder,
+    shoulder_talon_->SetSpeed(::aos::Clip(-output.voltage_shoulder(),
                                           -kMaxBringupPower, kMaxBringupPower) /
                               12.0);
-    wrist_talon_->SetSpeed(
-        ::aos::Clip(output.voltage_wrist, -kMaxBringupPower, kMaxBringupPower) /
-        12.0);
-    top_rollers_talon_->SetSpeed(-output.voltage_top_rollers / 12.0);
-    bottom_rollers_talon_->SetSpeed(-output.voltage_bottom_rollers / 12.0);
-    climber_talon_->SetSpeed(-output.voltage_climber / 12.0);
+    wrist_talon_->SetSpeed(::aos::Clip(output.voltage_wrist(),
+                                       -kMaxBringupPower, kMaxBringupPower) /
+                           12.0);
+    top_rollers_talon_->SetSpeed(-output.voltage_top_rollers() / 12.0);
+    bottom_rollers_talon_->SetSpeed(-output.voltage_bottom_rollers() / 12.0);
+    climber_talon_->SetSpeed(-output.voltage_climber() / 12.0);
   }
 
   virtual void Stop() override {
@@ -585,19 +605,22 @@
   }
 
   void Run() override {
+    aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+        aos::configuration::ReadConfig("config.json");
+
     // Thread 1.
-    ::aos::ShmEventLoop joystick_sender_event_loop;
+    ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
     ::frc971::wpilib::JoystickSender joystick_sender(
         &joystick_sender_event_loop);
     AddLoop(&joystick_sender_event_loop);
 
     // Thread 2.
-    ::aos::ShmEventLoop pdp_fetcher_event_loop;
+    ::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
     ::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
     AddLoop(&pdp_fetcher_event_loop);
 
     // Thread 3.
-    ::aos::ShmEventLoop sensor_reader_event_loop;
+    ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
     SensorReader sensor_reader(&sensor_reader_event_loop);
 
     sensor_reader.set_drivetrain_left_encoder(make_encoder(5));
@@ -631,19 +654,19 @@
 
     // TODO(Brian): This interacts poorly with the SpiRxClearer in ADIS16448.
     // Thread 4.
-    ::aos::ShmEventLoop gyro_event_loop;
+    ::aos::ShmEventLoop gyro_event_loop(&config.message());
     ::frc971::wpilib::GyroSender gyro_sender(&gyro_event_loop);
     AddLoop(&gyro_event_loop);
 
     // Thread 5.
-    ::aos::ShmEventLoop imu_event_loop;
+    ::aos::ShmEventLoop imu_event_loop(&config.message());
     auto imu_trigger = make_unique<::frc::DigitalInput>(3);
     ::frc971::wpilib::ADIS16448 imu(&imu_event_loop, ::frc::SPI::Port::kMXP,
                                     imu_trigger.get());
     AddLoop(&imu_event_loop);
 
     // Thread 5.
-    ::aos::ShmEventLoop output_event_loop;
+    ::aos::ShmEventLoop output_event_loop(&config.message());
     ::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
     drivetrain_writer.set_left_controller0(
         ::std::unique_ptr<::frc::Talon>(new ::frc::Talon(5)), false);
@@ -673,10 +696,10 @@
     AddLoop(&output_event_loop);
 
     // Thread 6.
-    ::aos::ShmEventLoop solenoid_writer_event_loop;
+    ::aos::ShmEventLoop solenoid_writer_event_loop(&config.message());
     ::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
         new ::frc971::wpilib::BufferedPcm());
-    SolenoidWriter solenoid_writer(&solenoid_writer_event_loop, pcm);
+    SolenoidWriter solenoid_writer(&solenoid_writer_event_loop, pcm.get());
     solenoid_writer.set_drivetrain_shifter(pcm->MakeSolenoid(0));
     solenoid_writer.set_traverse_latch(pcm->MakeSolenoid(2));
     solenoid_writer.set_traverse(pcm->MakeSolenoid(3));
diff --git a/y2016/y2016.json b/y2016/y2016.json
new file mode 100644
index 0000000..eb8ecd5
--- /dev/null
+++ b/y2016/y2016.json
@@ -0,0 +1,54 @@
+{
+  "channels":
+  [
+    {
+      "name": "/shooter",
+      "type": "y2016.control_loops.shooter.Goal",
+      "frequency": 200
+    },
+    {
+      "name": "/shooter",
+      "type": "y2016.control_loops.shooter.Status",
+      "frequency": 200
+    },
+    {
+      "name": "/shooter",
+      "type": "y2016.control_loops.shooter.Output",
+      "frequency": 200
+    },
+    {
+      "name": "/shooter",
+      "type": "y2016.control_loops.shooter.Position",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2016.control_loops.superstructure.Goal",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2016.control_loops.superstructure.Status",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2016.control_loops.superstructure.Output",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2016.control_loops.superstructure.Position",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2016.sensors.BallDetector",
+      "frequency": 200
+    }
+  ],
+  "imports": [
+    "../aos/robot_state/robot_state_config.json",
+    "../frc971/control_loops/drivetrain/drivetrain_config.json"
+  ]
+}
diff --git a/y2017/BUILD b/y2017/BUILD
index 404683b..8bf2ff8 100644
--- a/y2017/BUILD
+++ b/y2017/BUILD
@@ -1,4 +1,5 @@
 load("//frc971:downloader.bzl", "robot_downloader")
+load("//aos:config.bzl", "aos_config")
 
 cc_library(
     name = "constants",
@@ -39,11 +40,27 @@
         "//aos/logging",
         "//aos/time",
         "//aos/util:log_interval",
-        "//frc971/autonomous:auto_queue",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
         "//y2017/actors:autonomous_action_lib",
         "//y2017/control_loops/drivetrain:drivetrain_base",
-        "//y2017/control_loops/superstructure:superstructure_queue",
+        "//y2017/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2017/control_loops/superstructure:superstructure_status_fbs",
+    ],
+)
+
+aos_config(
+    name = "config",
+    src = "y2017.json",
+    flatbuffers = [
+        "//y2017/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2017/control_loops/superstructure:superstructure_output_fbs",
+        "//y2017/control_loops/superstructure:superstructure_position_fbs",
+        "//y2017/control_loops/superstructure:superstructure_status_fbs",
+        "//y2017/vision:vision_fbs",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//aos/robot_state:config",
+        "//frc971/control_loops/drivetrain:config",
     ],
 )
 
@@ -60,16 +77,16 @@
         "//aos:math",
         "//aos/controls:control_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/stl_mutex",
         "//aos/time",
         "//aos/util:log_interval",
         "//aos/util:phased_loop",
         "//aos/util:wrapping_counter",
-        "//frc971/autonomous:auto_queue",
-        "//frc971/control_loops:queues",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/autonomous:auto_fbs",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
         "//frc971/wpilib:ADIS16448",
         "//frc971/wpilib:buffered_pcm",
         "//frc971/wpilib:dma",
@@ -78,13 +95,14 @@
         "//frc971/wpilib:encoder_and_potentiometer",
         "//frc971/wpilib:interrupt_edge_counting",
         "//frc971/wpilib:joystick_sender",
-        "//frc971/wpilib:logging_queue",
+        "//frc971/wpilib:logging_fbs",
         "//frc971/wpilib:loop_output_handler",
         "//frc971/wpilib:pdp_fetcher",
         "//frc971/wpilib:sensor_reader",
         "//frc971/wpilib:wpilib_robot_base",
         "//third_party:wpilib",
-        "//y2017/control_loops/superstructure:superstructure_queue",
+        "//y2017/control_loops/superstructure:superstructure_output_fbs",
+        "//y2017/control_loops/superstructure:superstructure_position_fbs",
     ],
 )
 
diff --git a/y2017/actors/BUILD b/y2017/actors/BUILD
index 8c1b1cd..3b3e0a2 100644
--- a/y2017/actors/BUILD
+++ b/y2017/actors/BUILD
@@ -1,7 +1,5 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
-
 filegroup(
     name = "binaries",
     srcs = [
@@ -19,14 +17,15 @@
     ],
     deps = [
         "//aos/actions:action_lib",
-        "//aos/events:event-loop",
+        "//aos/events:event_loop",
         "//aos/logging",
         "//aos/util:phased_loop",
         "//frc971/autonomous:base_autonomous_actor",
+        "//frc971/control_loops:profiled_subsystem_fbs",
         "//frc971/control_loops/drivetrain:drivetrain_config",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
         "//y2017/control_loops/drivetrain:drivetrain_base",
-        "//y2017/control_loops/superstructure:superstructure_queue",
+        "//y2017/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2017/control_loops/superstructure:superstructure_status_fbs",
     ],
 )
 
@@ -38,7 +37,6 @@
     deps = [
         ":autonomous_action_lib",
         "//aos:init",
-        "//aos/events:shm-event-loop",
-        "//frc971/autonomous:auto_queue",
+        "//aos/events:shm_event_loop",
     ],
 )
diff --git a/y2017/actors/autonomous_actor.cc b/y2017/actors/autonomous_actor.cc
index a678e79..1124780 100644
--- a/y2017/actors/autonomous_actor.cc
+++ b/y2017/actors/autonomous_actor.cc
@@ -7,30 +7,37 @@
 
 #include "aos/logging/logging.h"
 #include "aos/util/phased_loop.h"
-
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "y2017/control_loops/drivetrain/drivetrain_base.h"
 
 namespace y2017 {
 namespace actors {
 using ::aos::monotonic_clock;
+using ::frc971::ProfileParametersT;
 namespace chrono = ::std::chrono;
 namespace this_thread = ::std::this_thread;
 
 namespace {
 
-const ProfileParameters kGearBallBackDrive = {3.0, 3.5};
-const ProfileParameters kGearDrive = {1.5, 2.0};
-const ProfileParameters kGearFastDrive = {2.0, 2.5};
-const ProfileParameters kGearSlowDrive = {1.0, 2.0};
-const ProfileParameters kGearPlaceDrive = {0.40, 2.0};
-const ProfileParameters kSlowDrive = {3.0, 2.0};
-const ProfileParameters kSlowTurn = {3.0, 3.0};
-const ProfileParameters kFirstTurn = {1.0, 1.5};
-const ProfileParameters kFirstGearStartTurn = {2.0, 3.0};
-const ProfileParameters kFirstGearTurn = {2.0, 5.0};
-const ProfileParameters kSecondGearTurn = {3.0, 5.0};
-const ProfileParameters kSmashTurn = {1.5, 5.0};
+ProfileParametersT MakeProfileParameters(float max_velocity,
+                                         float max_acceleration) {
+  ProfileParametersT result;
+  result.max_velocity = max_velocity;
+  result.max_acceleration = max_acceleration;
+  return result;
+}
+
+const ProfileParametersT kGearBallBackDrive = MakeProfileParameters(3.0, 3.5);
+const ProfileParametersT kGearDrive = MakeProfileParameters(1.5, 2.0);
+const ProfileParametersT kGearFastDrive = MakeProfileParameters(2.0, 2.5);
+const ProfileParametersT kGearSlowDrive = MakeProfileParameters(1.0, 2.0);
+const ProfileParametersT kGearPlaceDrive = MakeProfileParameters(0.40, 2.0);
+const ProfileParametersT kSlowDrive = MakeProfileParameters(3.0, 2.0);
+const ProfileParametersT kSlowTurn = MakeProfileParameters(3.0, 3.0);
+const ProfileParametersT kFirstTurn = MakeProfileParameters(1.0, 1.5);
+const ProfileParametersT kFirstGearStartTurn = MakeProfileParameters(2.0, 3.0);
+const ProfileParametersT kFirstGearTurn = MakeProfileParameters(2.0, 5.0);
+const ProfileParametersT kSecondGearTurn = MakeProfileParameters(3.0, 5.0);
+const ProfileParametersT kSmashTurn = MakeProfileParameters(1.5, 5.0);
 
 }  // namespace
 
@@ -38,22 +45,21 @@
     : frc971::autonomous::BaseAutonomousActor(
           event_loop, control_loops::drivetrain::GetDrivetrainConfig()),
       superstructure_status_fetcher_(
-          event_loop->MakeFetcher<
-              ::y2017::control_loops::SuperstructureQueue::Status>(
-              ".y2017.control_loops.superstructure_queue.status")),
-      superstructure_goal_sender_(
           event_loop
-              ->MakeSender<::y2017::control_loops::SuperstructureQueue::Goal>(
-                  ".y2017.control_loops.superstructure_queue.goal")) {}
+              ->MakeFetcher<::y2017::control_loops::superstructure::Status>(
+                  "/superstructure")),
+      superstructure_goal_sender_(
+          event_loop->MakeSender<::y2017::control_loops::superstructure::Goal>(
+              "/superstructure")) {}
 
 bool AutonomousActor::RunAction(
-    const ::frc971::autonomous::AutonomousActionParams &params) {
+    const ::frc971::autonomous::AutonomousActionParams *params) {
   const monotonic_clock::time_point start_time = monotonic_now();
   AOS_LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n",
-          params.mode);
+          params->mode());
   Reset();
 
-  switch (params.mode) {
+  switch (params->mode()) {
     case 503: {
       // Middle gear auto.
       // Red is positive.
diff --git a/y2017/actors/autonomous_actor.h b/y2017/actors/autonomous_actor.h
index f5d4c3f..f0bcfc8 100644
--- a/y2017/actors/autonomous_actor.h
+++ b/y2017/actors/autonomous_actor.h
@@ -7,9 +7,9 @@
 #include "aos/actions/actions.h"
 #include "aos/actions/actor.h"
 #include "frc971/autonomous/base_autonomous_actor.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
+#include "y2017/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2017/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2017 {
 namespace actors {
@@ -20,7 +20,7 @@
   explicit AutonomousActor(::aos::EventLoop *event_loop);
 
   bool RunAction(
-      const ::frc971::autonomous::AutonomousActionParams &params) override;
+      const ::frc971::autonomous::AutonomousActionParams *params) override;
 
  private:
   void Reset() {
@@ -38,9 +38,9 @@
     SendSuperstructureGoal();
   }
 
-  ::aos::Fetcher<::y2017::control_loops::SuperstructureQueue::Status>
+  ::aos::Fetcher<::y2017::control_loops::superstructure::Status>
       superstructure_status_fetcher_;
-  ::aos::Sender<::y2017::control_loops::SuperstructureQueue::Goal>
+  ::aos::Sender<::y2017::control_loops::superstructure::Goal>
       superstructure_goal_sender_;
 
   double intake_goal_ = 0.0;
@@ -82,7 +82,7 @@
 
       superstructure_status_fetcher_.Fetch();
       if (superstructure_status_fetcher_.get()) {
-        if (superstructure_status_fetcher_->hood.zeroed) {
+        if (superstructure_status_fetcher_->hood()->zeroed()) {
           return;
         }
       }
@@ -91,40 +91,81 @@
   }
 
   void SendSuperstructureGoal() {
-    auto new_superstructure_goal = superstructure_goal_sender_.MakeMessage();
-    new_superstructure_goal->intake.distance = intake_goal_;
-    new_superstructure_goal->intake.disable_intake = false;
-    new_superstructure_goal->turret.angle = turret_goal_;
-    new_superstructure_goal->turret.track = vision_track_;
-    new_superstructure_goal->hood.angle = hood_goal_;
-    new_superstructure_goal->shooter.angular_velocity = shooter_velocity_;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    new_superstructure_goal->intake.profile_params.max_velocity =
-        intake_max_velocity_;
-    new_superstructure_goal->turret.profile_params.max_velocity = 6.0;
-    new_superstructure_goal->hood.profile_params.max_velocity = 5.0;
+    flatbuffers::Offset<frc971::ProfileParameters>
+        intake_profile_parameters_offset = frc971::CreateProfileParameters(
+            *builder.fbb(), intake_max_velocity_, 5.0);
 
-    new_superstructure_goal->intake.profile_params.max_acceleration = 5.0;
-    new_superstructure_goal->turret.profile_params.max_acceleration = 15.0;
-    new_superstructure_goal->hood.profile_params.max_acceleration = 25.0;
+    control_loops::superstructure::IntakeGoal::Builder intake_builder =
+        builder.MakeBuilder<control_loops::superstructure::IntakeGoal>();
+    intake_builder.add_distance(intake_goal_);
+    intake_builder.add_disable_intake(false);
+    intake_builder.add_profile_params(intake_profile_parameters_offset);
+    intake_builder.add_voltage_rollers(0.0);
+    intake_builder.add_disable_intake(false);
+    intake_builder.add_gear_servo(gear_servo_);
+    flatbuffers::Offset<control_loops::superstructure::IntakeGoal>
+        intake_offset = intake_builder.Finish();
 
-    new_superstructure_goal->intake.voltage_rollers = 0.0;
-    new_superstructure_goal->lights_on = true;
-    new_superstructure_goal->intake.disable_intake = false;
-    new_superstructure_goal->intake.gear_servo = gear_servo_;
-    new_superstructure_goal->use_vision_for_shots = use_vision_for_shots_;
+    control_loops::superstructure::IndexerGoal::Builder indexer_builder =
+        builder.MakeBuilder<control_loops::superstructure::IndexerGoal>();
+    indexer_builder.add_angular_velocity(indexer_angular_velocity_);
+    indexer_builder.add_voltage_rollers(0.0);
+    flatbuffers::Offset<control_loops::superstructure::IndexerGoal>
+        indexer_offset = indexer_builder.Finish();
 
-    new_superstructure_goal->indexer.angular_velocity =
-        indexer_angular_velocity_;
+    flatbuffers::Offset<frc971::ProfileParameters>
+        turret_profile_parameters_offset = frc971::CreateProfileParameters(
+            *builder.fbb(), 6.0, 15.0);
+    control_loops::superstructure::TurretGoal::Builder turret_builder =
+        builder.MakeBuilder<control_loops::superstructure::TurretGoal>();
+    turret_builder.add_angle(turret_goal_);
+    turret_builder.add_track(vision_track_);
+    turret_builder.add_profile_params(turret_profile_parameters_offset);
+    flatbuffers::Offset<control_loops::superstructure::TurretGoal> turret_offset =
+      turret_builder.Finish();
+
+    flatbuffers::Offset<frc971::ProfileParameters>
+        hood_profile_parameters_offset = frc971::CreateProfileParameters(
+            *builder.fbb(), 5.0, 25.0);
+    control_loops::superstructure::HoodGoal::Builder hood_builder =
+        builder.MakeBuilder<control_loops::superstructure::HoodGoal>();
+    hood_builder.add_angle(hood_goal_);
+    hood_builder.add_profile_params(hood_profile_parameters_offset);
+    flatbuffers::Offset<control_loops::superstructure::HoodGoal> hood_offset =
+        hood_builder.Finish();
+
+    control_loops::superstructure::ShooterGoal::Builder shooter_builder =
+        builder.MakeBuilder<control_loops::superstructure::ShooterGoal>();
+    shooter_builder.add_angular_velocity(shooter_velocity_);
+    flatbuffers::Offset<control_loops::superstructure::ShooterGoal>
+        shooter_offset = shooter_builder.Finish();
+
+    control_loops::superstructure::Goal::Builder goal_builder =
+        builder.MakeBuilder<control_loops::superstructure::Goal>();
+    goal_builder.add_lights_on(true);
+    goal_builder.add_use_vision_for_shots(use_vision_for_shots_);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_indexer(indexer_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_shooter(shooter_offset);
+
+    flatbuffers::Offset<control_loops::superstructure::Goal> goal_offset =
+        goal_builder.Finish();
+
+    control_loops::superstructure::Goal *goal =
+        GetMutableTemporaryPointer(*builder.fbb(), goal_offset);
 
     if (indexer_angular_velocity_ < -0.1) {
-      new_superstructure_goal->indexer.voltage_rollers = 12.0;
-      new_superstructure_goal->intake.voltage_rollers = 6.0;
+      goal->mutable_indexer()->mutate_voltage_rollers(12.0);
+      goal->mutable_intake()->mutate_voltage_rollers(6.0);
     } else {
-      new_superstructure_goal->indexer.voltage_rollers = 0.0;
+      goal->mutable_indexer()->mutate_voltage_rollers(0.0);
     }
 
-    if (!new_superstructure_goal.Send()) {
+    if (!builder.Send(goal_offset)) {
       AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
     }
   }
diff --git a/y2017/actors/autonomous_actor_main.cc b/y2017/actors/autonomous_actor_main.cc
index 88779d8..d87ac84 100644
--- a/y2017/actors/autonomous_actor_main.cc
+++ b/y2017/actors/autonomous_actor_main.cc
@@ -1,14 +1,16 @@
 #include <stdio.h>
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
-#include "frc971/autonomous/auto.q.h"
 #include "y2017/actors/autonomous_actor.h"
 
 int main(int /*argc*/, char * /*argv*/ []) {
   ::aos::Init(-1);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2017::actors::AutonomousActor autonomous(&event_loop);
   event_loop.Run();
 
diff --git a/y2017/control_loops/drivetrain/BUILD b/y2017/control_loops/drivetrain/BUILD
index 409fc93..46af643 100644
--- a/y2017/control_loops/drivetrain/BUILD
+++ b/y2017/control_loops/drivetrain/BUILD
@@ -1,7 +1,5 @@
 package(default_visibility = ["//visibility:public"])
 
-load("//aos/build:queues.bzl", "queue_library")
-
 genrule(
     name = "genrule_drivetrain",
     outs = [
@@ -78,7 +76,7 @@
     deps = [
         ":drivetrain_base",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
     ],
 )
diff --git a/y2017/control_loops/drivetrain/drivetrain_main.cc b/y2017/control_loops/drivetrain/drivetrain_main.cc
index a78d97f..c9da772 100644
--- a/y2017/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2017/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,6 @@
 #include "aos/init.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2017/control_loops/drivetrain/drivetrain_base.h"
 
@@ -9,7 +9,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
       &event_loop, ::y2017::control_loops::drivetrain::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(
diff --git a/y2017/control_loops/superstructure/BUILD b/y2017/control_loops/superstructure/BUILD
index 5a00bfe..535475d 100644
--- a/y2017/control_loops/superstructure/BUILD
+++ b/y2017/control_loops/superstructure/BUILD
@@ -1,19 +1,49 @@
 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",
     ],
 )
 
+flatbuffer_cc_library(
+    name = "superstructure_position_fbs",
+    srcs = [
+        "superstructure_position.fbs",
+    ],
+    gen_reflections = 1,
+    includes = [
+        "//frc971/control_loops:control_loops_fbs_includes",
+    ],
+)
+
+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_output_fbs",
+    srcs = [
+        "superstructure_output.fbs",
+    ],
+    gen_reflections = 1,
+)
+
 cc_library(
     name = "superstructure_lib",
     srcs = [
@@ -23,10 +53,13 @@
         "superstructure.h",
     ],
     deps = [
-        ":superstructure_queue",
+        ":superstructure_goal_fbs",
+        ":superstructure_output_fbs",
+        ":superstructure_position_fbs",
+        ":superstructure_status_fbs",
         ":vision_distance_average",
         "//aos/controls:control_loop",
-        "//aos/events:event-loop",
+        "//aos/events:event_loop",
         "//y2017:constants",
         "//y2017/control_loops/superstructure/column",
         "//y2017/control_loops/superstructure/hood",
@@ -40,11 +73,14 @@
     srcs = [
         "superstructure_lib_test.cc",
     ],
+    data = ["//y2017: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",
@@ -64,9 +100,8 @@
     ],
     deps = [
         ":superstructure_lib",
-        ":superstructure_queue",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
     ],
 )
 
@@ -79,11 +114,12 @@
         "vision_time_adjuster.h",
     ],
     deps = [
-        ":superstructure_queue",
         "//aos/containers:ring_buffer",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:profiled_subsystem_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//y2017/control_loops/drivetrain:polydrivetrain_plants",
-        "//y2017/vision:vision_queue",
+        "//y2017/vision:vision_fbs",
     ],
 )
 
@@ -92,6 +128,7 @@
     srcs = [
         "vision_time_adjuster_test.cc",
     ],
+    data = ["//y2017:config.json"],
     deps = [
         ":vision_time_adjuster",
         "//aos/events:simulated_event_loop",
@@ -109,7 +146,7 @@
     deps = [
         "//aos/containers:ring_buffer",
         "//aos/time",
-        "//y2017/vision:vision_queue",
+        "//y2017/vision:vision_fbs",
     ],
 )
 
@@ -120,6 +157,7 @@
     ],
     deps = [
         ":vision_distance_average",
+        "//aos:flatbuffers",
         "//aos/testing:googletest",
         "//aos/time",
     ],
diff --git a/y2017/control_loops/superstructure/column/BUILD b/y2017/control_loops/superstructure/column/BUILD
index 694dd47..63dd98c 100644
--- a/y2017/control_loops/superstructure/column/BUILD
+++ b/y2017/control_loops/superstructure/column/BUILD
@@ -1,88 +1,89 @@
 genrule(
-  name = 'genrule_column',
-  cmd = '$(location //y2017/control_loops/python:column) $(OUTS)',
-  tools = [
-    '//y2017/control_loops/python:column',
-  ],
-  outs = [
-    'column_plant.h',
-    'column_plant.cc',
-    'column_integral_plant.h',
-    'column_integral_plant.cc',
-    'stuck_column_integral_plant.h',
-    'stuck_column_integral_plant.cc',
-  ],
+    name = "genrule_column",
+    outs = [
+        "column_plant.h",
+        "column_plant.cc",
+        "column_integral_plant.h",
+        "column_integral_plant.cc",
+        "stuck_column_integral_plant.h",
+        "stuck_column_integral_plant.cc",
+    ],
+    cmd = "$(location //y2017/control_loops/python:column) $(OUTS)",
+    tools = [
+        "//y2017/control_loops/python:column",
+    ],
 )
 
 cc_library(
-  name = 'column_plants',
-  visibility = ['//visibility:public'],
-  srcs = [
-    'column_plant.cc',
-    'column_integral_plant.cc',
-    'stuck_column_integral_plant.cc',
-  ],
-  hdrs = [
-    'column_plant.h',
-    'column_integral_plant.h',
-    'stuck_column_integral_plant.h',
-  ],
-  deps = [
-    '//frc971/control_loops:state_feedback_loop',
-  ],
+    name = "column_plants",
+    srcs = [
+        "column_integral_plant.cc",
+        "column_plant.cc",
+        "stuck_column_integral_plant.cc",
+    ],
+    hdrs = [
+        "column_integral_plant.h",
+        "column_plant.h",
+        "stuck_column_integral_plant.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops:state_feedback_loop",
+    ],
 )
 
 cc_library(
-  name = 'column',
-  visibility = ['//visibility:public'],
-  srcs = [
-    'column.cc',
-  ],
-  hdrs = [
-    'column.h',
-  ],
-  deps = [
-    ':column_plants',
-    ':column_zeroing',
-    '//aos/controls:control_loop',
-    '//aos:math',
-    '//frc971/control_loops:profiled_subsystem',
-    '//y2017/control_loops/superstructure/intake:intake',
-    '//y2017/control_loops/superstructure:superstructure_queue',
-    '//y2017/control_loops/superstructure:vision_time_adjuster',
-    '//y2017:constants',
-  ],
+    name = "column",
+    srcs = [
+        "column.cc",
+    ],
+    hdrs = [
+        "column.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":column_plants",
+        ":column_zeroing",
+        "//aos:math",
+        "//aos/controls:control_loop",
+        "//frc971/control_loops:profiled_subsystem",
+        "//y2017:constants",
+        "//y2017/control_loops/superstructure:superstructure_position_fbs",
+        "//y2017/control_loops/superstructure:superstructure_status_fbs",
+        "//y2017/control_loops/superstructure:vision_time_adjuster",
+        "//y2017/control_loops/superstructure/intake",
+    ],
 )
 
 cc_library(
-  name = 'column_zeroing',
-  srcs = [
-    'column_zeroing.cc',
-  ],
-  hdrs = [
-    'column_zeroing.h',
-  ],
-  deps = [
-    '//frc971/control_loops:queues',
-    '//frc971/zeroing:wrap',
-    '//frc971/zeroing:zeroing',
-    '//frc971:constants',
-    '//y2017/control_loops/superstructure:superstructure_queue',
-    '//y2017:constants',
-  ],
+    name = "column_zeroing",
+    srcs = [
+        "column_zeroing.cc",
+    ],
+    hdrs = [
+        "column_zeroing.h",
+    ],
+    deps = [
+        "//frc971:constants",
+        "//frc971/control_loops:profiled_subsystem_fbs",
+        "//frc971/zeroing",
+        "//frc971/zeroing:wrap",
+        "//y2017:constants",
+        "//y2017/control_loops/superstructure:superstructure_position_fbs",
+        "//y2017/control_loops/superstructure:superstructure_status_fbs",
+    ],
 )
 
 cc_test(
-  name = 'column_zeroing_test',
-  srcs = [
-    'column_zeroing_test.cc',
-  ],
-  deps = [
-    ':column_zeroing',
-    '//aos/testing:test_shm',
-    '//frc971/control_loops:position_sensor_sim',
-    '//frc971/control_loops:team_number_test_environment',
-    '//y2017/control_loops/superstructure:superstructure_queue',
-    '//y2017:constants',
-  ],
+    name = "column_zeroing_test",
+    srcs = [
+        "column_zeroing_test.cc",
+    ],
+    deps = [
+        ":column_zeroing",
+        "//aos/testing:test_shm",
+        "//frc971/control_loops:position_sensor_sim",
+        "//frc971/control_loops:team_number_test_environment",
+        "//y2017:constants",
+    ],
 )
diff --git a/y2017/control_loops/superstructure/column/column.cc b/y2017/control_loops/superstructure/column/column.cc
index ab1ff72..b2e7c5c 100644
--- a/y2017/control_loops/superstructure/column/column.cc
+++ b/y2017/control_loops/superstructure/column/column.cc
@@ -118,17 +118,18 @@
   }
 
   turret_last_position_ = turret_position();
-  Y_ << new_position.indexer.encoder, new_position.turret.encoder;
+  Y_ << new_position.indexer()->encoder(), new_position.turret()->encoder();
   Y_ += offset_;
   loop_->Correct(Y_);
 
-  indexer_history_[indexer_history_position_] = new_position.indexer.encoder;
+  indexer_history_[indexer_history_position_] =
+      new_position.indexer()->encoder();
   indexer_history_position_ = (indexer_history_position_ + 1) % kHistoryLength;
 
   indexer_dt_velocity_ =
-      (new_position.indexer.encoder - indexer_last_position_) /
+      (new_position.indexer()->encoder() - indexer_last_position_) /
       ::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency);
-  indexer_last_position_ = new_position.indexer.encoder;
+  indexer_last_position_ = new_position.indexer()->encoder();
 
   stuck_indexer_detector_->Correct(Y_);
 
@@ -304,9 +305,11 @@
 }
 
 void ColumnProfiledSubsystem::AdjustProfile(
-    const ::frc971::ProfileParameters &profile_parameters) {
-  AdjustProfile(profile_parameters.max_velocity,
-                profile_parameters.max_acceleration);
+    const ::frc971::ProfileParameters *profile_parameters) {
+  AdjustProfile(
+      profile_parameters == nullptr ? 0.0 : profile_parameters->max_velocity(),
+      profile_parameters == nullptr ? 0.0
+                                    : profile_parameters->max_acceleration());
 }
 
 void ColumnProfiledSubsystem::AdjustProfile(double max_angular_velocity,
@@ -348,20 +351,46 @@
   stuck_indexer_detector_->mutable_X_hat(5, 0) = 0.0;
 }
 
-void ColumnProfiledSubsystem::PopulateIndexerStatus(IndexerStatus *status) {
-  status->avg_angular_velocity = indexer_average_angular_velocity_;
+void ColumnProfiledSubsystem::PopulateIndexerStatus(
+    IndexerStatus::Builder *status_builder) {
+  status_builder->add_avg_angular_velocity(indexer_average_angular_velocity_);
 
-  status->angular_velocity = X_hat_current_(1, 0);
-  status->ready = indexer_ready_;
+  status_builder->add_angular_velocity(X_hat_current_(1, 0));
+  status_builder->add_ready(indexer_ready_);
 
-  status->voltage_error = X_hat_current_(4, 0);
-  status->stuck_voltage_error = stuck_indexer_X_hat_current_(4, 0);
-  status->position_error = indexer_position_error_;
-  status->instantaneous_velocity = indexer_dt_velocity_;
+  status_builder->add_voltage_error(X_hat_current_(4, 0));
+  status_builder->add_stuck_voltage_error(stuck_indexer_X_hat_current_(4, 0));
+  status_builder->add_position_error(indexer_position_error_);
+  status_builder->add_instantaneous_velocity(indexer_dt_velocity_);
 
-  status->stuck = IsIndexerStuck();
+  status_builder->add_stuck(IsIndexerStuck());
 
-  status->stuck_voltage = IndexerStuckVoltage();
+  status_builder->add_stuck_voltage(IndexerStuckVoltage());
+}
+
+void ColumnProfiledSubsystem::PopulateTurretStatus(
+    TurretProfiledSubsystemStatus::Builder *status_builder,
+    flatbuffers::Offset<ColumnZeroingEstimator::State> estimator_state_offset) {
+  status_builder->add_zeroed(zeroed());
+
+  status_builder->add_position(X_hat(2, 0));
+  status_builder->add_velocity(X_hat(3, 0));
+  status_builder->add_goal_position(goal(2, 0));
+  status_builder->add_goal_velocity(goal(3, 0));
+  status_builder->add_unprofiled_goal_position(unprofiled_goal(2, 0));
+  status_builder->add_unprofiled_goal_velocity(unprofiled_goal(3, 0));
+  status_builder->add_voltage_error(X_hat(5, 0));
+  status_builder->add_calculated_velocity(
+      (turret_position() - turret_last_position_) /
+      ::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency));
+
+  status_builder->add_estimator_state(estimator_state_offset);
+
+  Eigen::Matrix<double, 6, 1> error = controller().error();
+  status_builder->add_position_power(controller().controller().K(0, 0) *
+                                     error(0, 0));
+  status_builder->add_velocity_power(controller().controller().K(0, 1) *
+                                     error(1, 0));
 }
 
 Column::Column(::aos::EventLoop *event_loop)
@@ -384,15 +413,15 @@
   freeze_ = false;
 }
 
-void Column::Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
-                     const control_loops::IndexerGoal *unsafe_indexer_goal,
-                     const control_loops::TurretGoal *unsafe_turret_goal,
-                     const ColumnPosition *position,
-                     const vision::VisionStatus *vision_status,
-                     double *indexer_output, double *turret_output,
-                     IndexerStatus *indexer_status,
-                     TurretProfiledSubsystemStatus *turret_status,
-                     intake::Intake *intake) {
+std::pair<flatbuffers::Offset<IndexerStatus>,
+          flatbuffers::Offset<TurretProfiledSubsystemStatus>>
+Column::Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
+                const IndexerGoalT *unsafe_indexer_goal,
+                const TurretGoal *unsafe_turret_goal,
+                const ColumnPosition *position,
+                const vision::VisionStatus *vision_status,
+                double *indexer_output, double *turret_output,
+                flatbuffers::FlatBufferBuilder *fbb, intake::Intake *intake) {
   bool disable = turret_output == nullptr || indexer_output == nullptr;
   profiled_subsystem_.Correct(*position);
 
@@ -526,11 +555,12 @@
       }
 
       if (unsafe_turret_goal && unsafe_indexer_goal) {
-        profiled_subsystem_.AdjustProfile(unsafe_turret_goal->profile_params);
+        profiled_subsystem_.AdjustProfile(unsafe_turret_goal->profile_params());
         profiled_subsystem_.set_unprofiled_goal(
-            unsafe_indexer_goal->angular_velocity, unsafe_turret_goal->angle);
+            unsafe_indexer_goal->angular_velocity,
+            unsafe_turret_goal->angle());
 
-        if (unsafe_turret_goal->track) {
+        if (unsafe_turret_goal->track()) {
           if (vision_time_adjuster_.valid()) {
             AOS_LOG(INFO, "Vision aligning to %f\n",
                     vision_time_adjuster_.goal());
@@ -623,23 +653,40 @@
 
   // Save debug/internal state.
   // TODO(austin): Save more.
-  turret_status->zeroed = profiled_subsystem_.zeroed();
-  profiled_subsystem_.PopulateTurretStatus(turret_status);
-  turret_status->estopped = (state_ == State::ESTOP);
-  turret_status->state = static_cast<int32_t>(state_);
-  turret_status->turret_encoder_angle = profiled_subsystem_.turret_position();
+  flatbuffers::Offset<ColumnZeroingEstimator::State>
+      column_estimator_state_offset =
+          profiled_subsystem_.EstimatorState(fbb, 0);
+
+  TurretProfiledSubsystemStatus::Builder turret_status_builder(*fbb);
+  profiled_subsystem_.PopulateTurretStatus(&turret_status_builder,
+                                           column_estimator_state_offset);
+  turret_status_builder.add_estopped((state_ == State::ESTOP));
+  turret_status_builder.add_state(static_cast<int32_t>(state_));
+  turret_status_builder.add_turret_encoder_angle(
+      profiled_subsystem_.turret_position());
   if (vision_time_adjuster_.valid()) {
-    turret_status->vision_angle = vision_time_adjuster_.goal();
-    turret_status->raw_vision_angle =
-        vision_time_adjuster_.most_recent_vision_reading();
-    turret_status->vision_tracking = true;
+    turret_status_builder.add_vision_angle(vision_time_adjuster_.goal());
+    turret_status_builder.add_raw_vision_angle(
+        vision_time_adjuster_.most_recent_vision_reading());
+    turret_status_builder.add_vision_tracking(true);
   } else {
-    turret_status->vision_angle = ::std::numeric_limits<double>::quiet_NaN();
-    turret_status->vision_tracking = false;
+    turret_status_builder.add_vision_angle(
+        ::std::numeric_limits<double>::quiet_NaN());
+    turret_status_builder.add_vision_tracking(false);
   }
 
-  profiled_subsystem_.PopulateIndexerStatus(indexer_status);
-  indexer_status->state = static_cast<int32_t>(indexer_state_);
+  flatbuffers::Offset<TurretProfiledSubsystemStatus> turret_status_offset =
+      turret_status_builder.Finish();
+
+  IndexerStatus::Builder indexer_status_builder(*fbb);
+  profiled_subsystem_.PopulateIndexerStatus(&indexer_status_builder);
+
+  indexer_status_builder.add_state(static_cast<int32_t>(indexer_state_));
+
+  flatbuffers::Offset<IndexerStatus> indexer_status_offset =
+      indexer_status_builder.Finish();
+
+  return std::make_pair(indexer_status_offset, turret_status_offset);
 }
 
 }  // namespace column
diff --git a/y2017/control_loops/superstructure/column/column.h b/y2017/control_loops/superstructure/column/column.h
index 0382059..615565f 100644
--- a/y2017/control_loops/superstructure/column/column.h
+++ b/y2017/control_loops/superstructure/column/column.h
@@ -14,9 +14,10 @@
 #include "y2017/constants.h"
 #include "y2017/control_loops/superstructure/column/column_zeroing.h"
 #include "y2017/control_loops/superstructure/intake/intake.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
+#include "y2017/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2017/control_loops/superstructure/superstructure_status_generated.h"
 #include "y2017/control_loops/superstructure/vision_time_adjuster.h"
-#include "y2017/vision/vision.q.h"
+#include "y2017/vision/vision_generated.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -41,8 +42,10 @@
   void Update(bool disabled);
 
   // Fills out the ProfiledJointStatus structure with the current state.
-  template <class StatusType>
-  void PopulateTurretStatus(StatusType *status);
+  void PopulateTurretStatus(
+      TurretProfiledSubsystemStatus::Builder *status_builder,
+      flatbuffers::Offset<ColumnZeroingEstimator::State>
+          estimator_state_offset);
 
   // Forces the current goal to the provided goal, bypassing the profiler.
   void ForceGoal(double goal_velocity, double goal);
@@ -52,7 +55,7 @@
   void set_turret_unprofiled_goal(double unprofiled_goal);
   void set_unprofiled_goal(double goal_velocity, double unprofiled_goal);
   // Limits our profiles to a max velocity and acceleration for proper motion.
-  void AdjustProfile(const ::frc971::ProfileParameters &profile_parameters);
+  void AdjustProfile(const ::frc971::ProfileParameters *profile_parameters);
   void AdjustProfile(double max_angular_velocity,
                      double max_angular_acceleration);
 
@@ -86,7 +89,7 @@
   double IndexerStuckVoltage() const;
   void PartialIndexerReset();
   void PartialTurretReset();
-  void PopulateIndexerStatus(IndexerStatus *status);
+  void PopulateIndexerStatus(IndexerStatus::Builder *status_builder);
 
   void AddOffset(double indexer_offset_delta, double turret_offset_delta);
 
@@ -132,31 +135,6 @@
   double turret_last_position_ = 0;
 };
 
-template <typename StatusType>
-void ColumnProfiledSubsystem::PopulateTurretStatus(StatusType *status) {
-  status->zeroed = zeroed();
-  status->state = -1;
-  // We don't know, so default to the bad case.
-  status->estopped = true;
-
-  status->position = X_hat(2, 0);
-  status->velocity = X_hat(3, 0);
-  status->goal_position = goal(2, 0);
-  status->goal_velocity = goal(3, 0);
-  status->unprofiled_goal_position = unprofiled_goal(2, 0);
-  status->unprofiled_goal_velocity = unprofiled_goal(3, 0);
-  status->voltage_error = X_hat(5, 0);
-  status->calculated_velocity =
-      (turret_position() - turret_last_position_) /
-      ::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency);
-
-  status->estimator_state = EstimatorState(0);
-
-  Eigen::Matrix<double, 6, 1> error = controller().error();
-  status->position_power = controller().controller().K(0, 0) * error(0, 0);
-  status->velocity_power = controller().controller().K(0, 1) * error(1, 0);
-}
-
 class Column {
  public:
   Column(::aos::EventLoop *event_loop);
@@ -179,15 +157,16 @@
   static constexpr double kTurretMin = -0.1;
   static constexpr double kTurretMax = M_PI / 2.0 + 0.1;
 
-  void Iterate(::aos::monotonic_clock::time_point monotonic_now,
-               const control_loops::IndexerGoal *unsafe_indexer_goal,
-               const control_loops::TurretGoal *unsafe_turret_goal,
-               const ColumnPosition *position,
-               const vision::VisionStatus *vision_status,
-               double *indexer_output, double *turret_output,
-               IndexerStatus *indexer_status,
-               TurretProfiledSubsystemStatus *turret_status,
-               intake::Intake *intake);
+  std::pair<flatbuffers::Offset<IndexerStatus>,
+            flatbuffers::Offset<TurretProfiledSubsystemStatus>>
+  Iterate(::aos::monotonic_clock::time_point monotonic_now,
+          const IndexerGoalT *unsafe_indexer_goal,
+          const TurretGoal *unsafe_turret_goal, const ColumnPosition *position,
+          const vision::VisionStatus *vision_status, double *indexer_output,
+          double *turret_output, flatbuffers::FlatBufferBuilder *fbb,
+          // IndexerStatus *indexer_status,
+          // TurretProfiledSubsystemStatus *turret_status,
+          intake::Intake *intake);
 
   void Reset();
 
diff --git a/y2017/control_loops/superstructure/column/column_zeroing.cc b/y2017/control_loops/superstructure/column/column_zeroing.cc
index 30500ca..7d5937a 100644
--- a/y2017/control_loops/superstructure/column/column_zeroing.cc
+++ b/y2017/control_loops/superstructure/column/column_zeroing.cc
@@ -31,15 +31,16 @@
 }
 
 void ColumnZeroingEstimator::UpdateEstimate(const ColumnPosition &position) {
-  indexer_.UpdateEstimate(position.indexer);
-  turret_.UpdateEstimate(position.turret);
+  indexer_.UpdateEstimate(*position.indexer());
+  turret_.UpdateEstimate(*position.turret());
 
   if (indexer_.zeroed() && turret_.zeroed()) {
     indexer_offset_ = indexer_.offset();
 
     // Compute the current turret position.
-    const double current_turret = indexer_offset_ + position.indexer.encoder +
-                                  turret_.offset() + position.turret.encoder;
+    const double current_turret =
+        indexer_offset_ + position.indexer()->encoder() + turret_.offset() +
+        position.turret()->encoder();
 
     // Now, we can compute the turret position which is closest to 0 radians
     // (within +- M_PI).
@@ -47,16 +48,16 @@
         ::frc971::zeroing::Wrap(0.0, current_turret, M_PI * 2.0);
 
     // Now, compute the actual turret offset.
-    turret_offset_ = adjusted_turret - position.turret.encoder -
-                     (indexer_offset_ + position.indexer.encoder);
+    turret_offset_ = adjusted_turret - position.turret()->encoder() -
+                     (indexer_offset_ + position.indexer()->encoder());
     offset_ready_ = true;
 
     // If we are close enough to 0, we are zeroed.  Otherwise, we don't know
     // which revolution we are on and need more info.  We will always report the
     // turret position as within +- M_PI from 0 with the provided offset.
-    if (::std::abs(position.indexer.encoder + position.turret.encoder +
-                   indexer_offset_ + turret_offset_) <
-        turret_zeroed_distance_) {
+    if (::std::abs(position.indexer()->encoder() +
+                   position.turret()->encoder() + indexer_offset_ +
+                   turret_offset_) < turret_zeroed_distance_) {
       zeroed_ = true;
     }
 
@@ -65,17 +66,23 @@
   }
 }
 
-ColumnZeroingEstimator::State ColumnZeroingEstimator::GetEstimatorState()
-    const {
-  State r;
-  r.error = error();
-  r.zeroed = zeroed();
-  r.indexer = indexer_.GetEstimatorState();
-  r.turret = turret_.GetEstimatorState();
-  return r;
+flatbuffers::Offset<ColumnZeroingEstimator::State>
+ColumnZeroingEstimator::GetEstimatorState(
+    flatbuffers::FlatBufferBuilder *fbb) const {
+  flatbuffers::Offset<frc971::HallEffectAndPositionEstimatorState> indexer_offset =
+      indexer_.GetEstimatorState(fbb);
+  flatbuffers::Offset<frc971::HallEffectAndPositionEstimatorState> turret_offset =
+      turret_.GetEstimatorState(fbb);
+
+  State::Builder state_builder(*fbb);
+  state_builder.add_indexer(indexer_offset);
+  state_builder.add_turret(turret_offset);
+  state_builder.add_error(error());
+  state_builder.add_zeroed(zeroed());
+  return state_builder.Finish();
 }
 
-}  // column
-}  // superstructure
+}  // namespace column
+}  // namespace superstructure
 }  // control_loops
 }  // y2017
diff --git a/y2017/control_loops/superstructure/column/column_zeroing.h b/y2017/control_loops/superstructure/column/column_zeroing.h
index f2ac94f..8c2cbf3 100644
--- a/y2017/control_loops/superstructure/column/column_zeroing.h
+++ b/y2017/control_loops/superstructure/column/column_zeroing.h
@@ -2,10 +2,10 @@
 #define Y2017_CONTROL_LOOPS_SUPERSTRUCTURE_COLUMN_H_
 
 #include "frc971/constants.h"
-#include "frc971/control_loops/control_loops.q.h"
 #include "frc971/zeroing/zeroing.h"
 #include "y2017/constants.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
+#include "y2017/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2017/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -41,7 +41,8 @@
   double turret_offset() const { return turret_offset_; }
 
   // Returns information about our current state.
-  State GetEstimatorState() const;
+  flatbuffers::Offset<State> GetEstimatorState(
+      flatbuffers::FlatBufferBuilder *fbb) const;
 
  private:
   // We are ensuring that two subsystems are zeroed, so here they are!
diff --git a/y2017/control_loops/superstructure/column/column_zeroing_test.cc b/y2017/control_loops/superstructure/column/column_zeroing_test.cc
index 3cc9c2e..dab5139 100644
--- a/y2017/control_loops/superstructure/column/column_zeroing_test.cc
+++ b/y2017/control_loops/superstructure/column/column_zeroing_test.cc
@@ -3,10 +3,13 @@
 #include <random>
 
 #include "aos/die.h"
+#include "aos/flatbuffers.h"
+#include "aos/json_to_flatbuffer.h"
 #include "aos/testing/test_shm.h"
 #include "frc971/control_loops/position_sensor_sim.h"
 #include "frc971/control_loops/team_number_test_environment.h"
 #include "frc971/zeroing/zeroing.h"
+#include "glog/logging.h"
 #include "gtest/gtest.h"
 #include "y2017/constants.h"
 #include "y2017/control_loops/superstructure/column/column_zeroing.h"
@@ -49,14 +52,28 @@
   }
 
   void MoveTo(double indexer, double turret) {
-    ColumnPosition column_position;
+    flatbuffers::FlatBufferBuilder fbb;
     indexer_sensor_.MoveTo(indexer);
     turret_sensor_.MoveTo(turret - indexer);
 
-    indexer_sensor_.GetSensorValues(&column_position.indexer);
-    turret_sensor_.GetSensorValues(&column_position.turret);
+    HallEffectAndPosition::Builder indexer_builder(fbb);
+    flatbuffers::Offset<HallEffectAndPosition> indexer_offset =
+        indexer_sensor_.GetSensorValues(&indexer_builder);
 
-    column_zeroing_estimator_.UpdateEstimate(column_position);
+    HallEffectAndPosition::Builder turret_builder(fbb);
+    flatbuffers::Offset<HallEffectAndPosition> turret_offset =
+        turret_sensor_.GetSensorValues(&turret_builder);
+
+    ColumnPosition::Builder column_position_builder(fbb);
+    column_position_builder.add_indexer(indexer_offset);
+    column_position_builder.add_turret(turret_offset);
+    fbb.Finish(column_position_builder.Finish());
+
+
+    aos::FlatbufferDetachedBuffer<ColumnPosition> column_position(fbb.Release());
+    LOG(INFO) << "Position: " << aos::FlatbufferToJson(column_position);
+
+    column_zeroing_estimator_.UpdateEstimate(column_position.message());
   }
 };
 
diff --git a/y2017/control_loops/superstructure/hood/BUILD b/y2017/control_loops/superstructure/hood/BUILD
index 9760eac..c3f6ef0 100644
--- a/y2017/control_loops/superstructure/hood/BUILD
+++ b/y2017/control_loops/superstructure/hood/BUILD
@@ -1,46 +1,48 @@
 genrule(
-  name = 'genrule_hood',
-  cmd = '$(location //y2017/control_loops/python:hood) $(OUTS)',
-  tools = [
-    '//y2017/control_loops/python:hood',
-  ],
-  outs = [
-    'hood_plant.h',
-    'hood_plant.cc',
-    'hood_integral_plant.h',
-    'hood_integral_plant.cc',
-  ],
+    name = "genrule_hood",
+    outs = [
+        "hood_plant.h",
+        "hood_plant.cc",
+        "hood_integral_plant.h",
+        "hood_integral_plant.cc",
+    ],
+    cmd = "$(location //y2017/control_loops/python:hood) $(OUTS)",
+    tools = [
+        "//y2017/control_loops/python:hood",
+    ],
 )
 
 cc_library(
-  name = 'hood_plants',
-  visibility = ['//visibility:public'],
-  srcs = [
-    'hood_plant.cc',
-    'hood_integral_plant.cc',
-  ],
-  hdrs = [
-    'hood_plant.h',
-    'hood_integral_plant.h',
-  ],
-  deps = [
-    '//frc971/control_loops:state_feedback_loop',
-  ],
+    name = "hood_plants",
+    srcs = [
+        "hood_integral_plant.cc",
+        "hood_plant.cc",
+    ],
+    hdrs = [
+        "hood_integral_plant.h",
+        "hood_plant.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops:state_feedback_loop",
+    ],
 )
 
 cc_library(
-  name = 'hood',
-  visibility = ['//visibility:public'],
-  srcs = [
-    'hood.cc',
-  ],
-  hdrs = [
-    'hood.h',
-  ],
-  deps = [
-    ':hood_plants',
-    '//frc971/control_loops:profiled_subsystem',
-    '//y2017/control_loops/superstructure:superstructure_queue',
-    '//y2017:constants',
-  ],
+    name = "hood",
+    srcs = [
+        "hood.cc",
+    ],
+    hdrs = [
+        "hood.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":hood_plants",
+        "//frc971/control_loops:profiled_subsystem",
+        "//y2017:constants",
+        "//y2017/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2017/control_loops/superstructure:superstructure_position_fbs",
+        "//y2017/control_loops/superstructure:superstructure_status_fbs",
+    ],
 )
diff --git a/y2017/control_loops/superstructure/hood/hood.cc b/y2017/control_loops/superstructure/hood/hood.cc
index 8588a16..3dcd806 100644
--- a/y2017/control_loops/superstructure/hood/hood.cc
+++ b/y2017/control_loops/superstructure/hood/hood.cc
@@ -61,10 +61,12 @@
   last_position_ = 0;
 }
 
-void Hood::Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
-                   const control_loops::HoodGoal *unsafe_goal,
-                   const ::frc971::IndexPosition *position, double *output,
-                   ::frc971::control_loops::IndexProfiledJointStatus *status) {
+flatbuffers::Offset<frc971::control_loops::IndexProfiledJointStatus>
+Hood::Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
+              const double *unsafe_goal,
+              const frc971::ProfileParameters *unsafe_goal_profile_parameters,
+              const ::frc971::IndexPosition *position, double *output,
+              flatbuffers::FlatBufferBuilder *fbb) {
   bool disable = output == nullptr;
   profiled_subsystem_.Correct(*position);
 
@@ -151,8 +153,8 @@
 
       // If we have a goal, go to it.  Otherwise stay where we are.
       if (unsafe_goal) {
-        profiled_subsystem_.AdjustProfile(unsafe_goal->profile_params);
-        profiled_subsystem_.set_unprofiled_goal(unsafe_goal->angle);
+        profiled_subsystem_.AdjustProfile(unsafe_goal_profile_parameters);
+        profiled_subsystem_.set_unprofiled_goal(*unsafe_goal);
       }
 
       // ESTOP if we hit the hard limits.
@@ -198,12 +200,14 @@
   }
 
   // Save debug/internal state.
+  frc971::control_loops::IndexProfiledJointStatus::Builder status_builder =
+      profiled_subsystem_.BuildStatus<
+          frc971::control_loops::IndexProfiledJointStatus::Builder>(fbb);
   // TODO(austin): Save more.
-  status->zeroed = profiled_subsystem_.zeroed();
+  status_builder.add_estopped((state_ == State::ESTOP));
+  status_builder.add_state(static_cast<int32_t>(state_));
 
-  profiled_subsystem_.PopulateStatus(status);
-  status->estopped = (state_ == State::ESTOP);
-  status->state = static_cast<int32_t>(state_);
+  return status_builder.Finish();
 }
 
 }  // namespace hood
diff --git a/y2017/control_loops/superstructure/hood/hood.h b/y2017/control_loops/superstructure/hood/hood.h
index 55d5344..7778152 100644
--- a/y2017/control_loops/superstructure/hood/hood.h
+++ b/y2017/control_loops/superstructure/hood/hood.h
@@ -2,8 +2,8 @@
 #define Y2017_CONTROL_LOOPS_SUPERSTRUCTURE_HOOD_HOOD_H_
 
 #include "frc971/control_loops/profiled_subsystem.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
 #include "y2017/constants.h"
+#include "y2017/control_loops/superstructure/superstructure_goal_generated.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -45,10 +45,12 @@
       ::std::chrono::milliseconds(15);
   static constexpr double kNotMovingVoltage = 2.0;
 
-  void Iterate(::aos::monotonic_clock::time_point monotonic_now,
-               const control_loops::HoodGoal *unsafe_goal,
-               const ::frc971::IndexPosition *position, double *output,
-               ::frc971::control_loops::IndexProfiledJointStatus *status);
+  flatbuffers::Offset<frc971::control_loops::IndexProfiledJointStatus> Iterate(
+      ::aos::monotonic_clock::time_point monotonic_now,
+      const double *unsafe_goal,
+      const frc971::ProfileParameters *unsafe_goal_profile_parameters,
+      const ::frc971::IndexPosition *position, double *output,
+      flatbuffers::FlatBufferBuilder *fbb);
 
   void Reset();
 
diff --git a/y2017/control_loops/superstructure/intake/BUILD b/y2017/control_loops/superstructure/intake/BUILD
index 164a63b..43f4927 100644
--- a/y2017/control_loops/superstructure/intake/BUILD
+++ b/y2017/control_loops/superstructure/intake/BUILD
@@ -1,46 +1,46 @@
 genrule(
-  name = 'genrule_intake',
-  cmd = '$(location //y2017/control_loops/python:intake) $(OUTS)',
-  tools = [
-    '//y2017/control_loops/python:intake',
-  ],
-  outs = [
-    'intake_plant.h',
-    'intake_plant.cc',
-    'intake_integral_plant.h',
-    'intake_integral_plant.cc',
-  ],
+    name = "genrule_intake",
+    outs = [
+        "intake_plant.h",
+        "intake_plant.cc",
+        "intake_integral_plant.h",
+        "intake_integral_plant.cc",
+    ],
+    cmd = "$(location //y2017/control_loops/python:intake) $(OUTS)",
+    tools = [
+        "//y2017/control_loops/python:intake",
+    ],
 )
 
 cc_library(
-  name = 'intake_plants',
-  visibility = ['//visibility:public'],
-  srcs = [
-    'intake_plant.cc',
-    'intake_integral_plant.cc',
-  ],
-  hdrs = [
-    'intake_plant.h',
-    'intake_integral_plant.h',
-  ],
-  deps = [
-    '//frc971/control_loops:state_feedback_loop',
-  ],
+    name = "intake_plants",
+    srcs = [
+        "intake_integral_plant.cc",
+        "intake_plant.cc",
+    ],
+    hdrs = [
+        "intake_integral_plant.h",
+        "intake_plant.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops:state_feedback_loop",
+    ],
 )
 
 cc_library(
-  name = 'intake',
-  visibility = ['//visibility:public'],
-  srcs = [
-    'intake.cc',
-  ],
-  hdrs = [
-    'intake.h',
-  ],
-  deps = [
-    ':intake_plants',
-    '//frc971/control_loops:profiled_subsystem',
-    '//y2017/control_loops/superstructure:superstructure_queue',
-    '//y2017:constants',
-  ],
+    name = "intake",
+    srcs = [
+        "intake.cc",
+    ],
+    hdrs = [
+        "intake.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":intake_plants",
+        "//frc971/control_loops:profiled_subsystem",
+        "//y2017:constants",
+        "//y2017/control_loops/superstructure:superstructure_goal_fbs",
+    ],
 )
diff --git a/y2017/control_loops/superstructure/intake/intake.cc b/y2017/control_loops/superstructure/intake/intake.cc
index baa4693..ee631d7 100644
--- a/y2017/control_loops/superstructure/intake/intake.cc
+++ b/y2017/control_loops/superstructure/intake/intake.cc
@@ -29,10 +29,11 @@
   disable_count_ = 0;
 }
 
-void Intake::Iterate(
-    const control_loops::IntakeGoal *unsafe_goal,
-    const ::frc971::PotAndAbsolutePosition *position, double *output,
-    ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus *status) {
+flatbuffers::Offset<
+    frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
+Intake::Iterate(const IntakeGoal *unsafe_goal,
+                const ::frc971::PotAndAbsolutePosition *position,
+                double *output, flatbuffers::FlatBufferBuilder *fbb) {
   bool disable = output == nullptr;
   profiled_subsystem_.Correct(*position);
 
@@ -84,9 +85,9 @@
       }
 
       if (unsafe_goal) {
-        profiled_subsystem_.AdjustProfile(unsafe_goal->profile_params);
-        profiled_subsystem_.set_unprofiled_goal(unsafe_goal->distance);
-        if (unsafe_goal->disable_intake) {
+        profiled_subsystem_.AdjustProfile(unsafe_goal->profile_params());
+        profiled_subsystem_.set_unprofiled_goal(unsafe_goal->distance());
+        if (unsafe_goal->disable_intake()) {
           if (disable_count_ > 100) {
             disable = true;
           }
@@ -133,13 +134,16 @@
     *output = profiled_subsystem_.voltage();
   }
 
-  // Save debug/internal state.
-  // TODO(austin): Save more.
-  status->zeroed = profiled_subsystem_.zeroed();
+  frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus::Builder
+      status_builder = profiled_subsystem_.BuildStatus<
+          frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus::
+              Builder>(fbb);
 
-  profiled_subsystem_.PopulateStatus(status);
-  status->estopped = (state_ == State::ESTOP);
-  status->state = static_cast<int32_t>(state_);
+  // Save debug/internal state.
+  status_builder.add_estopped((state_ == State::ESTOP));
+  status_builder.add_state(static_cast<int32_t>(state_));
+
+  return status_builder.Finish();
 }
 
 }  // namespace intake
diff --git a/y2017/control_loops/superstructure/intake/intake.h b/y2017/control_loops/superstructure/intake/intake.h
index db1442a..cba3318 100644
--- a/y2017/control_loops/superstructure/intake/intake.h
+++ b/y2017/control_loops/superstructure/intake/intake.h
@@ -3,7 +3,7 @@
 
 #include "frc971/control_loops/profiled_subsystem.h"
 #include "y2017/constants.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
+#include "y2017/control_loops/superstructure/superstructure_goal_generated.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -32,10 +32,11 @@
   static constexpr double kZeroingVoltage = 2.5;
   static constexpr double kOperatingVoltage = 12.0;
 
-  void Iterate(const control_loops::IntakeGoal *unsafe_goal,
-               const ::frc971::PotAndAbsolutePosition *position, double *output,
-               ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus
-                   *status);
+  flatbuffers::Offset<
+      ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
+  Iterate(const IntakeGoal *unsafe_goal,
+          const ::frc971::PotAndAbsolutePosition *position, double *output,
+          flatbuffers::FlatBufferBuilder *fbb);
 
   void Reset();
 
diff --git a/y2017/control_loops/superstructure/shooter/BUILD b/y2017/control_loops/superstructure/shooter/BUILD
index cb7fa54..d83e34b 100644
--- a/y2017/control_loops/superstructure/shooter/BUILD
+++ b/y2017/control_loops/superstructure/shooter/BUILD
@@ -1,49 +1,53 @@
-package(default_visibility = ['//visibility:public'])
+package(default_visibility = ["//visibility:public"])
 
 genrule(
-  name = 'genrule_shooter',
-  cmd = '$(location //y2017/control_loops/python:shooter) $(OUTS)',
-  tools = [
-    '//y2017/control_loops/python:shooter',
-  ],
-  outs = [
-    'shooter_plant.h',
-    'shooter_plant.cc',
-    'shooter_integral_plant.h',
-    'shooter_integral_plant.cc',
-  ],
+    name = "genrule_shooter",
+    outs = [
+        "shooter_plant.h",
+        "shooter_plant.cc",
+        "shooter_integral_plant.h",
+        "shooter_integral_plant.cc",
+    ],
+    cmd = "$(location //y2017/control_loops/python:shooter) $(OUTS)",
+    tools = [
+        "//y2017/control_loops/python:shooter",
+    ],
 )
 
 cc_library(
-  name = 'shooter_plants',
-  visibility = ['//visibility:public'],
-  srcs = [
-    'shooter_plant.cc',
-    'shooter_integral_plant.cc',
-  ],
-  hdrs = [
-    'shooter_plant.h',
-    'shooter_integral_plant.h',
-  ],
-  deps = [
-    '//frc971/control_loops:hybrid_state_feedback_loop',
-    '//frc971/control_loops:state_feedback_loop',
-  ],
+    name = "shooter_plants",
+    srcs = [
+        "shooter_integral_plant.cc",
+        "shooter_plant.cc",
+    ],
+    hdrs = [
+        "shooter_integral_plant.h",
+        "shooter_plant.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops:hybrid_state_feedback_loop",
+        "//frc971/control_loops:state_feedback_loop",
+    ],
 )
 
 cc_library(
-  name = 'shooter',
-  visibility = ['//visibility:public'],
-  srcs = [
-    'shooter.cc',
-  ],
-  hdrs = [
-    'shooter.h',
-  ],
-  deps = [
-    ':shooter_plants',
-    '//aos/controls:control_loop',
-    '//third_party/eigen',
-    '//y2017/control_loops/superstructure:superstructure_queue',
-  ],
+    name = "shooter",
+    srcs = [
+        "shooter.cc",
+    ],
+    hdrs = [
+        "shooter.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":shooter_plants",
+        "//aos/controls:control_loop",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:profiled_subsystem_fbs",
+        "//y2017/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2017/control_loops/superstructure:superstructure_position_fbs",
+        "//y2017/control_loops/superstructure:superstructure_status_fbs",
+        "@org_tuxfamily_eigen//:eigen",
+    ],
 )
diff --git a/y2017/control_loops/superstructure/shooter/shooter.cc b/y2017/control_loops/superstructure/shooter/shooter.cc
index 2b668ae..0ea4836 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.cc
+++ b/y2017/control_loops/superstructure/shooter/shooter.cc
@@ -2,11 +2,7 @@
 
 #include <chrono>
 
-#include "aos/controls/control_loops.q.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
-
-#include "y2017/control_loops/superstructure/shooter/shooter.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -104,31 +100,35 @@
   loop_->Update(disabled, dt);
 }
 
-void ShooterController::SetStatus(ShooterStatus *status) {
-  status->avg_angular_velocity = average_angular_velocity_;
+flatbuffers::Offset<ShooterStatus> ShooterController::BuildStatus(
+    flatbuffers::FlatBufferBuilder *fbb) {
+  ShooterStatus::Builder status_builder(*fbb);
+  status_builder.add_avg_angular_velocity(average_angular_velocity_);
 
-  status->filtered_velocity = X_hat_current_(1, 0);
-  status->angular_velocity = X_hat_current_(2, 0);
-  status->ready = ready_;
+  status_builder.add_filtered_velocity(X_hat_current_(1, 0));
+  status_builder.add_angular_velocity(X_hat_current_(2, 0));
+  status_builder.add_ready(ready_);
 
-  status->voltage_error = X_hat_current_(3, 0);
-  status->position_error = position_error_;
-  status->instantaneous_velocity = dt_velocity_;
-  status->fixed_instantaneous_velocity = fixed_dt_velocity_;
+  status_builder.add_voltage_error(X_hat_current_(3, 0));
+  status_builder.add_position_error(position_error_);
+  status_builder.add_instantaneous_velocity(dt_velocity_);
+  status_builder.add_fixed_instantaneous_velocity(fixed_dt_velocity_);
+
+  return status_builder.Finish();
 }
 
 void Shooter::Reset() { wheel_.Reset(); }
 
-void Shooter::Iterate(const control_loops::ShooterGoal *goal,
-                      const double *position,
-                      ::aos::monotonic_clock::time_point position_time,
-                      double *output, control_loops::ShooterStatus *status) {
+flatbuffers::Offset<ShooterStatus> Shooter::Iterate(
+    const ShooterGoalT *goal, const double position,
+    ::aos::monotonic_clock::time_point position_time, double *output,
+    flatbuffers::FlatBufferBuilder *fbb) {
   if (goal) {
     // Update position/goal for our wheel.
     wheel_.set_goal(goal->angular_velocity);
   }
 
-  wheel_.set_position(*position);
+  wheel_.set_position(position);
 
   chrono::nanoseconds dt = ::aos::controls::kLoopFrequency;
   if (last_time_ != ::aos::monotonic_clock::min_time) {
@@ -138,20 +138,22 @@
 
   wheel_.Update(output == nullptr, dt);
 
-  wheel_.SetStatus(status);
+  flatbuffers::Offset<ShooterStatus> status_offset = wheel_.BuildStatus(fbb);
 
-  if (last_ready_ && !status->ready) {
+  if (last_ready_ && !wheel_.ready()) {
     min_ = wheel_.dt_velocity();
-  } else if (!status->ready) {
+  } else if (!wheel_.ready()) {
     min_ = ::std::min(min_, wheel_.dt_velocity());
-  } else if (!last_ready_ && status->ready) {
+  } else if (!last_ready_ && wheel_.ready()) {
     AOS_LOG(INFO, "Shot min was [%f]\n", min_);
   }
 
   if (output) {
     *output = wheel_.voltage();
   }
-  last_ready_ = status->ready;
+  last_ready_ = wheel_.ready();
+
+  return status_offset;
 }
 
 }  // namespace shooter
diff --git a/y2017/control_loops/superstructure/shooter/shooter.h b/y2017/control_loops/superstructure/shooter/shooter.h
index e8f7789..19fc7dd 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.h
+++ b/y2017/control_loops/superstructure/shooter/shooter.h
@@ -7,10 +7,11 @@
 #include "aos/controls/control_loop.h"
 #include "aos/time/time.h"
 #include "frc971/control_loops/state_feedback_loop.h"
-#include "third_party/eigen/Eigen/Dense"
+#include "Eigen/Dense"
 
 #include "y2017/control_loops/superstructure/shooter/shooter_integral_plant.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
+#include "y2017/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2017/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -27,7 +28,8 @@
   void set_position(double current_position);
 
   // Populates the status structure.
-  void SetStatus(control_loops::ShooterStatus *status);
+  flatbuffers::Offset<ShooterStatus> BuildStatus(
+      flatbuffers::FlatBufferBuilder *fbb);
 
   // Returns the control loop calculated voltage.
   double voltage() const;
@@ -46,6 +48,8 @@
   // Resets the kalman filter and any other internal state.
   void Reset();
 
+  bool ready() { return ready_; }
+
  private:
   // The current sensor measurement.
   Eigen::Matrix<double, 1, 1> Y_;
@@ -86,9 +90,10 @@
   // Iterates the shooter control loop one cycle.  position and status must
   // never be nullptr.  goal can be nullptr if no goal exists, and output should
   // be nullptr if disabled.
-  void Iterate(const control_loops::ShooterGoal *goal, const double *position,
-               ::aos::monotonic_clock::time_point position_time, double *output,
-               control_loops::ShooterStatus *status);
+  flatbuffers::Offset<ShooterStatus> Iterate(
+      const ShooterGoalT *goal, const double position,
+      ::aos::monotonic_clock::time_point position_time, double *output,
+      flatbuffers::FlatBufferBuilder *fbb);
 
   // Sets the shooter up to reset the kalman filter next time Iterate is called.
   void Reset();
diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index 3ad1747..29886e2 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -1,14 +1,13 @@
 #include "y2017/control_loops/superstructure/superstructure.h"
 
-#include "aos/controls/control_loops.q.h"
 #include "aos/logging/logging.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "y2017/constants.h"
 #include "y2017/control_loops/superstructure/column/column.h"
 #include "y2017/control_loops/superstructure/hood/hood.h"
 #include "y2017/control_loops/superstructure/intake/intake.h"
 #include "y2017/control_loops/superstructure/shooter/shooter.h"
-#include "y2017/vision/vision.q.h"
+#include "y2017/vision/vision_generated.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -24,19 +23,18 @@
 
 Superstructure::Superstructure(::aos::EventLoop *event_loop,
                                const ::std::string &name)
-    : aos::controls::ControlLoop<control_loops::SuperstructureQueue>(event_loop,
-                                                                     name),
+    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                 name),
       vision_status_fetcher_(
-          event_loop->MakeFetcher<::y2017::vision::VisionStatus>(
-              ".y2017.vision.vision_status")),
+          event_loop->MakeFetcher<::y2017::vision::VisionStatus>("/vision")),
       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")),
       column_(event_loop) {
   shot_interpolation_table_ =
       ::frc971::shooter_interpolation::InterpolationTable<ShotParams>({
-          // { distance_to_target, { shot_angle, shot_power, indexer_velocity }},
+          // { distance_to_target, { shot_angle, shot_power, indexer_velocity
+          // }},
           {1.21, {0.29, 301.0, -1.0 * M_PI}},   // table entry
           {1.55, {0.305, 316.0, -1.1 * M_PI}},  // table entry
           {1.82, {0.33, 325.0, -1.3 * M_PI}},   // table entry
@@ -51,10 +49,11 @@
 }
 
 void Superstructure::RunIteration(
-    const control_loops::SuperstructureQueue::Goal *unsafe_goal,
-    const control_loops::SuperstructureQueue::Position *position,
-    control_loops::SuperstructureQueue::Output *output,
-    control_loops::SuperstructureQueue::Status *status) {
+    const Goal *unsafe_goal,
+    const Position *position,
+    aos::Sender<Output>::Builder *output,
+    aos::Sender<Status>::Builder *status) {
+  OutputT output_struct;
   const ::aos::monotonic_clock::time_point monotonic_now =
       event_loop()->monotonic_now();
   if (WasReset()) {
@@ -71,41 +70,43 @@
   }
 
   // Create a copy of the goals so that we can modify them.
-  HoodGoal hood_goal;
-  ShooterGoal shooter_goal;
-  IndexerGoal indexer_goal;
+  double hood_goal_angle = 0.0;
+  ShooterGoalT shooter_goal;
+  IndexerGoalT indexer_goal;
   bool in_range = true;
+  double vision_distance = 0.0;
   if (unsafe_goal != nullptr) {
-    hood_goal = unsafe_goal->hood;
-    shooter_goal = unsafe_goal->shooter;
-    indexer_goal = unsafe_goal->indexer;
+    hood_goal_angle = unsafe_goal->hood()->angle();
+    shooter_goal.angular_velocity = unsafe_goal->shooter()->angular_velocity();
+    indexer_goal.angular_velocity = unsafe_goal->indexer()->angular_velocity();
+    indexer_goal.voltage_rollers = unsafe_goal->indexer()->voltage_rollers();
 
-    if (!unsafe_goal->use_vision_for_shots) {
+    if (!unsafe_goal->use_vision_for_shots()) {
       distance_average_.Reset();
     }
 
     distance_average_.Tick(monotonic_now, vision_status);
-    status->vision_distance = distance_average_.Get();
+    vision_distance = distance_average_.Get();
 
     // If we are moving too fast, disable shooting and clear the accumulator.
     double robot_velocity = 0.0;
     drivetrain_status_fetcher_.Fetch();
     if (drivetrain_status_fetcher_.get()) {
-      robot_velocity = drivetrain_status_fetcher_->robot_speed;
+      robot_velocity = drivetrain_status_fetcher_->robot_speed();
     }
 
     if (::std::abs(robot_velocity) > 0.2) {
-      if (unsafe_goal->use_vision_for_shots) {
+      if (unsafe_goal->use_vision_for_shots()) {
         AOS_LOG(INFO, "Moving too fast, resetting\n");
       }
       distance_average_.Reset();
     }
     if (distance_average_.Valid()) {
-      if (unsafe_goal->use_vision_for_shots) {
+      if (unsafe_goal->use_vision_for_shots()) {
         ShotParams shot_params;
         if (shot_interpolation_table_.GetInRange(
                 distance_average_.Get(), &shot_params)) {
-          hood_goal.angle = shot_params.angle;
+          hood_goal_angle = shot_params.angle;
           shooter_goal.angular_velocity = shot_params.power;
           if (indexer_goal.angular_velocity != 0.0) {
             indexer_goal.angular_velocity = shot_params.indexer_velocity;
@@ -116,25 +117,30 @@
       }
       AOS_LOG(
           DEBUG, "VisionDistance %f, hood %f shooter %f, indexer %f * M_PI\n",
-          status->vision_distance, hood_goal.angle,
+          vision_distance, hood_goal_angle,
           shooter_goal.angular_velocity, indexer_goal.angular_velocity / M_PI);
     } else {
-      AOS_LOG(DEBUG, "VisionNotValid %f\n", status->vision_distance);
-      if (unsafe_goal->use_vision_for_shots) {
+      AOS_LOG(DEBUG, "VisionNotValid %f\n", vision_distance);
+      if (unsafe_goal->use_vision_for_shots()) {
         in_range = false;
         indexer_goal.angular_velocity = 0.0;
       }
     }
   }
 
-  hood_.Iterate(monotonic_now, unsafe_goal != nullptr ? &hood_goal : nullptr,
-                &(position->hood),
-                output != nullptr ? &(output->voltage_hood) : nullptr,
-                &(status->hood));
-  shooter_.Iterate(unsafe_goal != nullptr ? &shooter_goal : nullptr,
-                   &(position->theta_shooter), position->sent_time,
-                   output != nullptr ? &(output->voltage_shooter) : nullptr,
-                   &(status->shooter));
+  flatbuffers::Offset<frc971::control_loops::IndexProfiledJointStatus>
+      hood_offset = hood_.Iterate(
+          monotonic_now, unsafe_goal != nullptr ? &hood_goal_angle : nullptr,
+          unsafe_goal != nullptr ? unsafe_goal->hood()->profile_params()
+                                 : nullptr,
+          position->hood(),
+          output != nullptr ? &(output_struct.voltage_hood) : nullptr,
+          status->fbb());
+  flatbuffers::Offset<ShooterStatus> shooter_offset = shooter_.Iterate(
+      unsafe_goal != nullptr ? &shooter_goal : nullptr,
+      position->theta_shooter(), position_context().monotonic_sent_time,
+      output != nullptr ? &(output_struct.voltage_shooter) : nullptr,
+      status->fbb());
 
   // Implement collision avoidance by passing down a freeze or range restricting
   // signal to the column and intake objects.
@@ -145,8 +151,8 @@
       // The turret is in a position (or wants to be in a position) where we
       // need the intake out.  Push it out.
       const bool column_goal_not_safe =
-          unsafe_goal->turret.angle > column::Column::kTurretMax ||
-          unsafe_goal->turret.angle < column::Column::kTurretMin;
+          unsafe_goal->turret()->angle() > column::Column::kTurretMax ||
+          unsafe_goal->turret()->angle() < column::Column::kTurretMin;
       const bool column_position_not_safe =
           column_.turret_position() > column::Column::kTurretMax ||
           column_.turret_position() < column::Column::kTurretMin;
@@ -178,55 +184,87 @@
     AOS_LOG(ERROR, "Collisions ignored\n");
   }
 
-  intake_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->intake) : nullptr,
-                  &(position->intake),
-                  output != nullptr ? &(output->voltage_intake) : nullptr,
-                  &(status->intake));
+  flatbuffers::Offset<
+      ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
+      intake_offset = intake_.Iterate(
+          unsafe_goal != nullptr ? unsafe_goal->intake() : nullptr,
+          position->intake(),
+          output != nullptr ? &(output_struct.voltage_intake) : nullptr,
+          status->fbb());
 
-  column_.Iterate(monotonic_now,
-                  unsafe_goal != nullptr ? &indexer_goal : nullptr,
-                  unsafe_goal != nullptr ? &(unsafe_goal->turret) : nullptr,
-                  &(position->column), vision_status,
-                  output != nullptr ? &(output->voltage_indexer) : nullptr,
-                  output != nullptr ? &(output->voltage_turret) : nullptr,
-                  &(status->indexer), &(status->turret), &intake_);
+  std::pair<flatbuffers::Offset<IndexerStatus>,
+            flatbuffers::Offset<TurretProfiledSubsystemStatus>>
+      indexer_and_turret_offsets = column_.Iterate(
+          monotonic_now, unsafe_goal != nullptr ? &indexer_goal : nullptr,
+          unsafe_goal != nullptr ? unsafe_goal->turret() : nullptr,
+          position->column(), vision_status,
+          output != nullptr ? &(output_struct.voltage_indexer) : nullptr,
+          output != nullptr ? &(output_struct.voltage_turret) : nullptr,
+          status->fbb(), &intake_);
 
-  status->estopped =
-      status->intake.estopped | status->hood.estopped | status->turret.estopped;
+  const frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus
+      *temp_intake_status = GetTemporaryPointer(*status->fbb(), intake_offset);
+  const frc971::control_loops::IndexProfiledJointStatus *temp_hood_status =
+      GetTemporaryPointer(*status->fbb(), hood_offset);
+  const TurretProfiledSubsystemStatus *temp_turret_status =
+      GetTemporaryPointer(*status->fbb(), indexer_and_turret_offsets.second);
 
-  status->zeroed =
-      status->intake.zeroed && status->hood.zeroed && status->turret.zeroed;
+  const bool estopped = temp_intake_status->estopped() ||
+                        temp_hood_status->estopped() ||
+                        temp_turret_status->estopped();
+  const bool zeroed = temp_intake_status->zeroed() &&
+                      temp_hood_status->zeroed() &&
+                      temp_turret_status->zeroed();
+  const bool turret_vision_tracking = temp_turret_status->vision_tracking();
+
+  Status::Builder status_builder = status->MakeBuilder<Status>();
+  status_builder.add_intake(intake_offset);
+  status_builder.add_hood(hood_offset);
+  status_builder.add_shooter(shooter_offset);
+  status_builder.add_turret(indexer_and_turret_offsets.second);
+  status_builder.add_indexer(indexer_and_turret_offsets.first);
+
+  status_builder.add_estopped(estopped);
+  status_builder.add_zeroed(zeroed);
+
+  status_builder.add_vision_distance(vision_distance);
 
   if (output && unsafe_goal) {
-    output->gear_servo =
-        ::std::min(1.0, ::std::max(0.0, unsafe_goal->intake.gear_servo));
+    output_struct.gear_servo =
+        ::std::min(1.0, ::std::max(0.0, unsafe_goal->intake()->gear_servo()));
 
-    output->voltage_intake_rollers =
+    output_struct.voltage_intake_rollers =
         ::std::max(-kMaxIntakeRollerVoltage,
-                   ::std::min(unsafe_goal->intake.voltage_rollers,
+                   ::std::min(unsafe_goal->intake()->voltage_rollers(),
                               kMaxIntakeRollerVoltage));
-    output->voltage_indexer_rollers =
+    output_struct.voltage_indexer_rollers =
         ::std::max(-kMaxIndexerRollerVoltage,
-                   ::std::min(unsafe_goal->indexer.voltage_rollers,
+                   ::std::min(unsafe_goal->indexer()->voltage_rollers(),
                               kMaxIndexerRollerVoltage));
 
     // Set the lights on or off
-    output->lights_on = unsafe_goal->lights_on;
+    output_struct.lights_on = unsafe_goal->lights_on();
 
-    if (status->estopped) {
-      output->red_light_on = true;
-      output->green_light_on = false;
-      output->blue_light_on = false;
-    } else if (!status->zeroed) {
-      output->red_light_on = false;
-      output->green_light_on = false;
-      output->blue_light_on = true;
-    } else if (status->turret.vision_tracking && in_range) {
-      output->red_light_on = false;
-      output->green_light_on = true;
-      output->blue_light_on = false;
+    if (estopped) {
+      output_struct.red_light_on = true;
+      output_struct.green_light_on = false;
+      output_struct.blue_light_on = false;
+    } else if (!zeroed) {
+      output_struct.red_light_on = false;
+      output_struct.green_light_on = false;
+      output_struct.blue_light_on = true;
+    } else if (turret_vision_tracking && in_range) {
+      output_struct.red_light_on = false;
+      output_struct.green_light_on = true;
+      output_struct.blue_light_on = false;
     }
   }
+
+  if (output) {
+    output->Send(Output::Pack(*output->fbb(), &output_struct));
+  }
+
+  status->Send(status_builder.Finish());
 }
 
 }  // namespace superstructure
diff --git a/y2017/control_loops/superstructure/superstructure.h b/y2017/control_loops/superstructure/superstructure.h
index 660b861..a4c824e 100644
--- a/y2017/control_loops/superstructure/superstructure.h
+++ b/y2017/control_loops/superstructure/superstructure.h
@@ -4,13 +4,16 @@
 #include <memory>
 
 #include "aos/controls/control_loop.h"
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "y2017/control_loops/superstructure/column/column.h"
 #include "y2017/control_loops/superstructure/hood/hood.h"
 #include "y2017/control_loops/superstructure/intake/intake.h"
 #include "y2017/control_loops/superstructure/shooter/shooter.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
+#include "y2017/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2017/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2017/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2017/control_loops/superstructure/superstructure_status_generated.h"
 #include "y2017/control_loops/superstructure/vision_distance_average.h"
 
 namespace y2017 {
@@ -18,11 +21,10 @@
 namespace superstructure {
 
 class Superstructure
-    : public ::aos::controls::ControlLoop<control_loops::SuperstructureQueue> {
+    : public ::aos::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
-  explicit Superstructure(
-      ::aos::EventLoop *event_loop,
-      const ::std::string &name = ".y2017.control_loops.superstructure_queue");
+  explicit Superstructure(::aos::EventLoop *event_loop,
+                          const ::std::string &name = "/superstructure");
 
   const hood::Hood &hood() const { return hood_; }
   const intake::Intake &intake() const { return intake_; }
@@ -35,15 +37,13 @@
   }
 
  protected:
-  virtual void RunIteration(
-      const control_loops::SuperstructureQueue::Goal *unsafe_goal,
-      const control_loops::SuperstructureQueue::Position *position,
-      control_loops::SuperstructureQueue::Output *output,
-      control_loops::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:
   ::aos::Fetcher<::y2017::vision::VisionStatus> vision_status_fetcher_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Status>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Status>
       drivetrain_status_fetcher_;
 
   hood::Hood hood_;
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
deleted file mode 100644
index 6ea2fa2..0000000
--- a/y2017/control_loops/superstructure/superstructure.q
+++ /dev/null
@@ -1,258 +0,0 @@
-package y2017.control_loops;
-
-import "aos/controls/control_loops.q";
-import "frc971/control_loops/profiled_subsystem.q";
-// TODO(austin): Add this back in when the queue compiler supports diamond
-// inheritance.
-//import "frc971/control_loops/control_loops.q";
-
-struct IntakeGoal {
-  // Zero for the intake is when the front tube is tangent with the front of the
-  // frame. Positive is out.
-
-  // Goal distance of the intake.
-  double distance;
-
-  // Caps on velocity/acceleration for profiling. 0 for the default.
-  .frc971.ProfileParameters profile_params;
-
-  // Voltage to send to the rollers. Positive is sucking in.
-  double voltage_rollers;
-
-  // If true, disable the intake so we can hang.
-  bool disable_intake;
-
-  // The gear servo value.
-  double gear_servo;
-};
-
-struct IndexerGoal {
-  // Indexer angular velocity goals in radians/second.
-  double angular_velocity;
-
-  // Roller voltage. Positive is sucking in.
-  double voltage_rollers;
-};
-
-struct TurretGoal {
-  // An angle of zero means the turrent faces toward the front of the
-  // robot where the intake is located. The angle increases when the turret
-  // turns clockwise (towards right from the front), and decreases when
-  // the turrent turns counter-clockwise (towards left from the front).
-  // These are from a top view above the robot.
-  double angle;
-
-  // If true, ignore the angle and track using vision.  If we don't see
-  // anything, we'll use the turret goal above.
-  bool track;
-
-  // Caps on velocity/acceleration for profiling. 0 for the default.
-  .frc971.ProfileParameters profile_params;
-};
-
-struct HoodGoal {
-  // Angle the hood is currently at. An angle of zero is at the lower hard
-  // stop, angle increases as hood rises.
-  double angle;
-
-  // Caps on velocity/acceleration for profiling. 0 for the default.
-  .frc971.ProfileParameters profile_params;
-};
-
-struct ShooterGoal {
-  // Angular velocity goals in radians/second. Positive is shooting out of the
-  // robot.
-  double angular_velocity;
-};
-
-struct IndexerStatus {
-  // The current average velocity in radians/second. Positive is moving balls up
-  // towards the shooter. This is the angular velocity of the inner piece.
-  double avg_angular_velocity;
-
-  // The current instantaneous filtered velocity in radians/second.
-  double angular_velocity;
-
-  // True if the indexer is ready.  It is better to compare the velocities
-  // directly so there isn't confusion on if the goal is up to date.
-  bool ready;
-
-  // True if the indexer is stuck.
-  bool stuck;
-  float stuck_voltage;
-
-  // The state of the indexer state machine.
-  int32_t state;
-
-  // The estimated voltage error from the kalman filter in volts.
-  double voltage_error;
-  // The estimated voltage error from the stuck indexer kalman filter.
-  double stuck_voltage_error;
-
-  // The current velocity measured as delta x / delta t in radians/sec.
-  double instantaneous_velocity;
-
-  // The error between our measurement and expected measurement in radians.
-  double position_error;
-};
-
-struct ShooterStatus {
-  // The current average velocity in radians/second.
-  double avg_angular_velocity;
-
-  // The current instantaneous filtered velocity in radians/second.
-  double angular_velocity;
-
-  // True if the shooter is ready.  It is better to compare the velocities
-  // directly so there isn't confusion on if the goal is up to date.
-  bool ready;
-
-  // The estimated voltage error from the kalman filter in volts.
-  double voltage_error;
-
-  // The current velocity measured as delta x / delta t in radians/sec.
-  double instantaneous_velocity;
-  double filtered_velocity;
-  double fixed_instantaneous_velocity;
-
-  // The error between our measurement and expected measurement in radians.
-  double position_error;
-};
-
-struct ColumnPosition {
-  // Indexer angle in radians relative to the base.  Positive is according to
-  // the right hand rule around +z.
-  .frc971.HallEffectAndPosition indexer;
-  // Turret angle in radians relative to the indexer.  Positive is the same as
-  // the indexer.
-  .frc971.HallEffectAndPosition turret;
-};
-
-struct ColumnEstimatorState {
-  bool error;
-  bool zeroed;
-  .frc971.HallEffectAndPositionEstimatorState indexer;
-  .frc971.HallEffectAndPositionEstimatorState turret;
-};
-
-struct TurretProfiledSubsystemStatus {
-  // Is the subsystem zeroed?
-  bool zeroed;
-
-  // The state of the subsystem, if applicable.  -1 otherwise.
-  int32_t state;
-
-  // If true, we have aborted.
-  bool estopped;
-
-  // Position of the joint.
-  float position;
-  // Velocity of the joint in units/second.
-  float velocity;
-  // Profiled goal position of the joint.
-  float goal_position;
-  // Profiled goal velocity of the joint in units/second.
-  float goal_velocity;
-  // Unprofiled goal position from absoulte zero of the joint.
-  float unprofiled_goal_position;
-  // Unprofiled goal velocity of the joint in units/second.
-  float unprofiled_goal_velocity;
-
-  // The estimated voltage error.
-  float voltage_error;
-
-  // The calculated velocity with delta x/delta t
-  float calculated_velocity;
-
-  // Components of the control loop output
-  float position_power;
-  float velocity_power;
-  float feedforwards_power;
-
-  // State of the estimator.
-  ColumnEstimatorState estimator_state;
-
-  double raw_vision_angle;
-  double vision_angle;
-  bool vision_tracking;
-
-  double turret_encoder_angle;
-};
-
-// Published on ".y2017.control_loops.superstructure_queue"
-queue_group SuperstructureQueue {
-  implements aos.control_loops.ControlLoop;
-
-  message Goal {
-    IntakeGoal intake;
-    IndexerGoal indexer;
-    TurretGoal turret;
-    HoodGoal hood;
-    ShooterGoal shooter;
-    bool lights_on;
-    bool use_vision_for_shots;
-  };
-
-  message Status {
-    // Are all the subsystems zeroed?
-    bool zeroed;
-
-    // If true, we have aborted. This is the or of all subsystem estops.
-    bool estopped;
-
-    // Each subsystems status.
-    .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus intake;
-    .frc971.control_loops.IndexProfiledJointStatus hood;
-    ShooterStatus shooter;
-
-    TurretProfiledSubsystemStatus turret;
-    IndexerStatus indexer;
-
-    float vision_distance;
-  };
-
-  message Position {
-    // Position of the intake, zero when the intake is in, positive when it is
-    // out.
-    .frc971.PotAndAbsolutePosition intake;
-
-    // The position of the column.
-    ColumnPosition column;
-
-    // The sensor readings for the hood. The units and sign are defined the
-    // same as what's in the Goal message.
-    .frc971.IndexPosition hood;
-
-    // Shooter wheel angle in radians.
-    double theta_shooter;
-  };
-
-  message Output {
-    // Voltages for some of the subsystems.
-    double voltage_intake;
-    double voltage_indexer;
-    double voltage_shooter;
-
-    // Rollers on the intake.
-    double voltage_intake_rollers;
-    // Roller on the indexer
-    double voltage_indexer_rollers;
-
-    double voltage_turret;
-    double voltage_hood;
-
-    double gear_servo;
-
-    // If true, the lights are on.
-    bool lights_on;
-
-    bool red_light_on;
-    bool green_light_on;
-    bool blue_light_on;
-  };
-
-  queue Goal goal;
-  queue Position position;
-  queue Output output;
-  queue Status status;
-};
diff --git a/y2017/control_loops/superstructure/superstructure_goal.fbs b/y2017/control_loops/superstructure/superstructure_goal.fbs
new file mode 100644
index 0000000..6681262
--- /dev/null
+++ b/y2017/control_loops/superstructure/superstructure_goal.fbs
@@ -0,0 +1,74 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2017.control_loops.superstructure;
+
+table IntakeGoal {
+  // Zero for the intake is when the front tube is tangent with the front of the
+  // frame. Positive is out.
+
+  // Goal distance of the intake.
+  distance:double;
+
+  // Caps on velocity/acceleration for profiling. 0 for the default.
+  profile_params:frc971.ProfileParameters;
+
+  // Voltage to send to the rollers. Positive is sucking in.
+  voltage_rollers:double;
+
+  // If true, disable the intake so we can hang.
+  disable_intake:bool;
+
+  // The gear servo value.
+  gear_servo:double;
+}
+
+table IndexerGoal {
+  // Indexer angular velocity goals in radians/second.
+  angular_velocity:double;
+
+  // Roller voltage. Positive is sucking in.
+  voltage_rollers:double;
+}
+
+table TurretGoal {
+  // An angle of zero means the turrent faces toward the front of the
+  // robot where the intake is located. The angle increases when the turret
+  // turns clockwise (towards right from the front), and decreases when
+  // the turrent turns counter-clockwise (towards left from the front).
+  // These are from a top view above the robot.
+  angle:double;
+
+  // If true, ignore the angle and track using vision.  If we don't see
+  // anything, we'll use the turret goal above.
+  track:bool;
+
+  // Caps on velocity/acceleration for profiling. 0 for the default.
+  profile_params:frc971.ProfileParameters;
+}
+
+table HoodGoal {
+  // Angle the hood is currently at. An angle of zero is at the lower hard
+  // stop, angle increases as hood rises.
+  angle:double;
+
+  // Caps on velocity/acceleration for profiling. 0 for the default.
+  profile_params:frc971.ProfileParameters;
+}
+
+table ShooterGoal {
+  // Angular velocity goals in radians/second. Positive is shooting out of the
+  // robot.
+  angular_velocity:double;
+}
+
+table Goal {
+  intake:IntakeGoal;
+  indexer:IndexerGoal;
+  turret:TurretGoal;
+  hood:HoodGoal;
+  shooter:ShooterGoal;
+  lights_on:bool;
+  use_vision_for_shots:bool;
+}
+
+root_type Goal;
diff --git a/y2017/control_loops/superstructure/superstructure_lib_test.cc b/y2017/control_loops/superstructure/superstructure_lib_test.cc
index 1e763b8..5298687 100644
--- a/y2017/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2017/control_loops/superstructure/superstructure_lib_test.cc
@@ -6,7 +6,6 @@
 #include <memory>
 
 #include "aos/controls/control_loop_test.h"
-#include "aos/queue.h"
 #include "frc971/control_loops/position_sensor_sim.h"
 #include "frc971/control_loops/team_number_test_environment.h"
 #include "gtest/gtest.h"
@@ -121,14 +120,11 @@
       : event_loop_(event_loop),
         dt_(dt),
         superstructure_position_sender_(
-            event_loop_->MakeSender<SuperstructureQueue::Position>(
-                ".y2017.control_loops.superstructure_queue.position")),
+            event_loop_->MakeSender<Position>("/superstructure")),
         superstructure_status_fetcher_(
-            event_loop_->MakeFetcher<SuperstructureQueue::Status>(
-                ".y2017.control_loops.superstructure_queue.status")),
+            event_loop_->MakeFetcher<Status>("/superstructure")),
         superstructure_output_fetcher_(
-            event_loop_->MakeFetcher<SuperstructureQueue::Output>(
-                ".y2017.control_loops.superstructure_queue.output")),
+            event_loop_->MakeFetcher<Output>("/superstructure")),
         hood_plant_(new HoodPlant(
             ::y2017::control_loops::superstructure::hood::MakeHoodPlant())),
         hood_encoder_(constants::Values::kHoodEncoderIndexDifference),
@@ -216,17 +212,42 @@
 
   // 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();
 
-    hood_encoder_.GetSensorValues(&position->hood);
-    intake_pot_encoder_.GetSensorValues(&position->intake);
-    position->theta_shooter = shooter_plant_->Y(0, 0);
+    frc971::IndexPosition::Builder hood_builder =
+        builder.MakeBuilder<frc971::IndexPosition>();
+    flatbuffers::Offset<frc971::IndexPosition> hood_offset =
+        hood_encoder_.GetSensorValues(&hood_builder);
 
-    turret_encoder_.GetSensorValues(&position->column.turret);
-    indexer_encoder_.GetSensorValues(&position->column.indexer);
+    frc971::PotAndAbsolutePosition::Builder intake_builder =
+        builder.MakeBuilder<frc971::PotAndAbsolutePosition>();
+    flatbuffers::Offset<frc971::PotAndAbsolutePosition> intake_offset =
+        intake_pot_encoder_.GetSensorValues(&intake_builder);
 
-    position.Send();
+    frc971::HallEffectAndPosition::Builder turret_builder =
+        builder.MakeBuilder<frc971::HallEffectAndPosition>();
+    flatbuffers::Offset<frc971::HallEffectAndPosition> turret_offset =
+        turret_encoder_.GetSensorValues(&turret_builder);
+
+    frc971::HallEffectAndPosition::Builder indexer_builder =
+        builder.MakeBuilder<frc971::HallEffectAndPosition>();
+    flatbuffers::Offset<frc971::HallEffectAndPosition> indexer_offset =
+        indexer_encoder_.GetSensorValues(&indexer_builder);
+
+    ColumnPosition::Builder column_builder =
+        builder.MakeBuilder<ColumnPosition>();
+    column_builder.add_indexer(indexer_offset);
+    column_builder.add_turret(turret_offset);
+    flatbuffers::Offset<ColumnPosition> column_offset = column_builder.Finish();
+
+    Position::Builder position_builder = builder.MakeBuilder<Position>();
+    position_builder.add_theta_shooter(shooter_plant_->Y(0, 0));
+    position_builder.add_column(column_offset);
+    position_builder.add_intake(intake_offset);
+    position_builder.add_hood(hood_offset);
+
+    builder.Send(position_builder.Finish());
   }
 
   double hood_position() const { return hood_plant_->X(0, 0); }
@@ -282,61 +303,61 @@
 
     const double voltage_check_hood =
         (static_cast<hood::Hood::State>(
-             superstructure_status_fetcher_->hood.state) ==
+             superstructure_status_fetcher_->hood()->state()) ==
          hood::Hood::State::RUNNING)
             ? superstructure::hood::Hood::kOperatingVoltage
             : superstructure::hood::Hood::kZeroingVoltage;
 
     const double voltage_check_indexer =
         (static_cast<column::Column::State>(
-             superstructure_status_fetcher_->turret.state) ==
+             superstructure_status_fetcher_->turret()->state()) ==
          column::Column::State::RUNNING)
             ? superstructure::column::Column::kOperatingVoltage
             : superstructure::column::Column::kZeroingVoltage;
 
     const double voltage_check_turret =
         (static_cast<column::Column::State>(
-             superstructure_status_fetcher_->turret.state) ==
+             superstructure_status_fetcher_->turret()->state()) ==
          column::Column::State::RUNNING)
             ? superstructure::column::Column::kOperatingVoltage
             : superstructure::column::Column::kZeroingVoltage;
 
     const double voltage_check_intake =
         (static_cast<intake::Intake::State>(
-             superstructure_status_fetcher_->intake.state) ==
+             superstructure_status_fetcher_->intake()->state()) ==
          intake::Intake::State::RUNNING)
             ? superstructure::intake::Intake::kOperatingVoltage
             : superstructure::intake::Intake::kZeroingVoltage;
 
-    AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_hood),
+    AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_hood()),
                  voltage_check_hood);
 
-    AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_intake),
+    AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_intake()),
                  voltage_check_intake);
 
-    EXPECT_LE(::std::abs(superstructure_output_fetcher_->voltage_indexer),
+    EXPECT_LE(::std::abs(superstructure_output_fetcher_->voltage_indexer()),
               voltage_check_indexer)
         << ": check voltage " << voltage_check_indexer;
 
-    AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_turret),
+    AOS_CHECK_LE(::std::abs(superstructure_output_fetcher_->voltage_turret()),
                  voltage_check_turret);
 
     ::Eigen::Matrix<double, 1, 1> hood_U;
-    hood_U << superstructure_output_fetcher_->voltage_hood +
+    hood_U << superstructure_output_fetcher_->voltage_hood() +
                   hood_plant_->voltage_offset();
 
     ::Eigen::Matrix<double, 1, 1> intake_U;
-    intake_U << superstructure_output_fetcher_->voltage_intake +
+    intake_U << superstructure_output_fetcher_->voltage_intake() +
                     intake_plant_->voltage_offset();
 
     ::Eigen::Matrix<double, 1, 1> shooter_U;
-    shooter_U << superstructure_output_fetcher_->voltage_shooter +
+    shooter_U << superstructure_output_fetcher_->voltage_shooter() +
                      shooter_plant_->voltage_offset();
 
     ::Eigen::Matrix<double, 2, 1> column_U;
-    column_U << superstructure_output_fetcher_->voltage_indexer +
+    column_U << superstructure_output_fetcher_->voltage_indexer() +
                     column_plant_->indexer_voltage_offset(),
-        superstructure_output_fetcher_->voltage_turret +
+        superstructure_output_fetcher_->voltage_turret() +
             column_plant_->turret_voltage_offset();
 
     hood_plant_->Update(hood_U);
@@ -465,9 +486,9 @@
   ::aos::EventLoop *event_loop_;
   const chrono::nanoseconds dt_;
 
-  ::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_;
 
   ::std::unique_ptr<HoodPlant> hood_plant_;
   PositionSensorSimulator hood_encoder_;
@@ -499,23 +520,20 @@
 class SuperstructureTest : public ::aos::testing::ControlLoopTest {
  protected:
   SuperstructureTest()
-      : ::aos::testing::ControlLoopTest(chrono::microseconds(5050)),
+      : ::aos::testing::ControlLoopTest(
+            aos::configuration::ReadConfig("y2017/config.json"),
+            chrono::microseconds(5050)),
         test_event_loop_(MakeEventLoop()),
         superstructure_goal_fetcher_(
-            test_event_loop_->MakeFetcher<SuperstructureQueue::Goal>(
-                ".y2017.control_loops.superstructure_queue.goal")),
+            test_event_loop_->MakeFetcher<Goal>("/superstructure")),
         superstructure_goal_sender_(
-            test_event_loop_->MakeSender<SuperstructureQueue::Goal>(
-                ".y2017.control_loops.superstructure_queue.goal")),
+            test_event_loop_->MakeSender<Goal>("/superstructure")),
         superstructure_status_fetcher_(
-            test_event_loop_->MakeFetcher<SuperstructureQueue::Status>(
-                ".y2017.control_loops.superstructure_queue.status")),
+            test_event_loop_->MakeFetcher<Status>("/superstructure")),
         superstructure_output_fetcher_(
-            test_event_loop_->MakeFetcher<SuperstructureQueue::Output>(
-                ".y2017.control_loops.superstructure_queue.output")),
+            test_event_loop_->MakeFetcher<Output>("/superstructure")),
         superstructure_position_fetcher_(
-            test_event_loop_->MakeFetcher<SuperstructureQueue::Position>(
-                ".y2017.control_loops.superstructure_queue.position")),
+            test_event_loop_->MakeFetcher<Position>("/superstructure")),
         superstructure_event_loop_(MakeEventLoop()),
         superstructure_(superstructure_event_loop_.get()),
         superstructure_plant_event_loop_(MakeEventLoop()),
@@ -530,50 +548,49 @@
     ASSERT_TRUE(superstructure_goal_fetcher_.get() != nullptr);
     ASSERT_TRUE(superstructure_status_fetcher_.get() != nullptr);
 
-    EXPECT_NEAR(superstructure_goal_fetcher_->hood.angle,
-                superstructure_status_fetcher_->hood.position, 0.001);
-    EXPECT_NEAR(superstructure_goal_fetcher_->hood.angle,
+    EXPECT_NEAR(superstructure_goal_fetcher_->hood()->angle(),
+                superstructure_status_fetcher_->hood()->position(), 0.001);
+    EXPECT_NEAR(superstructure_goal_fetcher_->hood()->angle(),
                 superstructure_plant_.hood_position(), 0.001);
 
-    EXPECT_NEAR(superstructure_goal_fetcher_->turret.angle,
-                superstructure_status_fetcher_->turret.position, 0.001);
-    EXPECT_NEAR(superstructure_goal_fetcher_->turret.angle,
+    EXPECT_NEAR(superstructure_goal_fetcher_->turret()->angle(),
+                superstructure_status_fetcher_->turret()->position(), 0.001);
+    EXPECT_NEAR(superstructure_goal_fetcher_->turret()->angle(),
                 superstructure_plant_.turret_position(), 0.001);
 
-    EXPECT_NEAR(superstructure_goal_fetcher_->intake.distance,
-                superstructure_status_fetcher_->intake.position, 0.001);
-    EXPECT_NEAR(superstructure_goal_fetcher_->intake.distance,
+    EXPECT_NEAR(superstructure_goal_fetcher_->intake()->distance(),
+                superstructure_status_fetcher_->intake()->position(), 0.001);
+    EXPECT_NEAR(superstructure_goal_fetcher_->intake()->distance(),
                 superstructure_plant_.intake_position(), 0.001);
 
     // Check that the angular velocity, average angular velocity, and estimated
     // angular velocity match when we are done for the shooter.
-    EXPECT_NEAR(superstructure_goal_fetcher_->shooter.angular_velocity,
-                superstructure_status_fetcher_->shooter.angular_velocity, 0.1);
-    EXPECT_NEAR(superstructure_goal_fetcher_->shooter.angular_velocity,
-                superstructure_status_fetcher_->shooter.avg_angular_velocity,
+    EXPECT_NEAR(superstructure_goal_fetcher_->shooter()->angular_velocity(),
+                superstructure_status_fetcher_->shooter()->angular_velocity(), 0.1);
+    EXPECT_NEAR(superstructure_goal_fetcher_->shooter()->angular_velocity(),
+                superstructure_status_fetcher_->shooter()->avg_angular_velocity(),
                 0.1);
-    EXPECT_NEAR(superstructure_goal_fetcher_->shooter.angular_velocity,
+    EXPECT_NEAR(superstructure_goal_fetcher_->shooter()->angular_velocity(),
                 superstructure_plant_.shooter_velocity(), 0.1);
 
     // Check that the angular velocity, average angular velocity, and estimated
     // angular velocity match when we are done for the indexer.
-    EXPECT_NEAR(superstructure_goal_fetcher_->indexer.angular_velocity,
-                superstructure_status_fetcher_->indexer.angular_velocity, 0.1);
-    EXPECT_NEAR(superstructure_goal_fetcher_->indexer.angular_velocity,
-                superstructure_status_fetcher_->indexer.avg_angular_velocity,
+    EXPECT_NEAR(superstructure_goal_fetcher_->indexer()->angular_velocity(),
+                superstructure_status_fetcher_->indexer()->angular_velocity(), 0.1);
+    EXPECT_NEAR(superstructure_goal_fetcher_->indexer()->angular_velocity(),
+                superstructure_status_fetcher_->indexer()->avg_angular_velocity(),
                 0.1);
-    EXPECT_NEAR(superstructure_goal_fetcher_->indexer.angular_velocity,
+    EXPECT_NEAR(superstructure_goal_fetcher_->indexer()->angular_velocity(),
                 superstructure_plant_.indexer_velocity(), 0.1);
   }
 
   ::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_;
@@ -588,11 +605,36 @@
   SetEnabled(true);
 
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = 0.2;
-    goal->turret.angle = 0.0;
-    goal->intake.distance = 0.05;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(0.2);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(0.0);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(0.05);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(5));
 
@@ -607,20 +649,48 @@
 
   // Set a reasonable goal.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = 0.1;
-    goal->hood.profile_params.max_velocity = 1;
-    goal->hood.profile_params.max_acceleration = 0.5;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    goal->turret.angle = 0.1;
-    goal->turret.profile_params.max_velocity = 1;
-    goal->turret.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<frc971::ProfileParameters>
+        hood_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(0.1);
+    hood_builder.add_profile_params(hood_profile_parameters_offset);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
 
-    goal->intake.distance = 0.1;
-    goal->intake.profile_params.max_velocity = 1;
-    goal->intake.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<frc971::ProfileParameters>
+        turret_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(0.1);
+    turret_builder.add_profile_params(turret_profile_parameters_offset);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<frc971::ProfileParameters>
+        intake_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(0.1);
+    intake_builder.add_profile_params(intake_profile_parameters_offset);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Give it a lot of time to get there.
@@ -638,11 +708,36 @@
 
   // Zero it before we move.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->intake.distance = constants::Values::kIntakeRange.upper;
-    goal->turret.angle = constants::Values::kTurretRange.upper;
-    goal->hood.angle = constants::Values::kHoodRange.upper;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.upper);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(constants::Values::kTurretRange.upper);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.upper);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(8));
   VerifyNearGoal();
@@ -652,17 +747,48 @@
   // 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->intake.distance = constants::Values::kIntakeRange.lower;
-    goal->intake.profile_params.max_velocity = 20.0;
-    goal->intake.profile_params.max_acceleration = 0.1;
-    goal->turret.angle = constants::Values::kTurretRange.lower;
-    goal->turret.profile_params.max_velocity = 20.0;
-    goal->turret.profile_params.max_acceleration = 1.0;
-    goal->hood.angle = constants::Values::kHoodRange.lower;
-    goal->hood.profile_params.max_velocity = 20.0;
-    goal->hood.profile_params.max_acceleration = 1.0;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<frc971::ProfileParameters>
+        hood_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 20.0, 1.0);
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.lower);
+    hood_builder.add_profile_params(hood_profile_parameters_offset);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    flatbuffers::Offset<frc971::ProfileParameters>
+        turret_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 20.0, 1.0);
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(constants::Values::kTurretRange.lower);
+    turret_builder.add_profile_params(turret_profile_parameters_offset);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    flatbuffers::Offset<frc971::ProfileParameters>
+        intake_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 20.0, 0.1);
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.lower);
+    intake_builder.add_profile_params(intake_profile_parameters_offset);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   superstructure_plant_.set_peak_intake_velocity(23.0);
   superstructure_plant_.set_peak_turret_velocity(23.0);
@@ -676,17 +802,48 @@
 
   // Now do a high acceleration move with a low velocity limit.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->intake.distance = constants::Values::kIntakeRange.upper;
-    goal->intake.profile_params.max_velocity = 0.1;
-    goal->intake.profile_params.max_acceleration = 100;
-    goal->turret.angle = constants::Values::kTurretRange.upper;
-    goal->turret.profile_params.max_velocity = 1;
-    goal->turret.profile_params.max_acceleration = 100;
-    goal->hood.angle = constants::Values::kHoodRange.upper;
-    goal->hood.profile_params.max_velocity = 1;
-    goal->hood.profile_params.max_acceleration = 100;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<frc971::ProfileParameters>
+        hood_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 100.0);
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.upper);
+    hood_builder.add_profile_params(hood_profile_parameters_offset);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    flatbuffers::Offset<frc971::ProfileParameters>
+        turret_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 100.0);
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(constants::Values::kTurretRange.upper);
+    turret_builder.add_profile_params(turret_profile_parameters_offset);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    flatbuffers::Offset<frc971::ProfileParameters>
+        intake_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 0.1, 100.0);
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.upper);
+    intake_builder.add_profile_params(intake_profile_parameters_offset);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   superstructure_plant_.set_peak_intake_velocity(0.2);
@@ -707,50 +864,106 @@
 
   // Set some ridiculous goals to test upper limits.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = 100.0;
-    goal->hood.profile_params.max_velocity = 1;
-    goal->hood.profile_params.max_acceleration = 0.5;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    goal->turret.angle = 100.0;
-    goal->turret.profile_params.max_velocity = 1;
-    goal->turret.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<frc971::ProfileParameters>
+        hood_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(100.0);
+    hood_builder.add_profile_params(hood_profile_parameters_offset);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
 
-    goal->intake.distance = 100.0;
-    goal->intake.profile_params.max_velocity = 1;
-    goal->intake.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<frc971::ProfileParameters>
+        turret_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(100.0);
+    turret_builder.add_profile_params(turret_profile_parameters_offset);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<frc971::ProfileParameters>
+        intake_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(100.0);
+    intake_builder.add_profile_params(intake_profile_parameters_offset);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(10));
 
   // Check that we are near our soft limit.
   superstructure_status_fetcher_.Fetch();
   EXPECT_NEAR(constants::Values::kHoodRange.upper,
-              superstructure_status_fetcher_->hood.position, 0.001);
+              superstructure_status_fetcher_->hood()->position(), 0.001);
 
   EXPECT_NEAR(constants::Values::kTurretRange.upper,
-              superstructure_status_fetcher_->turret.position, 0.001);
+              superstructure_status_fetcher_->turret()->position(), 0.001);
 
   EXPECT_NEAR(constants::Values::kIntakeRange.upper,
-              superstructure_status_fetcher_->intake.position, 0.001);
+              superstructure_status_fetcher_->intake()->position(), 0.001);
 
   // Set some ridiculous goals to test lower limits.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = -100.0;
-    goal->hood.profile_params.max_velocity = 1;
-    goal->hood.profile_params.max_acceleration = 0.5;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    goal->turret.angle = -100.0;
-    goal->turret.profile_params.max_velocity = 1;
-    goal->turret.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<frc971::ProfileParameters>
+        hood_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(-100.0);
+    hood_builder.add_profile_params(hood_profile_parameters_offset);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
 
-    goal->intake.distance = -100.0;
-    goal->intake.profile_params.max_velocity = 1;
-    goal->intake.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<frc971::ProfileParameters>
+        turret_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(-100.0);
+    turret_builder.add_profile_params(turret_profile_parameters_offset);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<frc971::ProfileParameters>
+        intake_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(-100.0);
+    intake_builder.add_profile_params(intake_profile_parameters_offset);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(10));
@@ -758,31 +971,59 @@
   // Check that we are near our soft limit.
   superstructure_status_fetcher_.Fetch();
   EXPECT_NEAR(constants::Values::kHoodRange.lower,
-              superstructure_status_fetcher_->hood.position, 0.001);
+              superstructure_status_fetcher_->hood()->position(), 0.001);
 
   EXPECT_NEAR(constants::Values::kTurretRange.lower,
-              superstructure_status_fetcher_->turret.position, 0.001);
+              superstructure_status_fetcher_->turret()->position(), 0.001);
 
   EXPECT_NEAR(column::Column::kIntakeZeroingMinDistance,
-              superstructure_status_fetcher_->intake.position, 0.001);
+              superstructure_status_fetcher_->intake()->position(), 0.001);
 
   // Now, center the turret so we can try ridiculous things without having the
   // intake pushed out.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = -100.0;
-    goal->hood.profile_params.max_velocity = 1;
-    goal->hood.profile_params.max_acceleration = 0.5;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    goal->turret.angle = 0.0;
-    goal->turret.profile_params.max_velocity = 1;
-    goal->turret.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<frc971::ProfileParameters>
+        hood_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(-100.0);
+    hood_builder.add_profile_params(hood_profile_parameters_offset);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
 
-    goal->intake.distance = -100.0;
-    goal->intake.profile_params.max_velocity = 1;
-    goal->intake.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<frc971::ProfileParameters>
+        turret_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(0.0);
+    turret_builder.add_profile_params(turret_profile_parameters_offset);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<frc971::ProfileParameters>
+        intake_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(-100.0);
+    intake_builder.add_profile_params(intake_profile_parameters_offset);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(10));
@@ -790,12 +1031,12 @@
   // Check that we are near our soft limit.
   superstructure_status_fetcher_.Fetch();
   EXPECT_NEAR(constants::Values::kHoodRange.lower,
-              superstructure_status_fetcher_->hood.position, 0.001);
+              superstructure_status_fetcher_->hood()->position(), 0.001);
 
-  EXPECT_NEAR(0.0, superstructure_status_fetcher_->turret.position, 0.001);
+  EXPECT_NEAR(0.0, superstructure_status_fetcher_->turret()->position(), 0.001);
 
   EXPECT_NEAR(constants::Values::kIntakeRange.lower,
-              superstructure_status_fetcher_->intake.position, 0.001);
+              superstructure_status_fetcher_->intake()->position(), 0.001);
 }
 
 // Tests that the hood, turret and intake loops zeroes when run for a while.
@@ -803,19 +1044,48 @@
   SetEnabled(true);
 
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = constants::Values::kHoodRange.lower;
-    goal->hood.profile_params.max_velocity = 1;
-    goal->hood.profile_params.max_acceleration = 0.5;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    goal->turret.angle = constants::Values::kTurretRange.lower;
-    goal->turret.profile_params.max_velocity = 1;
-    goal->turret.profile_params.max_acceleration = 0.5;
+    flatbuffers::Offset<frc971::ProfileParameters>
+        hood_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.lower);
+    hood_builder.add_profile_params(hood_profile_parameters_offset);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
 
-    goal->intake.distance = constants::Values::kIntakeRange.upper;
-    goal->intake.profile_params.max_velocity = 1;
-    goal->intake.profile_params.max_acceleration = 0.5;
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<frc971::ProfileParameters>
+        turret_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(constants::Values::kTurretRange.lower);
+    turret_builder.add_profile_params(turret_profile_parameters_offset);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    flatbuffers::Offset<frc971::ProfileParameters>
+        intake_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 1.0, 0.5);
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.upper);
+    intake_builder.add_profile_params(intake_profile_parameters_offset);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(10));
@@ -844,11 +1114,36 @@
   superstructure_plant_.InitializeIntakePosition(
       constants::Values::kIntakeRange.lower_hard);
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = constants::Values::kHoodRange.lower;
-    goal->turret.angle = constants::Values::kTurretRange.lower;
-    goal->intake.distance = constants::Values::kIntakeRange.upper;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.lower);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(constants::Values::kTurretRange.lower);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.upper);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(10));
 
@@ -867,11 +1162,36 @@
   superstructure_plant_.InitializeIntakePosition(
       constants::Values::kIntakeRange.upper_hard);
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = constants::Values::kHoodRange.upper;
-    goal->turret.angle = constants::Values::kTurretRange.upper;
-    goal->intake.distance = constants::Values::kIntakeRange.upper;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.upper);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(constants::Values::kTurretRange.upper);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.upper);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(10));
 
@@ -889,12 +1209,36 @@
   superstructure_plant_.InitializeIntakePosition(
       constants::Values::kIntakeRange.upper);
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = constants::Values::kHoodRange.upper - 0.1;
-    goal->turret.angle = constants::Values::kTurretRange.upper - 0.1;
-    goal->intake.distance = constants::Values::kIntakeRange.upper - 0.1;
-    goal->indexer.angular_velocity = -5.0;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.upper - 0.1);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(constants::Values::kTurretRange.upper - 0.1);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.upper - 0.1);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(-5.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(10));
 
@@ -923,15 +1267,42 @@
 // Tests that the internal goals don't change while disabled.
 TEST_F(SuperstructureTest, DisabledGoalTest) {
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = constants::Values::kHoodRange.lower + 0.03;
-    goal->turret.angle = constants::Values::kTurretRange.lower + 0.03;
-    goal->intake.distance = constants::Values::kIntakeRange.lower + 0.03;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.lower + 0.03);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(constants::Values::kTurretRange.lower + 0.03);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.lower + 0.03);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::milliseconds(100));
@@ -955,11 +1326,36 @@
       constants::GetValues().hood.zeroing.measured_index_position - 0.001);
 
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = constants::Values::kHoodRange.lower;
-    goal->turret.angle = 0.0;
-    goal->intake.distance = constants::Values::kIntakeRange.lower;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.lower);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(0.0);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.lower);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_shooter(shooter_offset);
+    goal_builder.add_indexer(indexer_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Run disabled for 2 seconds
@@ -1000,49 +1396,118 @@
 
   // Spin up.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = constants::Values::kHoodRange.lower + 0.03;
-    goal->turret.angle = constants::Values::kTurretRange.lower + 0.03;
-    goal->intake.distance = constants::Values::kIntakeRange.upper - 0.03;
-    goal->shooter.angular_velocity = 300.0;
-    goal->indexer.angular_velocity = 20.0;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.lower + 0.03);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(constants::Values::kTurretRange.lower + 0.03);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.upper - 0.03);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(300.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(20.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_indexer(indexer_offset);
+    goal_builder.add_shooter(shooter_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(5));
   VerifyNearGoal();
-  EXPECT_TRUE(superstructure_status_fetcher_->shooter.ready);
+  EXPECT_TRUE(superstructure_status_fetcher_->shooter()->ready());
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = constants::Values::kHoodRange.lower + 0.03;
-    goal->turret.angle = constants::Values::kTurretRange.lower + 0.03;
-    goal->intake.distance = constants::Values::kIntakeRange.upper - 0.03;
-    goal->shooter.angular_velocity = 0.0;
-    goal->indexer.angular_velocity = 0.0;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.lower + 0.03);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(constants::Values::kTurretRange.lower + 0.03);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.upper - 0.03);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_indexer(indexer_offset);
+    goal_builder.add_shooter(shooter_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Make sure we don't apply voltage on spin-down.
   RunFor(dt());
 
   EXPECT_TRUE(superstructure_output_fetcher_.Fetch());
-  EXPECT_EQ(0.0, superstructure_output_fetcher_->voltage_shooter);
+  EXPECT_EQ(0.0, superstructure_output_fetcher_->voltage_shooter());
   // Continue to stop.
   RunFor(chrono::seconds(5));
   EXPECT_TRUE(superstructure_output_fetcher_.Fetch());
-  EXPECT_EQ(0.0, superstructure_output_fetcher_->voltage_shooter);
+  EXPECT_EQ(0.0, superstructure_output_fetcher_->voltage_shooter());
 }
 
 // Tests that the shooter can spin up nicely after being disabled for a while.
 TEST_F(SuperstructureTest, ShooterDisabled) {
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = constants::Values::kHoodRange.lower + 0.03;
-    goal->turret.angle = constants::Values::kTurretRange.lower + 0.03;
-    goal->intake.distance = constants::Values::kIntakeRange.upper - 0.03;
-    goal->shooter.angular_velocity = 200.0;
-    goal->indexer.angular_velocity = 20.0;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.lower + 0.03);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(constants::Values::kTurretRange.lower + 0.03);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.upper - 0.03);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(200.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(20.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_indexer(indexer_offset);
+    goal_builder.add_shooter(shooter_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(5));
   EXPECT_EQ(nullptr, superstructure_output_fetcher_.get());
@@ -1059,18 +1524,41 @@
 
   // Spin up.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = constants::Values::kHoodRange.lower + 0.03;
-    goal->turret.angle = constants::Values::kTurretRange.lower + 0.03;
-    goal->intake.distance = constants::Values::kIntakeRange.upper - 0.03;
-    goal->shooter.angular_velocity = 0.0;
-    goal->indexer.angular_velocity = 5.0;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.lower + 0.03);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(constants::Values::kTurretRange.lower + 0.03);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.upper - 0.03);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(5.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_indexer(indexer_offset);
+    goal_builder.add_shooter(shooter_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(5));
   VerifyNearGoal();
-  EXPECT_TRUE(superstructure_status_fetcher_->indexer.ready);
+  EXPECT_TRUE(superstructure_status_fetcher_->indexer()->ready());
 
   // Now, stick it.
   const auto stuck_start_time = monotonic_now();
@@ -1080,7 +1568,7 @@
     superstructure_status_fetcher_.Fetch();
     ASSERT_TRUE(superstructure_status_fetcher_.get() != nullptr);
     if (static_cast<column::Column::IndexerState>(
-            superstructure_status_fetcher_->indexer.state) ==
+            superstructure_status_fetcher_->indexer()->state()) ==
         column::Column::IndexerState::REVERSING) {
       break;
     }
@@ -1095,7 +1583,7 @@
   superstructure_position_fetcher_.Fetch();
   ASSERT_TRUE(superstructure_position_fetcher_.get() != nullptr);
   const double indexer_position =
-      superstructure_position_fetcher_->column.indexer.encoder;
+      superstructure_position_fetcher_->column()->indexer()->encoder();
 
   // Now, unstick it.
   superstructure_plant_.set_freeze_indexer(false);
@@ -1105,7 +1593,7 @@
     superstructure_status_fetcher_.Fetch();
     ASSERT_TRUE(superstructure_status_fetcher_.get() != nullptr);
     if (static_cast<column::Column::IndexerState>(
-            superstructure_status_fetcher_->indexer.state) ==
+            superstructure_status_fetcher_->indexer()->state()) ==
         column::Column::IndexerState::RUNNING) {
       break;
     }
@@ -1123,7 +1611,7 @@
   superstructure_position_fetcher_.Fetch();
   ASSERT_TRUE(superstructure_position_fetcher_.get() != nullptr);
   const double unstuck_indexer_position =
-      superstructure_position_fetcher_->column.indexer.encoder;
+      superstructure_position_fetcher_->column()->indexer()->encoder();
   EXPECT_LT(unstuck_indexer_position, indexer_position - 0.1);
 
   // Now, verify that everything works as expected.
@@ -1138,18 +1626,41 @@
 
   // Spin up.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->hood.angle = constants::Values::kHoodRange.lower + 0.03;
-    goal->turret.angle = constants::Values::kTurretRange.lower + 0.03;
-    goal->intake.distance = constants::Values::kIntakeRange.upper - 0.03;
-    goal->shooter.angular_velocity = 0.0;
-    goal->indexer.angular_velocity = 5.0;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    HoodGoal::Builder hood_builder = builder.MakeBuilder<HoodGoal>();
+    hood_builder.add_angle(constants::Values::kHoodRange.lower + 0.03);
+    flatbuffers::Offset<HoodGoal> hood_offset = hood_builder.Finish();
+
+    TurretGoal::Builder turret_builder = builder.MakeBuilder<TurretGoal>();
+    turret_builder.add_angle(constants::Values::kTurretRange.lower + 0.03);
+    flatbuffers::Offset<TurretGoal> turret_offset = turret_builder.Finish();
+
+    IntakeGoal::Builder intake_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_builder.add_distance(constants::Values::kIntakeRange.upper - 0.03);
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_builder.Finish();
+
+    ShooterGoal::Builder shooter_builder = builder.MakeBuilder<ShooterGoal>();
+    shooter_builder.add_angular_velocity(0.0);
+    flatbuffers::Offset<ShooterGoal> shooter_offset = shooter_builder.Finish();
+
+    IndexerGoal::Builder indexer_builder = builder.MakeBuilder<IndexerGoal>();
+    indexer_builder.add_angular_velocity(5.0);
+    flatbuffers::Offset<IndexerGoal> indexer_offset = indexer_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_hood(hood_offset);
+    goal_builder.add_turret(turret_offset);
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_indexer(indexer_offset);
+    goal_builder.add_shooter(shooter_offset);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(5));
   VerifyNearGoal();
-  EXPECT_TRUE(superstructure_status_fetcher_->indexer.ready);
+  EXPECT_TRUE(superstructure_status_fetcher_->indexer()->ready());
 
   // Now, stick it.
   const auto stuck_start_time = monotonic_now();
@@ -1159,7 +1670,7 @@
     superstructure_status_fetcher_.Fetch();
     ASSERT_TRUE(superstructure_status_fetcher_.get() != nullptr);
     if (static_cast<column::Column::IndexerState>(
-            superstructure_status_fetcher_->indexer.state) ==
+            superstructure_status_fetcher_->indexer()->state()) ==
         column::Column::IndexerState::REVERSING) {
       break;
     }
@@ -1177,7 +1688,7 @@
     superstructure_status_fetcher_.Fetch();
     ASSERT_TRUE(superstructure_status_fetcher_.get() != nullptr);
     if (static_cast<column::Column::IndexerState>(
-            superstructure_status_fetcher_->indexer.state) ==
+            superstructure_status_fetcher_->indexer()->state()) ==
         column::Column::IndexerState::RUNNING) {
       break;
     }
@@ -1202,7 +1713,7 @@
     superstructure_status_fetcher_.Fetch();
     ASSERT_TRUE(superstructure_status_fetcher_.get() != nullptr);
     if (static_cast<column::Column::IndexerState>(
-            superstructure_status_fetcher_->indexer.state) ==
+            superstructure_status_fetcher_->indexer()->state()) ==
         column::Column::IndexerState::REVERSING) {
       break;
     }
diff --git a/y2017/control_loops/superstructure/superstructure_main.cc b/y2017/control_loops/superstructure/superstructure_main.cc
index 1dbb342..eedba6f 100644
--- a/y2017/control_loops/superstructure/superstructure_main.cc
+++ b/y2017/control_loops/superstructure/superstructure_main.cc
@@ -1,12 +1,15 @@
 #include "y2017/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() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2017::control_loops::superstructure::Superstructure superstructure(
       &event_loop);
 
diff --git a/y2017/control_loops/superstructure/superstructure_output.fbs b/y2017/control_loops/superstructure/superstructure_output.fbs
new file mode 100644
index 0000000..5301380
--- /dev/null
+++ b/y2017/control_loops/superstructure/superstructure_output.fbs
@@ -0,0 +1,27 @@
+namespace y2017.control_loops.superstructure;
+
+table Output {
+  // Voltages for some of the subsystems.
+  voltage_intake:double;
+  voltage_indexer:double;
+  voltage_shooter:double;
+
+  // Rollers on the intake.
+  voltage_intake_rollers:double;
+  // Roller on the indexer
+  voltage_indexer_rollers:double;
+
+  voltage_turret:double;
+  voltage_hood:double;
+
+  gear_servo:double;
+
+  // If true, the lights are on.
+  lights_on:bool;
+
+  red_light_on:bool;
+  green_light_on:bool;
+  blue_light_on:bool;
+}
+
+root_type Output;
diff --git a/y2017/control_loops/superstructure/superstructure_position.fbs b/y2017/control_loops/superstructure/superstructure_position.fbs
new file mode 100644
index 0000000..7f95462
--- /dev/null
+++ b/y2017/control_loops/superstructure/superstructure_position.fbs
@@ -0,0 +1,31 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2017.control_loops.superstructure;
+
+table ColumnPosition {
+  // Indexer angle in radians relative to the base.  Positive is according to
+  // the right hand rule around +z.
+  indexer:frc971.HallEffectAndPosition;
+  // Turret angle in radians relative to the indexer.  Positive is the same as
+  // the indexer.
+  turret:frc971.HallEffectAndPosition;
+}
+
+
+table Position {
+  // Position of the intake, zero when the intake is in, positive when it is
+  // out.
+  intake:frc971.PotAndAbsolutePosition;
+
+  // The position of the column.
+  column:ColumnPosition;
+
+  // The sensor readings for the hood. The units and sign are defined the
+  // same as what's in the Goal message.
+  hood:frc971.IndexPosition;
+
+  // Shooter wheel angle in radians.
+  theta_shooter:double;
+}
+
+root_type Position;
diff --git a/y2017/control_loops/superstructure/superstructure_status.fbs b/y2017/control_loops/superstructure/superstructure_status.fbs
new file mode 100644
index 0000000..217eb5b
--- /dev/null
+++ b/y2017/control_loops/superstructure/superstructure_status.fbs
@@ -0,0 +1,129 @@
+include "frc971/control_loops/control_loops.fbs";
+include "frc971/control_loops/profiled_subsystem.fbs";
+
+namespace y2017.control_loops.superstructure;
+
+table IndexerStatus {
+  // The current average velocity in radians/second. Positive is moving balls up
+  // towards the shooter. This is the angular velocity of the inner piece.
+  avg_angular_velocity:double;
+
+  // The current instantaneous filtered velocity in radians/second.
+  angular_velocity:double;
+
+  // True if the indexer is ready.  It is better to compare the velocities
+  // directly so there isn't confusion on if the goal is up to date.
+  ready:bool;
+
+  // True if the indexer is stuck.
+  stuck:bool;
+  stuck_voltage:float;
+
+  // The state of the indexer state machine.
+  state:int;
+
+  // The estimated voltage error from the kalman filter in volts.
+  voltage_error:double;
+  // The estimated voltage error from the stuck indexer kalman filter.
+  stuck_voltage_error:double;
+
+  // The current velocity measured as delta x / delta t in radians/sec.
+  instantaneous_velocity:double;
+
+  // The error between our measurement and expected measurement in radians.
+  position_error:double;
+}
+
+table ShooterStatus {
+  // The current average velocity in radians/second.
+  avg_angular_velocity:double;
+
+  // The current instantaneous filtered velocity in radians/second.
+  angular_velocity:double;
+
+  // True if the shooter is ready.  It is better to compare the velocities
+  // directly so there isn't confusion on if the goal is up to date.
+  ready:bool;
+
+  // The estimated voltage error from the kalman filter in volts.
+  voltage_error:double;
+
+  // The current velocity measured as delta x / delta t in radians/sec.
+  instantaneous_velocity:double;
+  filtered_velocity:double;
+  fixed_instantaneous_velocity:double;
+
+  // The error between our measurement and expected measurement in radians.
+  position_error:double;
+}
+
+table ColumnEstimatorState {
+  error:bool;
+  zeroed:bool;
+  indexer:frc971.HallEffectAndPositionEstimatorState;
+  turret:frc971.HallEffectAndPositionEstimatorState;
+}
+
+table TurretProfiledSubsystemStatus {
+  // Is the subsystem zeroed?
+  zeroed:bool;
+
+  // The state of the subsystem, if applicable.  -1 otherwise.
+  state:int;
+
+  // If true, we have aborted.
+  estopped:bool;
+
+  // Position of the joint.
+  position:float;
+  // Velocity of the joint in units/second.
+  velocity:float;
+  // Profiled goal position of the joint.
+  goal_position:float;
+  // Profiled goal velocity of the joint in units/second.
+  goal_velocity:float;
+  // Unprofiled goal position from absoulte zero of the joint.
+  unprofiled_goal_position:float;
+  // Unprofiled goal velocity of the joint in units/second.
+  unprofiled_goal_velocity:float;
+
+  // The estimated voltage error.
+  voltage_error:float;
+
+  // The calculated velocity with delta x/delta t
+  calculated_velocity:float;
+
+  // Components of the control loop output
+  position_power:float;
+  velocity_power:float;
+  feedforwards_power:float;
+
+  // State of the estimator.
+  estimator_state:ColumnEstimatorState;
+
+  raw_vision_angle:double;
+  vision_angle:double;
+  vision_tracking:bool;
+
+  turret_encoder_angle:double;
+}
+
+table Status {
+  // Are all the subsystems zeroed?
+  zeroed:bool;
+
+  // If true, we have aborted. This is the or of all subsystem estops.
+  estopped:bool;
+
+  // Each subsystems status.
+  intake:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;
+  hood:frc971.control_loops.IndexProfiledJointStatus;
+  shooter:ShooterStatus;
+
+  turret:TurretProfiledSubsystemStatus;
+  indexer:IndexerStatus;
+
+  vision_distance:float;
+}
+
+root_type Status;
diff --git a/y2017/control_loops/superstructure/vision_distance_average.h b/y2017/control_loops/superstructure/vision_distance_average.h
index 74e775d..7af2a9b 100644
--- a/y2017/control_loops/superstructure/vision_distance_average.h
+++ b/y2017/control_loops/superstructure/vision_distance_average.h
@@ -6,7 +6,7 @@
 
 #include "aos/containers/ring_buffer.h"
 #include "aos/time/time.h"
-#include "y2017/vision/vision.q.h"
+#include "y2017/vision/vision_generated.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -28,8 +28,8 @@
       cached_value_ = ComputeValue();
     }
 
-    if (vision_status != nullptr && vision_status->image_valid) {
-      data_.Push({monotonic_now, vision_status->distance});
+    if (vision_status != nullptr && vision_status->image_valid()) {
+      data_.Push({monotonic_now, vision_status->distance()});
       cached_value_ = ComputeValue();
     }
   }
diff --git a/y2017/control_loops/superstructure/vision_distance_average_test.cc b/y2017/control_loops/superstructure/vision_distance_average_test.cc
index 70f2f64..bc0fc9a 100644
--- a/y2017/control_loops/superstructure/vision_distance_average_test.cc
+++ b/y2017/control_loops/superstructure/vision_distance_average_test.cc
@@ -1,5 +1,6 @@
 #include "y2017/control_loops/superstructure/vision_distance_average.h"
 
+#include "aos/flatbuffers.h"
 #include "gtest/gtest.h"
 
 namespace y2017 {
@@ -18,18 +19,28 @@
   }
 
   void TickInvalid() {
-    vision::VisionStatus status;
-    status.image_valid = false;
+    flatbuffers::FlatBufferBuilder fbb;
 
-    average_.Tick(tick_time(), &status);
+    vision::VisionStatus::Builder status_builder(fbb);
+    status_builder.add_image_valid(false);
+    fbb.Finish(status_builder.Finish());
+
+    aos::FlatbufferDetachedBuffer<vision::VisionStatus> status(fbb.Release());
+
+    average_.Tick(tick_time(), &status.message());
   }
 
   void TickValid(double distance) {
-    vision::VisionStatus status;
-    status.image_valid = true;
-    status.distance = distance;
+    flatbuffers::FlatBufferBuilder fbb;
 
-    average_.Tick(tick_time(), &status);
+    vision::VisionStatus::Builder status_builder(fbb);
+    status_builder.add_image_valid(true);
+    status_builder.add_distance(distance);
+    fbb.Finish(status_builder.Finish());
+
+    aos::FlatbufferDetachedBuffer<vision::VisionStatus> status(fbb.Release());
+
+    average_.Tick(tick_time(), &status.message());
   }
 
   void TickNullptr() {
diff --git a/y2017/control_loops/superstructure/vision_time_adjuster.cc b/y2017/control_loops/superstructure/vision_time_adjuster.cc
index a67c5f2..7db653e 100644
--- a/y2017/control_loops/superstructure/vision_time_adjuster.cc
+++ b/y2017/control_loops/superstructure/vision_time_adjuster.cc
@@ -2,9 +2,8 @@
 
 #include <chrono>
 
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "y2017/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -104,9 +103,8 @@
 
 VisionTimeAdjuster::VisionTimeAdjuster(::aos::EventLoop *event_loop)
     : 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")) {}
 
 void VisionTimeAdjuster::Tick(monotonic_clock::time_point monotonic_now,
                               double turret_position,
@@ -117,18 +115,19 @@
   // If we have new drivetrain data, we store it.
   if (drivetrain_status_fetcher_.Fetch()) {
     const auto &position = drivetrain_status_fetcher_.get();
-    DrivetrainAngle new_position{.time = position->sent_time,
-                                 .left = position->estimated_left_position,
-                                 .right = position->estimated_right_position};
+    DrivetrainAngle new_position{
+        .time = drivetrain_status_fetcher_.context().monotonic_sent_time,
+        .left = position->estimated_left_position(),
+        .right = position->estimated_right_position()};
     drivetrain_data_.Push(new_position);
     most_recent_drivetrain_angle_ = ComputeDrivetrainPosition(new_position);
   }
 
   // If we have new vision data, compute the newest absolute angle at which the
   // target is.
-  if (vision_status != nullptr && vision_status->image_valid) {
+  if (vision_status != nullptr && vision_status->image_valid()) {
     monotonic_clock::time_point last_target_time(
-        monotonic_clock::duration(vision_status->target_time));
+        monotonic_clock::duration(vision_status->target_time()));
 
     double column_angle = 0;
     double drivetrain_angle = 0;
@@ -143,9 +142,9 @@
       AOS_LOG(INFO, "Accepting Vision angle of %f, age %f\n",
               most_recent_vision_angle_,
               ::aos::time::DurationInSeconds(monotonic_now - last_target_time));
-      most_recent_vision_reading_ = vision_status->angle;
+      most_recent_vision_reading_ = vision_status->angle();
       most_recent_vision_angle_ =
-          vision_status->angle + column_angle + drivetrain_angle;
+          vision_status->angle() + column_angle + drivetrain_angle;
       most_recent_vision_time_ = monotonic_now;
     }
   }
diff --git a/y2017/control_loops/superstructure/vision_time_adjuster.h b/y2017/control_loops/superstructure/vision_time_adjuster.h
index b45f827..3c873f7 100644
--- a/y2017/control_loops/superstructure/vision_time_adjuster.h
+++ b/y2017/control_loops/superstructure/vision_time_adjuster.h
@@ -4,10 +4,10 @@
 #include <stdint.h>
 
 #include "aos/containers/ring_buffer.h"
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
 #include "aos/time/time.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "y2017/vision/vision.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "y2017/vision/vision_generated.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -51,7 +51,7 @@
 
  private:
   // Fetcher to grab the latest drivetrain message.
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Status>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Status>
       drivetrain_status_fetcher_;
 
   // Buffer space to store the most recent drivetrain and turret messages from
diff --git a/y2017/control_loops/superstructure/vision_time_adjuster_test.cc b/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
index 4f341de..7e9d82d 100644
--- a/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
+++ b/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
@@ -2,12 +2,13 @@
 
 #include "gtest/gtest.h"
 
-#include "aos/events/simulated-event-loop.h"
+#include "aos/configuration.h"
+#include "aos/events/simulated_event_loop.h"
 #include "aos/testing/test_logging.h"
 #include "aos/time/time.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "y2017/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2017/vision/vision.q.h"
+#include "y2017/vision/vision_generated.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -17,19 +18,20 @@
  public:
   VisionTimeAdjusterTest()
       : ::testing::Test(),
-        simulation_event_loop_(simulated_event_loop_factory_.MakeEventLoop()),
+        configuration_(aos::configuration::ReadConfig("y2017/config.json")),
+        event_loop_factory_(&configuration_.message()),
+        simulation_event_loop_(event_loop_factory_.MakeEventLoop()),
         drivetrain_status_sender_(
             simulation_event_loop_
-                ->MakeSender<::frc971::control_loops::DrivetrainQueue::Status>(
-                    ".frc971.control_loops.drivetrain_queue.status")),
+                ->MakeSender<::frc971::control_loops::drivetrain::Status>(
+                    "/drivetrain")),
         vision_status_sender_(
             simulation_event_loop_->MakeSender<::y2017::vision::VisionStatus>(
-                ".y2017.vision.vision_status")),
-        vision_time_adjuster_event_loop_(
-            simulated_event_loop_factory_.MakeEventLoop()),
-        vision_status_fetcher_(vision_time_adjuster_event_loop_
-                                   ->MakeFetcher<::y2017::vision::VisionStatus>(
-                                       ".y2017.vision.vision_status")),
+                "/vision")),
+        vision_time_adjuster_event_loop_(event_loop_factory_.MakeEventLoop()),
+        vision_status_fetcher_(
+            vision_time_adjuster_event_loop_
+                ->MakeFetcher<::y2017::vision::VisionStatus>("/vision")),
         adjuster_(vision_time_adjuster_event_loop_.get()) {
     ::aos::testing::EnableTestLogging();
     static_assert(kVisionDelay % kTimeTick == ::std::chrono::milliseconds(0),
@@ -75,11 +77,11 @@
   VisionTimeAdjuster *adjuster() { return &adjuster_; }
 
  private:
-  void TickTime() { simulated_event_loop_factory_.RunFor(kTimeTick); }
+  void TickTime() { event_loop_factory_.RunFor(kTimeTick); }
 
   void SendMessages() {
     SendDrivetrainPosition();
-    if (simulated_event_loop_factory_.monotonic_now().time_since_epoch() %
+    if (event_loop_factory_.monotonic_now().time_since_epoch() %
             kVisionTick ==
         kVisionDelay) {
       SendVisionTarget();
@@ -89,25 +91,33 @@
   }
 
   void SendDrivetrainPosition() {
-    auto message = drivetrain_status_sender_.MakeMessage();
-    message->estimated_left_position = drivetrain_left_;
-    message->estimated_right_position = drivetrain_right_;
-    ASSERT_TRUE(message.Send());
+    auto builder = drivetrain_status_sender_.MakeBuilder();
+
+    frc971::control_loops::drivetrain::Status::Builder status_builder =
+        builder.MakeBuilder<frc971::control_loops::drivetrain::Status>();
+    status_builder.add_estimated_left_position(drivetrain_left_);
+    status_builder.add_estimated_right_position(drivetrain_right_);
+
+    ASSERT_TRUE(builder.Send(status_builder.Finish()));
   }
 
   void SendVisionTarget() {
-    auto message = vision_status_sender_.MakeMessage();
-    message->target_time =
+    auto builder = vision_status_sender_.MakeBuilder();
+
+    vision::VisionStatus::Builder vision_status_builder =
+        builder.MakeBuilder<vision::VisionStatus>();
+    vision_status_builder.add_target_time(
         (simulation_event_loop_->monotonic_now() - kVisionDelay)
             .time_since_epoch()
-            .count();
-    message->distance = vision_distance_;
+            .count());
+    vision_status_builder.add_distance(vision_distance_);
     ASSERT_EQ(turret_history_.capacity(), turret_history_.size());
     ASSERT_EQ(drivetrain_history_.capacity(), drivetrain_history_.size());
-    message->angle =
-        vision_angle_ - turret_history_[0] - drivetrain_history_[0];
-    message->image_valid = true;
-    ASSERT_TRUE(message.Send());
+    vision_status_builder.add_angle(vision_angle_ - turret_history_[0] -
+                                    drivetrain_history_[0]);
+    vision_status_builder.add_image_valid(true);
+
+    ASSERT_TRUE(builder.Send(vision_status_builder.Finish()));
   }
 
   double GetDriveTrainAngle() const {
@@ -115,9 +125,10 @@
            (drivetrain::kRobotRadius * 2.0);
   }
 
-  ::aos::SimulatedEventLoopFactory simulated_event_loop_factory_;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> configuration_;
+  ::aos::SimulatedEventLoopFactory event_loop_factory_;
   ::std::unique_ptr<::aos::EventLoop> simulation_event_loop_;
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Status>
+  ::aos::Sender<::frc971::control_loops::drivetrain::Status>
       drivetrain_status_sender_;
   ::aos::Sender<::y2017::vision::VisionStatus> vision_status_sender_;
 
diff --git a/y2017/joystick_reader.cc b/y2017/joystick_reader.cc
index 3bbbeb2..e42085a 100644
--- a/y2017/joystick_reader.cc
+++ b/y2017/joystick_reader.cc
@@ -4,19 +4,18 @@
 #include <unistd.h>
 
 #include "aos/actions/actions.h"
+#include "aos/init.h"
+#include "aos/input/action_joystick_input.h"
 #include "aos/input/driver_station_data.h"
+#include "aos/input/drivetrain_input.h"
 #include "aos/logging/logging.h"
 #include "aos/time/time.h"
 #include "aos/util/log_interval.h"
-#include "aos/input/drivetrain_input.h"
-#include "aos/input/action_joystick_input.h"
-#include "aos/init.h"
-#include "frc971/autonomous/auto.q.h"
 #include "frc971/autonomous/base_autonomous_actor.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "y2017/constants.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
 #include "y2017/control_loops/drivetrain/drivetrain_base.h"
+#include "y2017/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2017/control_loops/superstructure/superstructure_status_generated.h"
 
 using ::aos::input::driver_station::ButtonLocation;
 using ::aos::input::driver_station::ControlBit;
@@ -28,6 +27,8 @@
 namespace input {
 namespace joysticks {
 
+namespace superstructure = control_loops::superstructure;
+
 const ButtonLocation kGearSlotBack(2, 11);
 
 const ButtonLocation kIntakeDown(3, 9);
@@ -54,13 +55,13 @@
             ::y2017::control_loops::drivetrain::GetDrivetrainConfig(),
             DrivetrainInputReader::InputType::kSteeringWheel, {}),
         superstructure_status_fetcher_(
-            event_loop->MakeFetcher<
-                ::y2017::control_loops::SuperstructureQueue::Status>(
-                ".y2017.control_loops.superstructure_queue.status")),
+            event_loop
+                ->MakeFetcher<::y2017::control_loops::superstructure::Status>(
+                    "/superstructure")),
         superstructure_goal_sender_(
             event_loop
-                ->MakeSender<::y2017::control_loops::SuperstructureQueue::Goal>(
-                    ".y2017.control_loops.superstructure_queue.goal")) {}
+                ->MakeSender<::y2017::control_loops::superstructure::Goal>(
+                    "/superstructure")) {}
 
   enum class ShotDistance { VISION_SHOT, MIDDLE_SHOT, FAR_SHOT };
 
@@ -150,109 +151,155 @@
 
     fire_ = data.IsPressed(kFire) && shooter_velocity_ != 0.0;
     if (data.IsPressed(kVisionAlign)) {
-      fire_ = fire_ && superstructure_status_fetcher_->turret.vision_tracking;
+      fire_ = fire_ && superstructure_status_fetcher_->turret()->vision_tracking();
     }
 
-    auto new_superstructure_goal = superstructure_goal_sender_.MakeMessage();
+    auto builder = superstructure_goal_sender_.MakeBuilder();
     if (data.IsPressed(kHang)) {
       intake_goal_ = 0.23;
     }
 
-    new_superstructure_goal->intake.distance = intake_goal_;
-    new_superstructure_goal->intake.disable_intake = false;
-    new_superstructure_goal->turret.angle = turret_goal_;
-    new_superstructure_goal->turret.track = vision_track;
-    new_superstructure_goal->hood.angle = hood_goal_;
-    new_superstructure_goal->shooter.angular_velocity = shooter_velocity_;
+    bool intake_disable_intake = false;
+    double intake_gear_servo = 0.0;
 
     if (data.IsPressed(kIntakeUp)) {
-      new_superstructure_goal->intake.gear_servo = 0.30;
+      intake_gear_servo = 0.30;
     } else {
       // Clamp the gear
-      new_superstructure_goal->intake.gear_servo = 0.66;
+      intake_gear_servo = 0.66;
     }
 
-    new_superstructure_goal->intake.profile_params.max_velocity = 0.50;
-    new_superstructure_goal->hood.profile_params.max_velocity = 5.0;
+    double intake_voltage_rollers = 0.0;
 
-    new_superstructure_goal->intake.profile_params.max_acceleration = 3.0;
-    if (vision_track) {
-      new_superstructure_goal->turret.profile_params.max_acceleration = 35.0;
-      new_superstructure_goal->turret.profile_params.max_velocity = 10.0;
-    } else {
-      new_superstructure_goal->turret.profile_params.max_acceleration = 15.0;
-      new_superstructure_goal->turret.profile_params.max_velocity = 6.0;
-    }
-    new_superstructure_goal->hood.profile_params.max_acceleration = 25.0;
-
-    new_superstructure_goal->intake.voltage_rollers = 0.0;
-    new_superstructure_goal->lights_on = lights_on;
-
-    if (data.IsPressed(kVisionAlign) && vision_distance_shot_) {
-      new_superstructure_goal->use_vision_for_shots = true;
-    } else {
-      new_superstructure_goal->use_vision_for_shots = false;
-    }
-
-    if (superstructure_status_fetcher_->intake.position >
-        superstructure_status_fetcher_->intake.unprofiled_goal_position +
+    if (superstructure_status_fetcher_->intake()->position() >
+        superstructure_status_fetcher_->intake()->unprofiled_goal_position() +
             0.01) {
       intake_accumulator_ = 10;
     }
     if (intake_accumulator_ > 0) {
       --intake_accumulator_;
-      if (!superstructure_status_fetcher_->intake.estopped) {
-        new_superstructure_goal->intake.voltage_rollers = 10.0;
+      if (!superstructure_status_fetcher_->intake()->estopped()) {
+        intake_voltage_rollers = 10.0;
       }
     }
 
     if (data.IsPressed(kHang)) {
-      new_superstructure_goal->intake.voltage_rollers = -10.0;
-      new_superstructure_goal->intake.disable_intake = true;
+      intake_voltage_rollers = -10.0;
+      intake_disable_intake = true;
     } else if (data.IsPressed(kIntakeIn) || data.IsPressed(kFire)) {
       if (robot_velocity() > 2.0) {
-        new_superstructure_goal->intake.voltage_rollers = 12.0;
+        intake_voltage_rollers = 12.0;
       } else {
-        new_superstructure_goal->intake.voltage_rollers = 11.0;
+        intake_voltage_rollers = 11.0;
       }
     } else if (data.IsPressed(kIntakeOut)) {
-      new_superstructure_goal->intake.voltage_rollers = -8.0;
+      intake_voltage_rollers = -8.0;
     }
     if (intake_goal_ < 0.1) {
-      new_superstructure_goal->intake.voltage_rollers =
-          ::std::min(8.0, new_superstructure_goal->intake.voltage_rollers);
+      intake_voltage_rollers = ::std::min(8.0, intake_voltage_rollers);
     }
 
+    double indexer_voltage_rollers = 0.0;
+    double indexer_angular_velocity = 0.0;
     if (data.IsPressed(kReverseIndexer)) {
-      new_superstructure_goal->indexer.voltage_rollers = -12.0;
-      new_superstructure_goal->indexer.angular_velocity = 4.0;
-      new_superstructure_goal->indexer.angular_velocity = 1.0;
+      indexer_voltage_rollers = -12.0;
+      indexer_angular_velocity = 1.0;
     } else if (fire_) {
-      new_superstructure_goal->indexer.voltage_rollers = 12.0;
+      indexer_voltage_rollers = 12.0;
       switch (last_shot_distance_)  {
         case ShotDistance::VISION_SHOT:
-          new_superstructure_goal->indexer.angular_velocity = -1.25 * M_PI;
+          indexer_angular_velocity = -1.25 * M_PI;
           break;
         case ShotDistance::MIDDLE_SHOT:
         case ShotDistance::FAR_SHOT:
-          new_superstructure_goal->indexer.angular_velocity = -2.25 * M_PI;
+          indexer_angular_velocity = -2.25 * M_PI;
           break;
       }
     } else {
-      new_superstructure_goal->indexer.voltage_rollers = 0.0;
-      new_superstructure_goal->indexer.angular_velocity = 0.0;
+      indexer_voltage_rollers = 0.0;
+      indexer_angular_velocity = 0.0;
     }
 
-    AOS_LOG_STRUCT(DEBUG, "sending goal", *new_superstructure_goal);
-    if (!new_superstructure_goal.Send()) {
+    superstructure::IndexerGoal::Builder indexer_goal_builder =
+        builder.MakeBuilder<superstructure::IndexerGoal>();
+    indexer_goal_builder.add_angular_velocity(indexer_angular_velocity);
+    indexer_goal_builder.add_voltage_rollers(indexer_voltage_rollers);
+
+    flatbuffers::Offset<superstructure::IndexerGoal> indexer_goal_offset =
+        indexer_goal_builder.Finish();
+
+    flatbuffers::Offset<frc971::ProfileParameters>
+        turret_profile_parameters_offset;
+    if (vision_track) {
+      turret_profile_parameters_offset =
+          frc971::CreateProfileParameters(*builder.fbb(), 10.0, 35.0);
+    } else {
+      turret_profile_parameters_offset =
+          frc971::CreateProfileParameters(*builder.fbb(), 6.0, 15.0);
+    }
+    superstructure::TurretGoal::Builder turret_goal_builder =
+        builder.MakeBuilder<superstructure::TurretGoal>();
+    turret_goal_builder.add_angle(turret_goal_);
+    turret_goal_builder.add_track(vision_track);
+    turret_goal_builder.add_profile_params(turret_profile_parameters_offset);
+    flatbuffers::Offset<superstructure::TurretGoal> turret_goal_offset =
+        turret_goal_builder.Finish();
+
+    flatbuffers::Offset<frc971::ProfileParameters>
+        intake_profile_parameters_offset =
+          frc971::CreateProfileParameters(*builder.fbb(), 0.5, 3.0);
+
+    superstructure::IntakeGoal::Builder intake_goal_builder =
+        builder.MakeBuilder<superstructure::IntakeGoal>();
+    intake_goal_builder.add_voltage_rollers(intake_voltage_rollers);
+    intake_goal_builder.add_distance(intake_goal_);
+    intake_goal_builder.add_disable_intake(intake_disable_intake);
+    intake_goal_builder.add_gear_servo(intake_gear_servo);
+    intake_goal_builder.add_profile_params(intake_profile_parameters_offset);
+    flatbuffers::Offset<superstructure::IntakeGoal> intake_goal_offset =
+        intake_goal_builder.Finish();
+
+    flatbuffers::Offset<frc971::ProfileParameters>
+        hood_profile_parameters_offset =
+            frc971::CreateProfileParameters(*builder.fbb(), 5.0, 25.0);
+
+    superstructure::HoodGoal::Builder hood_goal_builder =
+        builder.MakeBuilder<superstructure::HoodGoal>();
+    hood_goal_builder.add_angle(hood_goal_);
+    hood_goal_builder.add_profile_params(hood_profile_parameters_offset);
+    flatbuffers::Offset<superstructure::HoodGoal> hood_goal_offset =
+        hood_goal_builder.Finish();
+
+    superstructure::ShooterGoal::Builder shooter_goal_builder =
+        builder.MakeBuilder<superstructure::ShooterGoal>();
+    shooter_goal_builder.add_angular_velocity(shooter_velocity_);
+    flatbuffers::Offset<superstructure::ShooterGoal> shooter_goal_offset =
+        shooter_goal_builder.Finish();
+
+    superstructure::Goal::Builder goal_builder =
+        builder.MakeBuilder<superstructure::Goal>();
+    goal_builder.add_lights_on(lights_on);
+    if (data.IsPressed(kVisionAlign) && vision_distance_shot_) {
+      goal_builder.add_use_vision_for_shots(true);
+    } else {
+      goal_builder.add_use_vision_for_shots(false);
+    }
+
+    goal_builder.add_intake(intake_goal_offset);
+    goal_builder.add_indexer(indexer_goal_offset);
+    goal_builder.add_turret(turret_goal_offset);
+    goal_builder.add_hood(hood_goal_offset);
+    goal_builder.add_shooter(shooter_goal_offset);
+
+    if (!builder.Send(goal_builder.Finish())) {
       AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
     }
   }
 
  private:
-  ::aos::Fetcher<::y2017::control_loops::SuperstructureQueue::Status>
+  ::aos::Fetcher<::y2017::control_loops::superstructure::Status>
       superstructure_status_fetcher_;
-  ::aos::Sender<::y2017::control_loops::SuperstructureQueue::Goal>
+  ::aos::Sender<::y2017::control_loops::superstructure::Goal>
       superstructure_goal_sender_;
 
   ShotDistance last_shot_distance_ = ShotDistance::VISION_SHOT;
@@ -276,7 +323,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2017::input::joysticks::Reader reader(&event_loop);
 
   event_loop.Run();
diff --git a/y2017/vision/BUILD b/y2017/vision/BUILD
index 83447e3..1997870 100644
--- a/y2017/vision/BUILD
+++ b/y2017/vision/BUILD
@@ -1,14 +1,15 @@
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 load("//tools/build_rules:gtk_dependent.bzl", "gtk_dependent_cc_binary", "gtk_dependent_cc_library")
 load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
 
 package(default_visibility = ["//visibility:public"])
 
-queue_library(
-    name = "vision_queue",
+flatbuffer_cc_library(
+    name = "vision_fbs",
     srcs = [
-        "vision.q",
+        "vision.fbs",
     ],
+    gen_reflections = 1,
     visibility = ["//visibility:public"],
 )
 
@@ -58,12 +59,11 @@
     visibility = ["//visibility:public"],
     deps = [
         ":target_finder",
-        ":vision_queue",
+        ":vision_fbs",
         ":vision_result",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
         "//aos/mutex",
         "//aos/time",
         "//aos/vision/events:udp",
diff --git a/y2017/vision/target_receiver.cc b/y2017/vision/target_receiver.cc
index 6b86972..e96fba9 100644
--- a/y2017/vision/target_receiver.cc
+++ b/y2017/vision/target_receiver.cc
@@ -1,13 +1,12 @@
 #include <netdb.h>
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/time/time.h"
 #include "aos/vision/events/udp.h"
 #include "y2017/vision/target_finder.h"
-#include "y2017/vision/vision.q.h"
+#include "y2017/vision/vision_generated.h"
 #include "y2017/vision/vision_result.pb.h"
 
 namespace y2017 {
@@ -20,11 +19,13 @@
   char raw_data[65507];
   // TODO(parker): Have this pull in a config from somewhere.
   TargetFinder finder;
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
 
   ::aos::Sender<::y2017::vision::VisionStatus> vision_status_sender =
-      event_loop.MakeSender<::y2017::vision::VisionStatus>(
-          ".y2017.vision.vision_status");
+      event_loop.MakeSender<::y2017::vision::VisionStatus>("/vision");
 
   while (true) {
     // TODO(austin): Don't malloc.
@@ -42,22 +43,27 @@
       continue;
     }
 
-    auto new_vision_status = vision_status_sender.MakeMessage();
-    new_vision_status->image_valid = target.has_target();
-    if (new_vision_status->image_valid) {
-      new_vision_status->target_time =
+    auto builder = vision_status_sender.MakeBuilder();
+    VisionStatus::Builder vision_status_builder =
+        builder.MakeBuilder<VisionStatus>();
+    vision_status_builder.add_image_valid(target.has_target());
+    if (target.has_target()) {
+      vision_status_builder.add_target_time (
           std::chrono::duration_cast<std::chrono::nanoseconds>(
               target_time.time_since_epoch())
-              .count();
+              .count());
 
+      double distance = 0.0;
+      double angle = 0.0;
       finder.GetAngleDist(
           aos::vision::Vector<2>(target.target().x(), target.target().y()),
           /* TODO: Insert down estimate here in radians: */ 0.0,
-          &new_vision_status->distance, &new_vision_status->angle);
+          &distance, &angle);
+      vision_status_builder.add_distance(distance);
+      vision_status_builder.add_angle(angle);
     }
 
-    AOS_LOG_STRUCT(DEBUG, "vision", *new_vision_status);
-    if (!new_vision_status.Send()) {
+    if (!builder.Send(vision_status_builder.Finish())) {
       AOS_LOG(ERROR, "Failed to send vision information\n");
     }
   }
diff --git a/y2017/vision/vision.fbs b/y2017/vision/vision.fbs
new file mode 100644
index 0000000..f1bc013
--- /dev/null
+++ b/y2017/vision/vision.fbs
@@ -0,0 +1,16 @@
+namespace y2017.vision;
+
+// Published on ".y2017.vision.vision_status"
+table VisionStatus {
+  image_valid:bool;
+
+  // Distance to the target in meters.
+  distance:double;
+  // The angle in radians of the bottom of the target.
+  angle:double;
+
+  // Capture time of the angle using the clock behind monotonic_clock::now().
+  target_time:long;
+}
+
+root_type VisionStatus;
diff --git a/y2017/vision/vision.q b/y2017/vision/vision.q
deleted file mode 100644
index 6e4a02a..0000000
--- a/y2017/vision/vision.q
+++ /dev/null
@@ -1,14 +0,0 @@
-package y2017.vision;
-
-// Published on ".y2017.vision.vision_status"
-message VisionStatus {
-  bool image_valid;
-
-  // Distance to the target in meters.
-  double distance;
-  // The angle in radians of the bottom of the target.
-  double angle;
-
-  // Capture time of the angle using the clock behind monotonic_clock::now().
-  int64_t target_time;
-};
diff --git a/y2017/wpilib_interface.cc b/y2017/wpilib_interface.cc
index e55e350..d08909f 100644
--- a/y2017/wpilib_interface.cc
+++ b/y2017/wpilib_interface.cc
@@ -22,21 +22,21 @@
 #undef ERROR
 
 #include "aos/commonmath.h"
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/make_unique.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/robot_state/robot_state_generated.h"
 #include "aos/stl_mutex/stl_mutex.h"
 #include "aos/time/time.h"
 #include "aos/util/compiler_memory_barrier.h"
 #include "aos/util/log_interval.h"
 #include "aos/util/phased_loop.h"
 #include "aos/util/wrapping_counter.h"
-#include "frc971/autonomous/auto.q.h"
-#include "frc971/control_loops/control_loops.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/autonomous/auto_generated.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
 #include "frc971/wpilib/ADIS16448.h"
 #include "frc971/wpilib/buffered_pcm.h"
 #include "frc971/wpilib/buffered_solenoid.h"
@@ -46,19 +46,20 @@
 #include "frc971/wpilib/encoder_and_potentiometer.h"
 #include "frc971/wpilib/interrupt_edge_counting.h"
 #include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/logging_generated.h"
 #include "frc971/wpilib/loop_output_handler.h"
 #include "frc971/wpilib/pdp_fetcher.h"
 #include "frc971/wpilib/sensor_reader.h"
 #include "frc971/wpilib/wpilib_robot_base.h"
 #include "y2017/constants.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
+#include "y2017/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2017/control_loops/superstructure/superstructure_position_generated.h"
 
 #ifndef M_PI
 #define M_PI 3.14159265358979323846
 #endif
 
-using ::y2017::control_loops::SuperstructureQueue;
+namespace superstructure = ::y2017::control_loops::superstructure;
 using ::y2017::constants::Values;
 using ::aos::monotonic_clock;
 namespace chrono = ::std::chrono;
@@ -128,14 +129,14 @@
       : ::frc971::wpilib::SensorReader(event_loop),
         auto_mode_sender_(
             event_loop->MakeSender<::frc971::autonomous::AutonomousMode>(
-                ".frc971.autonomous.auto_mode")),
+                "/aos")),
         superstructure_position_sender_(
-            event_loop->MakeSender<SuperstructureQueue::Position>(
-                ".y2017.control_loops.superstructure_queue.position")),
+            event_loop->MakeSender<superstructure::Position>(
+                "/superstructure")),
         drivetrain_position_sender_(
-            event_loop->MakeSender<
-                ::frc971::control_loops::DrivetrainQueue::Position>(
-                ".frc971.control_loops.drivetrain_queue.position")) {
+            event_loop
+                ->MakeSender<::frc971::control_loops::drivetrain::Position>(
+                    "/drivetrain")) {
     // Set to filter out anything shorter than 1/4 of the minimum pulse width
     // we should ever see.
     UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
@@ -207,18 +208,20 @@
 
   void RunIteration() {
     {
-      auto drivetrain_message = drivetrain_position_sender_.MakeMessage();
-      drivetrain_message->right_encoder =
-          drivetrain_translate(drivetrain_right_encoder_->GetRaw());
-      drivetrain_message->right_speed =
-          drivetrain_velocity_translate(drivetrain_right_encoder_->GetPeriod());
+      auto builder = drivetrain_position_sender_.MakeBuilder();
+      frc971::control_loops::drivetrain::Position::Builder position_builder =
+          builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
+      position_builder.add_right_encoder(
+          drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
+      position_builder.add_right_speed(drivetrain_velocity_translate(
+          drivetrain_right_encoder_->GetPeriod()));
 
-      drivetrain_message->left_encoder =
-          -drivetrain_translate(drivetrain_left_encoder_->GetRaw());
-      drivetrain_message->left_speed =
-          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod());
+      position_builder.add_left_encoder(
+          -drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
+      position_builder.add_left_speed(
+          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
 
-      drivetrain_message.Send();
+      builder.Send(position_builder.Finish());
     }
   }
 
@@ -226,49 +229,77 @@
     const auto values = constants::GetValues();
 
     {
-      auto superstructure_message = superstructure_position_sender_.MakeMessage();
-      CopyPosition(intake_encoder_, &superstructure_message->intake,
+      auto builder = superstructure_position_sender_.MakeBuilder();
+      frc971::PotAndAbsolutePositionT intake;
+      CopyPosition(intake_encoder_, &intake,
                    Values::kIntakeEncoderCountsPerRevolution,
                    Values::kIntakeEncoderRatio, intake_pot_translate, true,
                    values.intake.pot_offset);
+      flatbuffers::Offset<frc971::PotAndAbsolutePosition> intake_offset =
+          frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &intake);
 
-      CopyPosition(indexer_counter_, &superstructure_message->column.indexer,
+      frc971::HallEffectAndPositionT indexer;
+      CopyPosition(indexer_counter_, &indexer,
                    Values::kIndexerEncoderCountsPerRevolution,
                    Values::kIndexerEncoderRatio, true);
+      flatbuffers::Offset<frc971::HallEffectAndPosition> indexer_offset =
+          frc971::HallEffectAndPosition::Pack(*builder.fbb(), &indexer);
 
-      superstructure_message->theta_shooter =
-          encoder_translate(shooter_encoder_->GetRaw(),
-                            Values::kShooterEncoderCountsPerRevolution,
-                            Values::kShooterEncoderRatio);
-
-      CopyPosition(hood_encoder_, &superstructure_message->hood,
+      frc971::IndexPositionT hood;
+      CopyPosition(hood_encoder_, &hood,
                    Values::kHoodEncoderCountsPerRevolution,
                    Values::kHoodEncoderRatio, true);
+      flatbuffers::Offset<frc971::IndexPosition> hood_offset =
+          frc971::IndexPosition::Pack(*builder.fbb(), &hood);
 
-      CopyPosition(turret_counter_, &superstructure_message->column.turret,
+      frc971::HallEffectAndPositionT turret;
+      CopyPosition(turret_counter_, &turret,
                    Values::kTurretEncoderCountsPerRevolution,
                    Values::kTurretEncoderRatio, false);
+      flatbuffers::Offset<frc971::HallEffectAndPosition> turret_offset =
+          frc971::HallEffectAndPosition::Pack(*builder.fbb(), &turret);
 
-      superstructure_message.Send();
+      superstructure::ColumnPosition::Builder column_builder =
+          builder.MakeBuilder<superstructure::ColumnPosition>();
+      column_builder.add_indexer(indexer_offset);
+      column_builder.add_turret(turret_offset);
+      flatbuffers::Offset<superstructure::ColumnPosition> column_offset =
+          column_builder.Finish();
+
+      superstructure::Position::Builder position_builder =
+          builder.MakeBuilder<superstructure::Position>();
+
+      position_builder.add_column(column_offset);
+      position_builder.add_hood(hood_offset);
+      position_builder.add_intake(intake_offset);
+      position_builder.add_theta_shooter(
+          encoder_translate(shooter_encoder_->GetRaw(),
+                            Values::kShooterEncoderCountsPerRevolution,
+                            Values::kShooterEncoderRatio));
+
+      builder.Send(position_builder.Finish());
     }
 
     {
-      auto auto_mode_message = auto_mode_sender_.MakeMessage();
-      auto_mode_message->mode = 0;
+      auto builder = auto_mode_sender_.MakeBuilder();
+      ::frc971::autonomous::AutonomousMode::Builder auto_builder =
+          builder.MakeBuilder<::frc971::autonomous::AutonomousMode>();
+
+      int mode = 0;
       for (size_t i = 0; i < autonomous_modes_.size(); ++i) {
         if (autonomous_modes_[i] && autonomous_modes_[i]->Get()) {
-          auto_mode_message->mode |= 1 << i;
+          mode |= 1 << i;
         }
       }
-      AOS_LOG_STRUCT(DEBUG, "auto mode", *auto_mode_message);
-      auto_mode_message.Send();
+      auto_builder.add_mode(mode);
+      builder.Send(auto_builder.Finish());
     }
   }
 
  private:
   ::aos::Sender<::frc971::autonomous::AutonomousMode> auto_mode_sender_;
-  ::aos::Sender<SuperstructureQueue::Position> superstructure_position_sender_;
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Position>
+  ::aos::Sender<superstructure::Position> superstructure_position_sender_;
+  ::aos::Sender<::frc971::control_loops::drivetrain::Position>
       drivetrain_position_sender_;
 
   DigitalGlitchFilter hall_filter_;
@@ -293,8 +324,8 @@
  public:
   SolenoidWriter(::aos::EventLoop *event_loop)
       : superstructure_output_fetcher_(
-            event_loop->MakeFetcher<SuperstructureQueue::Output>(
-                ".y2017.control_loops.superstructure_queue.output")) {
+            event_loop->MakeFetcher<superstructure::Output>(
+                "/superstructure")) {
     event_loop->set_name("Solenoids");
     event_loop->SetRuntimeRealtimePriority(27);
 
@@ -321,11 +352,10 @@
     {
       superstructure_output_fetcher_.Fetch();
       if (superstructure_output_fetcher_.get()) {
-        AOS_LOG_STRUCT(DEBUG, "solenoids", *superstructure_output_fetcher_);
-        lights_->Set(superstructure_output_fetcher_->lights_on);
-        rgb_lights_->Set(superstructure_output_fetcher_->red_light_on |
-                         superstructure_output_fetcher_->green_light_on |
-                         superstructure_output_fetcher_->blue_light_on);
+        lights_->Set(superstructure_output_fetcher_->lights_on());
+        rgb_lights_->Set(superstructure_output_fetcher_->red_light_on() |
+                         superstructure_output_fetcher_->green_light_on() |
+                         superstructure_output_fetcher_->blue_light_on());
       }
     }
 
@@ -337,16 +367,16 @@
 
   ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> lights_, rgb_lights_;
 
-  ::aos::Fetcher<::y2017::control_loops::SuperstructureQueue::Output>
+  ::aos::Fetcher<::y2017::control_loops::superstructure::Output>
       superstructure_output_fetcher_;
 };
 
 class SuperstructureWriter
-    : public ::frc971::wpilib::LoopOutputHandler<SuperstructureQueue::Output> {
+    : public ::frc971::wpilib::LoopOutputHandler<superstructure::Output> {
  public:
   SuperstructureWriter(::aos::EventLoop *event_loop)
-      : ::frc971::wpilib::LoopOutputHandler<SuperstructureQueue::Output>(
-            event_loop, ".y2017.control_loops.superstructure_queue.output") {}
+      : ::frc971::wpilib::LoopOutputHandler<superstructure::Output>(
+            event_loop, "/superstructure") {}
 
   void set_intake_victor(::std::unique_ptr<::frc::VictorSP> t) {
     intake_victor_ = ::std::move(t);
@@ -386,27 +416,26 @@
   }
 
  private:
-  virtual void Write(const SuperstructureQueue::Output &output) override {
-    AOS_LOG_STRUCT(DEBUG, "will output", output);
-    intake_victor_->SetSpeed(::aos::Clip(output.voltage_intake,
+  virtual void Write(const superstructure::Output &output) override {
+    intake_victor_->SetSpeed(::aos::Clip(output.voltage_intake(),
                                          -kMaxBringupPower, kMaxBringupPower) /
                              12.0);
-    intake_rollers_victor_->SetSpeed(output.voltage_intake_rollers / 12.0);
-    indexer_victor_->SetSpeed(-output.voltage_indexer / 12.0);
-    indexer_roller_victor_->SetSpeed(output.voltage_indexer_rollers / 12.0);
-    turret_victor_->SetSpeed(::aos::Clip(-output.voltage_turret,
+    intake_rollers_victor_->SetSpeed(output.voltage_intake_rollers() / 12.0);
+    indexer_victor_->SetSpeed(-output.voltage_indexer() / 12.0);
+    indexer_roller_victor_->SetSpeed(output.voltage_indexer_rollers() / 12.0);
+    turret_victor_->SetSpeed(::aos::Clip(-output.voltage_turret(),
                                          -kMaxBringupPower, kMaxBringupPower) /
                              12.0);
-    hood_victor_->SetSpeed(
-        ::aos::Clip(output.voltage_hood, -kMaxBringupPower, kMaxBringupPower) /
-        12.0);
-    shooter_victor_->SetSpeed(output.voltage_shooter / 12.0);
+    hood_victor_->SetSpeed(::aos::Clip(output.voltage_hood(), -kMaxBringupPower,
+                                       kMaxBringupPower) /
+                           12.0);
+    shooter_victor_->SetSpeed(output.voltage_shooter() / 12.0);
 
-    red_light_->Set(output.red_light_on);
-    green_light_->Set(output.green_light_on);
-    blue_light_->Set(output.blue_light_on);
+    red_light_->Set(output.red_light_on());
+    green_light_->Set(output.green_light_on());
+    blue_light_->Set(output.blue_light_on());
 
-    gear_servo_->SetPosition(output.gear_servo);
+    gear_servo_->SetPosition(output.gear_servo());
   }
 
   virtual void Stop() override {
@@ -443,19 +472,22 @@
   }
 
   void Run() override {
+    aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+        aos::configuration::ReadConfig("config.json");
+
     // Thread 1.
-    ::aos::ShmEventLoop joystick_sender_event_loop;
+    ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
     ::frc971::wpilib::JoystickSender joystick_sender(
         &joystick_sender_event_loop);
     AddLoop(&joystick_sender_event_loop);
 
     // Thread 2.
-    ::aos::ShmEventLoop pdp_fetcher_event_loop;
+    ::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
     ::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
     AddLoop(&pdp_fetcher_event_loop);
 
     // Thread 3.
-    ::aos::ShmEventLoop sensor_reader_event_loop;
+    ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
     SensorReader sensor_reader(&sensor_reader_event_loop);
 
     sensor_reader.set_drivetrain_left_encoder(make_encoder(0));
@@ -484,7 +516,7 @@
     AddLoop(&sensor_reader_event_loop);
 
     // Thread 5.
-    ::aos::ShmEventLoop imu_event_loop;
+    ::aos::ShmEventLoop imu_event_loop(&config.message());
     auto imu_trigger = make_unique<DigitalInput>(3);
     ::frc971::wpilib::ADIS16448 imu(&imu_event_loop, SPI::Port::kOnboardCS1,
                                     imu_trigger.get());
@@ -493,7 +525,7 @@
     imu.set_reset(imu_reset.get());
     AddLoop(&imu_event_loop);
 
-    ::aos::ShmEventLoop output_event_loop;
+    ::aos::ShmEventLoop output_event_loop(&config.message());
     ::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
     drivetrain_writer.set_left_controller0(
         ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(7)), true);
@@ -529,7 +561,7 @@
     AddLoop(&output_event_loop);
 
     // Thread 6.
-    ::aos::ShmEventLoop solenoid_writer_event_loop;
+    ::aos::ShmEventLoop solenoid_writer_event_loop(&config.message());
     SolenoidWriter solenoid_writer(&solenoid_writer_event_loop);
     solenoid_writer.set_lights(solenoid_writer.pcm()->MakeSolenoid(0));
     solenoid_writer.set_rgb_light(solenoid_writer.pcm()->MakeSolenoid(1));
diff --git a/y2017/y2017.json b/y2017/y2017.json
new file mode 100644
index 0000000..90aa77c
--- /dev/null
+++ b/y2017/y2017.json
@@ -0,0 +1,34 @@
+{
+  "channels":
+  [
+    {
+      "name": "/superstructure",
+      "type": "y2017.control_loops.superstructure.Goal",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2017.control_loops.superstructure.Status",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2017.control_loops.superstructure.Output",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2017.control_loops.superstructure.Position",
+      "frequency": 200
+    },
+    {
+      "name": "/vision",
+      "type": "y2017.vision.VisionStatus",
+      "frequency": 200
+    }
+  ],
+  "imports": [
+    "../aos/robot_state/robot_state_config.json",
+    "../frc971/control_loops/drivetrain/drivetrain_config.json"
+  ]
+}
diff --git a/y2018/BUILD b/y2018/BUILD
index d7cc2fd..94fd844 100644
--- a/y2018/BUILD
+++ b/y2018/BUILD
@@ -1,6 +1,7 @@
 load("//frc971:downloader.bzl", "robot_downloader")
-load("//aos/build:queues.bzl", "queue_library")
+load("//aos:config.bzl", "aos_config")
 load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 
 robot_downloader(
     start_binaries = [
@@ -30,11 +31,12 @@
         "//aos/time",
         "//aos/util:log_interval",
         "//aos/vision/events:udp",
-        "//frc971/autonomous:auto_queue",
+        "//frc971/autonomous:auto_fbs",
         "//frc971/autonomous:base_autonomous_actor",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
         "//y2018/control_loops/drivetrain:drivetrain_base",
-        "//y2018/control_loops/superstructure:superstructure_queue",
+        "//y2018/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2018/control_loops/superstructure:superstructure_position_fbs",
+        "//y2018/control_loops/superstructure:superstructure_status_fbs",
         "//y2018/control_loops/superstructure/arm:generated_graph",
     ],
 )
@@ -67,21 +69,21 @@
     ],
     restricted_to = ["//tools:roborio"],
     deps = [
-        ":status_light",
+        ":status_light_fbs",
         "//aos:init",
         "//aos:make_unique",
         "//aos:math",
         "//aos/controls:control_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/time",
         "//aos/util:log_interval",
         "//aos/util:phased_loop",
         "//aos/util:wrapping_counter",
-        "//frc971/autonomous:auto_queue",
-        "//frc971/control_loops:queues",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/autonomous:auto_fbs",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//frc971/wpilib:ADIS16448",
         "//frc971/wpilib:buffered_pcm",
         "//frc971/wpilib:dma",
@@ -89,7 +91,7 @@
         "//frc971/wpilib:drivetrain_writer",
         "//frc971/wpilib:encoder_and_potentiometer",
         "//frc971/wpilib:joystick_sender",
-        "//frc971/wpilib:logging_queue",
+        "//frc971/wpilib:logging_fbs",
         "//frc971/wpilib:loop_output_handler",
         "//frc971/wpilib:pdp_fetcher",
         "//frc971/wpilib:sensor_reader",
@@ -97,17 +99,37 @@
         "//third_party:phoenix",
         "//third_party:wpilib",
         "//y2018:constants",
-        "//y2018/control_loops/superstructure:superstructure_queue",
-        "//y2018/vision:vision_queue",
+        "//y2018/control_loops/superstructure:superstructure_output_fbs",
+        "//y2018/control_loops/superstructure:superstructure_position_fbs",
+        "//y2018/vision:vision_fbs",
     ],
 )
 
-queue_library(
-    name = "status_light",
+flatbuffer_cc_library(
+    name = "status_light_fbs",
     srcs = [
-        "status_light.q",
+        "status_light.fbs",
+    ],
+    gen_reflections = 1,
+    visibility = ["//visibility:public"],
+)
+
+aos_config(
+    name = "config",
+    src = "y2018.json",
+    flatbuffers = [
+        ":status_light_fbs",
+        "//y2018/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2018/control_loops/superstructure:superstructure_output_fbs",
+        "//y2018/control_loops/superstructure:superstructure_position_fbs",
+        "//y2018/control_loops/superstructure:superstructure_status_fbs",
+        "//y2018/vision:vision_fbs",
     ],
     visibility = ["//visibility:public"],
+    deps = [
+        "//aos/robot_state:config",
+        "//frc971/control_loops/drivetrain:config",
+    ],
 )
 
 cc_proto_library(
diff --git a/y2018/actors/BUILD b/y2018/actors/BUILD
index 7d97f66..7a95419 100644
--- a/y2018/actors/BUILD
+++ b/y2018/actors/BUILD
@@ -8,14 +8,14 @@
     ],
     deps = [
         "//aos/actions:action_lib",
-        "//aos/events:event-loop",
+        "//aos/events:event_loop",
         "//aos/logging",
         "//aos/util:phased_loop",
         "//frc971/autonomous:base_autonomous_actor",
         "//frc971/control_loops/drivetrain:drivetrain_config",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
         "//y2018/control_loops/drivetrain:drivetrain_base",
-        "//y2018/control_loops/superstructure:superstructure_queue",
+        "//y2018/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2018/control_loops/superstructure:superstructure_status_fbs",
         "//y2018/control_loops/superstructure/arm:generated_graph",
     ],
 )
@@ -29,7 +29,6 @@
     deps = [
         ":autonomous_action_lib",
         "//aos:init",
-        "//aos/events:shm-event-loop",
-        "//frc971/autonomous:auto_queue",
+        "//aos/events:shm_event_loop",
     ],
 )
diff --git a/y2018/actors/autonomous_actor.cc b/y2018/actors/autonomous_actor.cc
index dd94083..89082df 100644
--- a/y2018/actors/autonomous_actor.cc
+++ b/y2018/actors/autonomous_actor.cc
@@ -8,12 +8,11 @@
 #include "aos/logging/logging.h"
 #include "aos/util/phased_loop.h"
 
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "y2018/control_loops/drivetrain/drivetrain_base.h"
 
 namespace y2018 {
 namespace actors {
-using ::frc971::ProfileParameters;
+using ::frc971::ProfileParametersT;
 
 using ::aos::monotonic_clock;
 namespace chrono = ::std::chrono;
@@ -23,25 +22,34 @@
 
 namespace arm = ::y2018::control_loops::superstructure::arm;
 
-const ProfileParameters kFinalSwitchDrive = {0.5, 1.5};
-const ProfileParameters kDrive = {5.0, 2.5};
-const ProfileParameters kThirdBoxDrive = {3.0, 2.5};
-const ProfileParameters kSlowDrive = {1.5, 2.5};
-const ProfileParameters kScaleTurnDrive = {3.0, 2.5};
-const ProfileParameters kFarSwitchTurnDrive = {2.0, 2.5};
-const ProfileParameters kFarScaleFinalTurnDrive = kFarSwitchTurnDrive;
-const ProfileParameters kTurn = {4.0, 2.0};
-const ProfileParameters kSweepingTurn = {5.0, 7.0};
-const ProfileParameters kFarScaleSweepingTurn = kSweepingTurn;
-const ProfileParameters kFastTurn = {5.0, 7.0};
-const ProfileParameters kReallyFastTurn = {1.5, 9.0};
+ProfileParametersT MakeProfileParameters(float max_velocity,
+                                         float max_acceleration) {
+  ProfileParametersT result;
+  result.max_velocity = max_velocity;
+  result.max_acceleration = max_acceleration;
+  return result;
+}
 
-const ProfileParameters kThirdBoxSlowBackup = {0.35, 1.5};
-const ProfileParameters kThirdBoxSlowTurn = {1.5, 4.0};
+const ProfileParametersT kFinalSwitchDrive = MakeProfileParameters(0.5, 1.5);
+const ProfileParametersT kDrive = MakeProfileParameters(5.0, 2.5);
+const ProfileParametersT kThirdBoxDrive = MakeProfileParameters(3.0, 2.5);
+const ProfileParametersT kSlowDrive = MakeProfileParameters(1.5, 2.5);
+const ProfileParametersT kScaleTurnDrive = MakeProfileParameters(3.0, 2.5);
+const ProfileParametersT kFarSwitchTurnDrive = MakeProfileParameters(2.0, 2.5);
+const ProfileParametersT kFarScaleFinalTurnDrive = kFarSwitchTurnDrive;
+const ProfileParametersT kTurn = MakeProfileParameters(4.0, 2.0);
+const ProfileParametersT kSweepingTurn = MakeProfileParameters(5.0, 7.0);
+const ProfileParametersT kFarScaleSweepingTurn = kSweepingTurn;
+const ProfileParametersT kFastTurn = MakeProfileParameters(5.0, 7.0);
+const ProfileParametersT kReallyFastTurn = MakeProfileParameters(1.5, 9.0);
 
-const ProfileParameters kThirdBoxPlaceDrive = {4.0, 2.0};
+const ProfileParametersT kThirdBoxSlowBackup = MakeProfileParameters(0.35, 1.5);
+const ProfileParametersT kThirdBoxSlowTurn = MakeProfileParameters(1.5, 4.0);
 
-const ProfileParameters kFinalFrontFarSwitchDrive = {2.0, 2.0};
+const ProfileParametersT kThirdBoxPlaceDrive = MakeProfileParameters(4.0, 2.0);
+
+const ProfileParametersT kFinalFrontFarSwitchDrive =
+    MakeProfileParameters(2.0, 2.0);
 
 }  // namespace
 
@@ -49,24 +57,23 @@
     : frc971::autonomous::BaseAutonomousActor(
           event_loop, control_loops::drivetrain::GetDrivetrainConfig()),
       superstructure_goal_sender_(
-          event_loop
-              ->MakeSender<::y2018::control_loops::SuperstructureQueue::Goal>(
-                  ".frc971.control_loops.superstructure_queue.goal")),
+          event_loop->MakeSender<::y2018::control_loops::superstructure::Goal>(
+              "/superstructure")),
       superstructure_status_fetcher_(
-          event_loop->MakeFetcher<
-              ::y2018::control_loops::SuperstructureQueue::Status>(
-              ".frc971.control_loops.superstructure_queue.status")) {}
+          event_loop
+              ->MakeFetcher<::y2018::control_loops::superstructure::Status>(
+                  "/superstructure")) {}
 
 bool AutonomousActor::RunAction(
-    const ::frc971::autonomous::AutonomousActionParams &params) {
+    const ::frc971::autonomous::AutonomousActionParams *params) {
   const monotonic_clock::time_point start_time = monotonic_now();
   AOS_LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n",
-          params.mode);
+          params->mode());
   Reset();
 
   // Switch
   /*
-  switch (params.mode) {
+  switch (params->mode()) {
     case 0:
     case 2: {
       if (FarSwitch(start_time, true)) return true;
@@ -79,7 +86,7 @@
   }
   */
   // Scale
-  switch (params.mode) {
+  switch (params->mode()) {
     case 0:
     case 1: {
       if (FarScale(start_time)) return true;
@@ -91,7 +98,7 @@
     } break;
   }
   /*
-  switch (params.mode) {
+  switch (params->mode()) {
     case 1: {
       if (FarScale(start_time)) return true;
       //if (CloseSwitch(start_time)) return true;
diff --git a/y2018/actors/autonomous_actor.h b/y2018/actors/autonomous_actor.h
index 3ef7677..014459a 100644
--- a/y2018/actors/autonomous_actor.h
+++ b/y2018/actors/autonomous_actor.h
@@ -6,12 +6,13 @@
 
 #include "aos/actions/actions.h"
 #include "aos/actions/actor.h"
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
 #include "frc971/autonomous/base_autonomous_actor.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "y2018/control_loops/superstructure/arm/generated_graph.h"
-#include "y2018/control_loops/superstructure/superstructure.q.h"
+#include "y2018/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2018/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2018 {
 namespace actors {
@@ -21,7 +22,7 @@
   explicit AutonomousActor(::aos::EventLoop *event_loop);
 
   bool RunAction(
-      const ::frc971::autonomous::AutonomousActionParams &params) override;
+      const ::frc971::autonomous::AutonomousActionParams *params) override;
 
  private:
   void Reset() {
@@ -40,9 +41,9 @@
     SendSuperstructureGoal();
   }
 
-  ::aos::Sender<::y2018::control_loops::SuperstructureQueue::Goal>
+  ::aos::Sender<::y2018::control_loops::superstructure::Goal>
       superstructure_goal_sender_;
-  ::aos::Fetcher<::y2018::control_loops::SuperstructureQueue::Status>
+  ::aos::Fetcher<::y2018::control_loops::superstructure::Status>
       superstructure_status_fetcher_;
 
   double roller_voltage_ = 0.0;
@@ -82,19 +83,29 @@
   }
 
   void SendSuperstructureGoal() {
-    auto new_superstructure_goal = superstructure_goal_sender_.MakeMessage();
-    new_superstructure_goal->intake.roller_voltage = roller_voltage_;
-    new_superstructure_goal->intake.left_intake_angle = left_intake_angle_;
-    new_superstructure_goal->intake.right_intake_angle = right_intake_angle_;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+    control_loops::superstructure::IntakeGoal::Builder intake_goal_builder =
+        builder.MakeBuilder<control_loops::superstructure::IntakeGoal>();
+    intake_goal_builder.add_roller_voltage(roller_voltage_);
+    intake_goal_builder.add_left_intake_angle(left_intake_angle_);
+    intake_goal_builder.add_right_intake_angle(right_intake_angle_);
 
-    new_superstructure_goal->arm_goal_position = arm_goal_position_;
-    new_superstructure_goal->grab_box = grab_box_;
-    new_superstructure_goal->open_claw = open_claw_;
-    new_superstructure_goal->close_claw = close_claw_;
-    new_superstructure_goal->deploy_fork = deploy_fork_;
-    new_superstructure_goal->trajectory_override = false;
+    flatbuffers::Offset<control_loops::superstructure::IntakeGoal>
+        intake_offset = intake_goal_builder.Finish();
 
-    if (!new_superstructure_goal.Send()) {
+    control_loops::superstructure::Goal::Builder superstructure_builder =
+        builder.MakeBuilder<control_loops::superstructure::Goal>();
+
+    superstructure_builder.add_intake(intake_offset);
+
+    superstructure_builder.add_arm_goal_position(arm_goal_position_);
+    superstructure_builder.add_grab_box(grab_box_);
+    superstructure_builder.add_open_claw(open_claw_);
+    superstructure_builder.add_close_claw(close_claw_);
+    superstructure_builder.add_deploy_fork(deploy_fork_);
+    superstructure_builder.add_trajectory_override(false);
+
+    if (!builder.Send(superstructure_builder.Finish())) {
       AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
     }
   }
@@ -129,17 +140,17 @@
           superstructure_status_fetcher_.get()) {
         const double left_profile_error =
             (initial_drivetrain_.left -
-             drivetrain_status_fetcher_->profiled_left_position_goal);
+             drivetrain_status_fetcher_->profiled_left_position_goal());
         const double right_profile_error =
             (initial_drivetrain_.right -
-             drivetrain_status_fetcher_->profiled_right_position_goal);
+             drivetrain_status_fetcher_->profiled_right_position_goal());
 
         const double left_error =
             (initial_drivetrain_.left -
-             drivetrain_status_fetcher_->estimated_left_position);
+             drivetrain_status_fetcher_->estimated_left_position());
         const double right_error =
             (initial_drivetrain_.right -
-             drivetrain_status_fetcher_->estimated_right_position);
+             drivetrain_status_fetcher_->estimated_right_position());
 
         const double profile_distance_to_go =
             (left_profile_error + right_profile_error) / 2.0;
@@ -147,12 +158,12 @@
         const double distance_to_go = (left_error + right_error) / 2.0;
 
         // Check superstructure first.
-        if (superstructure_status_fetcher_->arm.current_node ==
+        if (superstructure_status_fetcher_->arm()->current_node() ==
                 arm_goal_position_ &&
-            superstructure_status_fetcher_->arm.path_distance_to_go <
+            superstructure_status_fetcher_->arm()->path_distance_to_go() <
                 arm_threshold) {
           AOS_LOG(INFO, "Arm finished first: %f, drivetrain %f distance\n",
-                  superstructure_status_fetcher_->arm.path_distance_to_go,
+                  superstructure_status_fetcher_->arm()->path_distance_to_go(),
                   ::std::abs(distance_to_go));
           return true;
         }
@@ -163,7 +174,7 @@
             ::std::abs(distance_to_go) < drive_threshold + kPositionTolerance) {
           AOS_LOG(INFO,
                   "Drivetrain finished first: arm %f, drivetrain %f distance\n",
-                  superstructure_status_fetcher_->arm.path_distance_to_go,
+                  superstructure_status_fetcher_->arm()->path_distance_to_go(),
                   ::std::abs(distance_to_go));
           return true;
         }
@@ -183,9 +194,9 @@
 
       superstructure_status_fetcher_.Fetch();
       if (superstructure_status_fetcher_.get()) {
-        if (superstructure_status_fetcher_->arm.current_node ==
+        if (superstructure_status_fetcher_->arm()->current_node() ==
                 arm_goal_position_ &&
-            superstructure_status_fetcher_->arm.path_distance_to_go <
+            superstructure_status_fetcher_->arm()->path_distance_to_go() <
                 threshold) {
           return true;
         }
@@ -205,7 +216,7 @@
 
       superstructure_status_fetcher_.Fetch();
       if (superstructure_status_fetcher_.get()) {
-        if (superstructure_status_fetcher_->arm.grab_state == 4) {
+        if (superstructure_status_fetcher_->arm()->grab_state() == 4) {
           return true;
         }
       }
diff --git a/y2018/actors/autonomous_actor_main.cc b/y2018/actors/autonomous_actor_main.cc
index 6193d48..76fae2e 100644
--- a/y2018/actors/autonomous_actor_main.cc
+++ b/y2018/actors/autonomous_actor_main.cc
@@ -1,14 +1,16 @@
 #include <stdio.h>
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
-#include "frc971/autonomous/auto.q.h"
 #include "y2018/actors/autonomous_actor.h"
 
 int main(int /*argc*/, char * /*argv*/ []) {
   ::aos::Init(-1);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2018::actors::AutonomousActor autonomous(&event_loop);
   event_loop.Run();
 
diff --git a/y2018/control_loops/drivetrain/BUILD b/y2018/control_loops/drivetrain/BUILD
index 1824196..4d6a6a1 100644
--- a/y2018/control_loops/drivetrain/BUILD
+++ b/y2018/control_loops/drivetrain/BUILD
@@ -1,5 +1,3 @@
-load("//aos/build:queues.bzl", "queue_library")
-
 genrule(
     name = "genrule_drivetrain",
     outs = [
diff --git a/y2018/control_loops/drivetrain/drivetrain_main.cc b/y2018/control_loops/drivetrain/drivetrain_main.cc
index 1bb1dc0..e5c68c5 100644
--- a/y2018/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,6 @@
 #include "aos/init.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2018/control_loops/drivetrain/drivetrain_base.h"
 
@@ -9,7 +9,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
       &event_loop, ::y2018::control_loops::drivetrain::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(
diff --git a/y2018/control_loops/python/BUILD b/y2018/control_loops/python/BUILD
index af158de..5690b08 100644
--- a/y2018/control_loops/python/BUILD
+++ b/y2018/control_loops/python/BUILD
@@ -146,8 +146,8 @@
         "arm_bounds.h",
     ],
     deps = [
-        "//third_party/eigen",
         "@cgal_repo//:cgal",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -163,7 +163,6 @@
     ],
 )
 
-
 py_binary(
     name = "graph_edit",
     srcs = [
@@ -175,9 +174,9 @@
     restricted_to = ["//tools:k8"],
     srcs_version = "PY3",
     deps = [
+        ":python_init",
         "//frc971/control_loops/python:basic_window",
         "//frc971/control_loops/python:color",
-        ":python_init",
         "@python_gtk",
     ],
 )
diff --git a/y2018/control_loops/superstructure/BUILD b/y2018/control_loops/superstructure/BUILD
index 5dabd1b..4e97571 100644
--- a/y2018/control_loops/superstructure/BUILD
+++ b/y2018/control_loops/superstructure/BUILD
@@ -1,18 +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:queues",
+    gen_reflections = 1,
+    includes = [
+        "//frc971/control_loops:control_loops_fbs_includes",
     ],
 )
 
+flatbuffer_cc_library(
+    name = "superstructure_position_fbs",
+    srcs = [
+        "superstructure_position.fbs",
+    ],
+    gen_reflections = 1,
+    includes = [
+        "//frc971/control_loops:control_loops_fbs_includes",
+    ],
+)
+
+flatbuffer_cc_library(
+    name = "superstructure_status_fbs",
+    srcs = [
+        "superstructure_status.fbs",
+    ],
+    gen_reflections = 1,
+    includes = [
+        "//frc971/control_loops:control_loops_fbs_includes",
+    ],
+)
+
+flatbuffer_cc_library(
+    name = "superstructure_output_fbs",
+    srcs = [
+        "superstructure_output.fbs",
+    ],
+    gen_reflections = 1,
+)
+
 cc_library(
     name = "superstructure_lib",
     srcs = [
@@ -22,16 +52,19 @@
         "superstructure.h",
     ],
     deps = [
-        ":superstructure_queue",
+        ":superstructure_goal_fbs",
+        ":superstructure_output_fbs",
+        ":superstructure_position_fbs",
+        ":superstructure_status_fbs",
         "//aos/controls:control_loop",
-        "//aos/events:event-loop",
-        "//frc971/control_loops:queues",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//aos/events:event_loop",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
         "//y2018:constants",
-        "//y2018:status_light",
+        "//y2018:status_light_fbs",
         "//y2018/control_loops/superstructure/arm",
         "//y2018/control_loops/superstructure/intake",
-        "//y2018/vision:vision_queue",
+        "//y2018/vision:vision_fbs",
     ],
 )
 
@@ -41,12 +74,15 @@
     srcs = [
         "superstructure_lib_test.cc",
     ],
+    data = ["//y2018:config.json"],
     shard_count = 5,
     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",
@@ -63,7 +99,6 @@
     ],
     deps = [
         ":superstructure_lib",
-        ":superstructure_queue",
         "//aos:init",
     ],
 )
diff --git a/y2018/control_loops/superstructure/arm/BUILD b/y2018/control_loops/superstructure/arm/BUILD
index e8af2b9..bf3c306 100644
--- a/y2018/control_loops/superstructure/arm/BUILD
+++ b/y2018/control_loops/superstructure/arm/BUILD
@@ -12,7 +12,7 @@
         "//aos/logging",
         "//frc971/control_loops:dlqr",
         "//frc971/control_loops:jacobian",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -27,7 +27,7 @@
         ":ekf",
         ":trajectory",
         "//aos/testing:googletest",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -42,8 +42,8 @@
     visibility = ["//visibility:public"],
     deps = [
         "//frc971/control_loops:runge_kutta",
-        "//third_party/eigen",
         "@com_github_gflags_gflags//:gflags",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -77,9 +77,9 @@
         ":ekf",
         ":generated_graph",
         ":trajectory",
-        "//third_party/eigen",
         "//third_party/matplotlib-cpp",
         "@com_github_gflags_gflags//:gflags",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -95,7 +95,7 @@
     deps = [
         ":dynamics",
         "//frc971/control_loops:jacobian",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -129,10 +129,10 @@
         ":generated_graph",
         ":graph",
         ":trajectory",
-        "//aos/logging:queue_logging",
         "//frc971/zeroing",
         "//y2018:constants",
-        "//y2018/control_loops/superstructure:superstructure_queue",
+        "//y2018/control_loops/superstructure:superstructure_position_fbs",
+        "//y2018/control_loops/superstructure:superstructure_status_fbs",
     ],
 )
 
diff --git a/y2018/control_loops/superstructure/arm/arm.cc b/y2018/control_loops/superstructure/arm/arm.cc
index 2ae1996..1f904e2 100644
--- a/y2018/control_loops/superstructure/arm/arm.cc
+++ b/y2018/control_loops/superstructure/arm/arm.cc
@@ -4,7 +4,6 @@
 #include <iostream>
 
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "y2018/constants.h"
 #include "y2018/control_loops/superstructure/arm/demo_path.h"
 #include "y2018/control_loops/superstructure/arm/dynamics.h"
@@ -44,15 +43,15 @@
 
 void Arm::Reset() { state_ = State::UNINITIALIZED; }
 
-void Arm::Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
-                  const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
-                  bool close_claw, const control_loops::ArmPosition *position,
-                  const bool claw_beambreak_triggered,
-                  const bool box_back_beambreak_triggered,
-                  const bool intake_clear_of_box, bool suicide,
-                  bool trajectory_override, double *proximal_output,
-                  double *distal_output, bool *release_arm_brake,
-                  bool *claw_closed, control_loops::ArmStatus *status) {
+flatbuffers::Offset<superstructure::ArmStatus> Arm::Iterate(
+    const ::aos::monotonic_clock::time_point monotonic_now,
+    const uint32_t *unsafe_goal, bool grab_box, bool open_claw, bool close_claw,
+    const superstructure::ArmPosition *position,
+    const bool claw_beambreak_triggered,
+    const bool box_back_beambreak_triggered, const bool intake_clear_of_box,
+    bool suicide, bool trajectory_override, double *proximal_output,
+    double *distal_output, bool *release_arm_brake, bool *claw_closed,
+    flatbuffers::FlatBufferBuilder *fbb) {
   ::Eigen::Matrix<double, 2, 1> Y;
   const bool outputs_disabled =
       ((proximal_output == nullptr) || (distal_output == nullptr) ||
@@ -86,11 +85,11 @@
     claw_closed_count_ = 50;
   }
 
-  Y << position->proximal.encoder + proximal_offset_,
-      position->distal.encoder + distal_offset_;
+  Y << position->proximal()->encoder() + proximal_offset_,
+      position->distal()->encoder() + distal_offset_;
 
-  proximal_zeroing_estimator_.UpdateEstimate(position->proximal);
-  distal_zeroing_estimator_.UpdateEstimate(position->distal);
+  proximal_zeroing_estimator_.UpdateEstimate(*position->proximal());
+  distal_zeroing_estimator_.UpdateEstimate(*position->distal());
 
   if (proximal_output != nullptr) {
     *proximal_output = 0.0;
@@ -128,8 +127,8 @@
         proximal_offset_ = proximal_zeroing_estimator_.offset();
         distal_offset_ = distal_zeroing_estimator_.offset();
 
-        Y << position->proximal.encoder + proximal_offset_,
-            position->distal.encoder + distal_offset_;
+        Y << position->proximal()->encoder() + proximal_offset_,
+            position->distal()->encoder() + distal_offset_;
 
         // TODO(austin): Offset ekf rather than reset it.  Since we aren't
         // moving at this point, it's pretty safe to do this.
@@ -377,17 +376,29 @@
   follower_.Update(arm_ekf_.X_hat(), disable, kDt(), vmax_,
                    max_operating_voltage);
   AOS_LOG(INFO, "Max voltage: %f\n", max_operating_voltage);
-  status->goal_theta0 = follower_.theta(0);
-  status->goal_theta1 = follower_.theta(1);
-  status->goal_omega0 = follower_.omega(0);
-  status->goal_omega1 = follower_.omega(1);
 
-  status->theta0 = arm_ekf_.X_hat(0);
-  status->theta1 = arm_ekf_.X_hat(2);
-  status->omega0 = arm_ekf_.X_hat(1);
-  status->omega1 = arm_ekf_.X_hat(3);
-  status->voltage_error0 = arm_ekf_.X_hat(4);
-  status->voltage_error1 = arm_ekf_.X_hat(5);
+  flatbuffers::Offset<frc971::PotAndAbsoluteEncoderEstimatorState>
+      proximal_estimator_state_offset =
+          proximal_zeroing_estimator_.GetEstimatorState(fbb);
+  flatbuffers::Offset<frc971::PotAndAbsoluteEncoderEstimatorState>
+      distal_estimator_state_offset =
+          distal_zeroing_estimator_.GetEstimatorState(fbb);
+
+  superstructure::ArmStatus::Builder status_builder(*fbb);
+  status_builder.add_proximal_estimator_state(proximal_estimator_state_offset);
+  status_builder.add_distal_estimator_state(distal_estimator_state_offset);
+
+  status_builder.add_goal_theta0(follower_.theta(0));
+  status_builder.add_goal_theta1(follower_.theta(1));
+  status_builder.add_goal_omega0(follower_.omega(0));
+  status_builder.add_goal_omega1(follower_.omega(1));
+
+  status_builder.add_theta0(arm_ekf_.X_hat(0));
+  status_builder.add_theta1(arm_ekf_.X_hat(2));
+  status_builder.add_omega0(arm_ekf_.X_hat(1));
+  status_builder.add_omega1(arm_ekf_.X_hat(3));
+  status_builder.add_voltage_error0(arm_ekf_.X_hat(4));
+  status_builder.add_voltage_error1(arm_ekf_.X_hat(5));
 
   if (!disable) {
     *proximal_output = ::std::max(
@@ -402,22 +413,17 @@
     *claw_closed = claw_closed_;
   }
 
-  status->proximal_estimator_state =
-      proximal_zeroing_estimator_.GetEstimatorState();
-  status->distal_estimator_state =
-      distal_zeroing_estimator_.GetEstimatorState();
+  status_builder.add_path_distance_to_go(follower_.path_distance_to_go());
+  status_builder.add_current_node(current_node_);
 
-  status->path_distance_to_go = follower_.path_distance_to_go();
-  status->current_node = current_node_;
-
-  status->zeroed = (proximal_zeroing_estimator_.zeroed() &&
-                    distal_zeroing_estimator_.zeroed());
-  status->estopped = (state_ == State::ESTOP);
-  status->state = static_cast<int32_t>(state_);
-  status->grab_state = static_cast<int32_t>(grab_state_);
-  status->failed_solutions = follower_.failed_solutions();
+  status_builder.add_zeroed(zeroed());
+  status_builder.add_estopped(estopped());
+  status_builder.add_state(static_cast<int32_t>(state_));
+  status_builder.add_grab_state(static_cast<int32_t>(grab_state_));
+  status_builder.add_failed_solutions(follower_.failed_solutions());
 
   arm_ekf_.Predict(follower_.U(), kDt());
+  return status_builder.Finish();
 }
 
 }  // namespace arm
diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 8cd6b39..7ceb001 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -1,6 +1,7 @@
 #ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_
 #define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_
 
+#include "aos/time/time.h"
 #include "frc971/zeroing/zeroing.h"
 #include "y2018/constants.h"
 #include "y2018/control_loops/superstructure/arm/dynamics.h"
@@ -8,7 +9,8 @@
 #include "y2018/control_loops/superstructure/arm/generated_graph.h"
 #include "y2018/control_loops/superstructure/arm/graph.h"
 #include "y2018/control_loops/superstructure/arm/trajectory.h"
-#include "y2018/control_loops/superstructure/superstructure.q.h"
+#include "y2018/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2018/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2018 {
 namespace control_loops {
@@ -34,15 +36,15 @@
   static constexpr double kPathlessVMax() { return 5.0; }
   static constexpr double kGotoPathVMax() { return 6.0; }
 
-  void Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
-               const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
-               bool close_claw, const control_loops::ArmPosition *position,
-               const bool claw_beambreak_triggered,
-               const bool box_back_beambreak_triggered,
-               const bool intake_clear_of_box, bool suicide,
-               bool trajectory_override, double *proximal_output,
-               double *distal_output, bool *release_arm_brake,
-               bool *claw_closed, control_loops::ArmStatus *status);
+  flatbuffers::Offset<superstructure::ArmStatus> Iterate(
+      const ::aos::monotonic_clock::time_point monotonic_now,
+      const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
+      bool close_claw, const superstructure::ArmPosition *position,
+      const bool claw_beambreak_triggered,
+      const bool box_back_beambreak_triggered, const bool intake_clear_of_box,
+      bool suicide, bool trajectory_override, double *proximal_output,
+      double *distal_output, bool *release_arm_brake, bool *claw_closed,
+      flatbuffers::FlatBufferBuilder *fbb);
 
   void Reset();
 
@@ -68,6 +70,12 @@
   State state() const { return state_; }
   GrabState grab_state() const { return grab_state_; }
 
+  bool estopped() const { return state_ == State::ESTOP; }
+  bool zeroed() const {
+    return (proximal_zeroing_estimator_.zeroed() &&
+            distal_zeroing_estimator_.zeroed());
+  }
+
   // Returns the maximum position for the intake.  This is used to override the
   // intake position to release the box when the state machine is lifting.
   double max_intake_override() const { return max_intake_override_; }
diff --git a/y2018/control_loops/superstructure/intake/BUILD b/y2018/control_loops/superstructure/intake/BUILD
index ca1289e..dde7c63 100644
--- a/y2018/control_loops/superstructure/intake/BUILD
+++ b/y2018/control_loops/superstructure/intake/BUILD
@@ -41,10 +41,11 @@
         ":intake_plants",
         "//aos:math",
         "//aos/controls:control_loop",
-        "//aos/logging:queue_logging",
-        "//frc971/control_loops:queues",
+        "//frc971/control_loops:control_loops_fbs",
         "//frc971/zeroing",
         "//y2018:constants",
-        "//y2018/control_loops/superstructure:superstructure_queue",
+        "//y2018/control_loops/superstructure:superstructure_output_fbs",
+        "//y2018/control_loops/superstructure:superstructure_position_fbs",
+        "//y2018/control_loops/superstructure:superstructure_status_fbs",
     ],
 )
diff --git a/y2018/control_loops/superstructure/intake/intake.cc b/y2018/control_loops/superstructure/intake/intake.cc
index 6c07a49..dffebbc 100644
--- a/y2018/control_loops/superstructure/intake/intake.cc
+++ b/y2018/control_loops/superstructure/intake/intake.cc
@@ -3,9 +3,7 @@
 #include <chrono>
 
 #include "aos/commonmath.h"
-#include "aos/controls/control_loops.q.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 
 #include "y2018/constants.h"
 #include "y2018/control_loops/superstructure/intake/intake_delayed_plant.h"
@@ -80,15 +78,15 @@
   loop_->Update(disabled);
 }
 
-void IntakeController::SetStatus(IntakeSideStatus *status,
+void IntakeController::SetStatus(IntakeSideStatus::Builder *status,
                                  const double *unsafe_goal) {
-  status->goal_position = goal_angle(unsafe_goal);
-  status->goal_velocity = loop_->R(1, 0);
-  status->spring_position = loop_->X_hat(0) - loop_->X_hat(2);
-  status->spring_velocity = loop_->X_hat(1) - loop_->X_hat(3);
-  status->motor_position = loop_->X_hat(2);
-  status->motor_velocity = loop_->X_hat(3);
-  status->delayed_voltage = loop_->X_hat(4);
+  status->add_goal_position(goal_angle(unsafe_goal));
+  status->add_goal_velocity(loop_->R(1, 0));
+  status->add_spring_position(loop_->X_hat(0) - loop_->X_hat(2));
+  status->add_spring_velocity(loop_->X_hat(1) - loop_->X_hat(3));
+  status->add_motor_position(loop_->X_hat(2));
+  status->add_motor_velocity(loop_->X_hat(3));
+  status->add_delayed_voltage(loop_->X_hat(4));
 }
 
 IntakeSide::IntakeSide(
@@ -98,11 +96,12 @@
 
 void IntakeSide::Reset() { state_ = State::UNINITIALIZED; }
 
-void IntakeSide::Iterate(const double *unsafe_goal,
-                         const control_loops::IntakeElasticSensors *position,
-                         control_loops::IntakeVoltage *output,
-                         control_loops::IntakeSideStatus *status) {
-  zeroing_estimator_.UpdateEstimate(position->motor_position);
+flatbuffers::Offset<superstructure::IntakeSideStatus> IntakeSide::Iterate(
+    const double *unsafe_goal,
+    const superstructure::IntakeElasticSensors *position,
+    superstructure::IntakeVoltageT *output,
+    flatbuffers::FlatBufferBuilder *fbb) {
+  zeroing_estimator_.UpdateEstimate(*position->motor_position());
 
   switch (state_) {
     case State::UNINITIALIZED:
@@ -132,8 +131,8 @@
         state_ = State::UNINITIALIZED;
       }
       // ESTOP if we hit the hard limits.
-      if ((status->motor_position) > controller_.intake_range_.upper ||
-          (status->motor_position) < controller_.intake_range_.lower) {
+      if ((controller_.motor_position()) > controller_.intake_range().upper_hard ||
+          (controller_.motor_position()) < controller_.intake_range().lower_hard) {
         AOS_LOG(ERROR, "Hit hard limits\n");
         state_ = State::ESTOP;
       }
@@ -145,8 +144,8 @@
   }
 
   const bool disable = (output == nullptr) || state_ != State::RUNNING;
-  controller_.set_position(position->spring_angle,
-                           position->motor_position.encoder);
+  controller_.set_position(position->spring_angle(),
+                           position->motor_position()->encoder());
 
   controller_.Update(disable, unsafe_goal);
 
@@ -154,16 +153,25 @@
     output->voltage_elastic = controller_.voltage();
   }
 
+  flatbuffers::Offset<frc971::PotAndAbsoluteEncoderEstimatorState>
+      estimator_state = zeroing_estimator_.GetEstimatorState(fbb);
+
+  superstructure::IntakeSideStatus::Builder status_builder(*fbb);
   // Save debug/internal state.
-  status->estimator_state = zeroing_estimator_.GetEstimatorState();
-  controller_.SetStatus(status, unsafe_goal);
-  status->calculated_velocity =
-      (status->estimator_state.position - intake_last_position_) /
-      controller_.kDt;
-  status->zeroed = zeroing_estimator_.zeroed();
-  status->estopped = (state_ == State::ESTOP);
-  status->state = static_cast<int32_t>(state_);
-  intake_last_position_ = status->estimator_state.position;
+  status_builder.add_estimator_state(estimator_state);
+
+  controller_.SetStatus(&status_builder, unsafe_goal);
+  status_builder.add_calculated_velocity(
+      (zeroing_estimator_.offset() + position->motor_position()->encoder() -
+       intake_last_position_) /
+      controller_.kDt);
+  status_builder.add_zeroed(zeroing_estimator_.zeroed());
+  status_builder.add_estopped(estopped());
+  status_builder.add_state ( static_cast<int32_t>(state_));
+  intake_last_position_ =
+      zeroing_estimator_.offset() + position->motor_position()->encoder();
+
+  return status_builder.Finish();
 }
 
 }  // namespace intake
diff --git a/y2018/control_loops/superstructure/intake/intake.h b/y2018/control_loops/superstructure/intake/intake.h
index c3d9772..7f0ec9f 100644
--- a/y2018/control_loops/superstructure/intake/intake.h
+++ b/y2018/control_loops/superstructure/intake/intake.h
@@ -3,12 +3,13 @@
 
 #include "aos/commonmath.h"
 #include "aos/controls/control_loop.h"
-#include "frc971/control_loops/control_loops.q.h"
 #include "frc971/zeroing/zeroing.h"
 #include "y2018/constants.h"
 #include "y2018/control_loops/superstructure/intake/intake_delayed_plant.h"
 #include "y2018/control_loops/superstructure/intake/intake_plant.h"
-#include "y2018/control_loops/superstructure/superstructure.q.h"
+#include "y2018/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2018/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2018/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2018 {
 namespace control_loops {
@@ -23,13 +24,14 @@
   void set_position(double spring_angle, double output_position);
 
   // Populates the status structure.
-  void SetStatus(control_loops::IntakeSideStatus *status,
+  void SetStatus(superstructure::IntakeSideStatus::Builder *status,
                  const double *unsafe_goal);
 
   // Returns the control loop calculated voltage.
   double voltage() const;
 
   double output_position() const { return loop_->X_hat(0); }
+  double motor_position() const { return loop_->X_hat(2); }
 
   // Executes the control loop for a cycle.
   void Update(bool disabled, const double *unsafe_goal);
@@ -40,12 +42,6 @@
   // Sets the goal angle from unsafe_goal.
   double goal_angle(const double *unsafe_goal);
 
-  // The control loop.
-  ::std::unique_ptr<
-      StateFeedbackLoop<5, 1, 2, double, StateFeedbackPlant<5, 1, 2>,
-                        StateFeedbackObserver<5, 1, 2>>>
-      loop_;
-
   constexpr static double kDt =
       ::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency);
 
@@ -53,12 +49,22 @@
   // possible otherwise zero.
   void UpdateOffset(double offset);
 
+  const ::frc971::constants::Range intake_range() const {
+    return intake_range_;
+  }
+
+ private:
+  // The control loop.
+  ::std::unique_ptr<
+      StateFeedbackLoop<5, 1, 2, double, StateFeedbackPlant<5, 1, 2>,
+                        StateFeedbackObserver<5, 1, 2>>>
+      loop_;
+
   const ::frc971::constants::Range intake_range_;
 
   // Stores the current zeroing estimator offset.
   double offset_ = 0.0;
 
- private:
   bool reset_ = true;
 
   // The current sensor measurement.
@@ -75,10 +81,11 @@
   // The operating voltage.
   static constexpr double kOperatingVoltage() { return 12.0; }
 
-  void Iterate(const double *unsafe_goal,
-               const control_loops::IntakeElasticSensors *position,
-               control_loops::IntakeVoltage *output,
-               control_loops::IntakeSideStatus *status);
+  flatbuffers::Offset<superstructure::IntakeSideStatus> Iterate(
+      const double *unsafe_goal,
+      const superstructure::IntakeElasticSensors *position,
+      superstructure::IntakeVoltageT *output,
+      flatbuffers::FlatBufferBuilder *fbb);
 
   void Reset();
 
@@ -91,6 +98,9 @@
 
   State state() const { return state_; }
 
+  bool estopped() const { return state_ == State::ESTOP; }
+  bool zeroed() const { return zeroing_estimator_.zeroed(); }
+
   bool clear_of_box() const { return controller_.output_position() < -0.1; }
 
   double output_position() const { return controller_.output_position(); }
diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index a2dcaf6..70af274 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -2,14 +2,13 @@
 
 #include <chrono>
 
-#include "aos/controls/control_loops.q.h"
 #include "aos/logging/logging.h"
-#include "frc971/control_loops/control_loops.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
 #include "y2018/constants.h"
 #include "y2018/control_loops/superstructure/intake/intake.h"
-#include "y2018/status_light.q.h"
-#include "y2018/vision/vision.q.h"
+#include "y2018/status_light_generated.h"
+#include "y2018/vision/vision_generated.h"
 
 namespace y2018 {
 namespace control_loops {
@@ -26,25 +25,23 @@
 
 Superstructure::Superstructure(::aos::EventLoop *event_loop,
                                const ::std::string &name)
-    : aos::controls::ControlLoop<control_loops::SuperstructureQueue>(event_loop,
-                                                                     name),
+    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                 name),
       status_light_sender_(
-          event_loop->MakeSender<::y2018::StatusLight>(".y2018.status_light")),
+          event_loop->MakeSender<::y2018::StatusLight>("/superstructure")),
       vision_status_fetcher_(
           event_loop->MakeFetcher<::y2018::vision::VisionStatus>(
-              ".y2018.vision.vision_status")),
+              "/superstructure")),
       drivetrain_output_fetcher_(
-          event_loop
-              ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Output>(
-                  ".frc971.control_loops.drivetrain_queue.output")),
+          event_loop->MakeFetcher<::frc971::control_loops::drivetrain::Output>(
+              "/drivetrain")),
       intake_left_(constants::GetValues().left_intake.zeroing),
       intake_right_(constants::GetValues().right_intake.zeroing) {}
 
-void Superstructure::RunIteration(
-    const control_loops::SuperstructureQueue::Goal *unsafe_goal,
-    const control_loops::SuperstructureQueue::Position *position,
-    control_loops::SuperstructureQueue::Output *output,
-    control_loops::SuperstructureQueue::Status *status) {
+void Superstructure::RunIteration(const Goal *unsafe_goal,
+                                  const Position *position,
+                                  aos::Sender<Output>::Builder *output,
+                                  aos::Sender<Status>::Builder *status) {
   const monotonic_clock::time_point monotonic_now =
       event_loop()->monotonic_now();
   if (WasReset()) {
@@ -55,7 +52,7 @@
   }
 
   const double clipped_box_distance =
-      ::std::min(1.0, ::std::max(0.0, position->box_distance));
+      ::std::min(1.0, ::std::max(0.0, position->box_distance()));
 
   const double box_velocity =
       (clipped_box_distance - last_box_distance_) / 0.005;
@@ -64,31 +61,34 @@
   filtered_box_velocity_ =
       box_velocity * kFilteredBoxVelocityAlpha +
       (1.0 - kFilteredBoxVelocityAlpha) * filtered_box_velocity_;
-  status->filtered_box_velocity = filtered_box_velocity_;
 
   constexpr double kCenteringAngleGain = 0.0;
   const double left_intake_goal =
-      ::std::min(
-          arm_.max_intake_override(),
-          (unsafe_goal == nullptr ? 0.0
-                                  : unsafe_goal->intake.left_intake_angle)) +
+      ::std::min(arm_.max_intake_override(),
+                 (unsafe_goal == nullptr || !unsafe_goal->has_intake()
+                      ? 0.0
+                      : unsafe_goal->intake()->left_intake_angle())) +
       last_intake_center_error_ * kCenteringAngleGain;
   const double right_intake_goal =
-      ::std::min(
-          arm_.max_intake_override(),
-          (unsafe_goal == nullptr ? 0.0
-                                  : unsafe_goal->intake.right_intake_angle)) -
+      ::std::min(arm_.max_intake_override(),
+                 (unsafe_goal == nullptr || !unsafe_goal->has_intake()
+                      ? 0.0
+                      : unsafe_goal->intake()->right_intake_angle())) -
       last_intake_center_error_ * kCenteringAngleGain;
 
-  intake_left_.Iterate(unsafe_goal != nullptr ? &(left_intake_goal) : nullptr,
-                       &(position->left_intake),
-                       output != nullptr ? &(output->left_intake) : nullptr,
-                       &(status->left_intake));
+  IntakeVoltageT left_intake_output;
+  flatbuffers::Offset<superstructure::IntakeSideStatus> left_status_offset =
+      intake_left_.Iterate(
+          unsafe_goal != nullptr ? &(left_intake_goal) : nullptr,
+          position->left_intake(),
+          output != nullptr ? &(left_intake_output) : nullptr, status->fbb());
 
-  intake_right_.Iterate(unsafe_goal != nullptr ? &(right_intake_goal) : nullptr,
-                        &(position->right_intake),
-                        output != nullptr ? &(output->right_intake) : nullptr,
-                        &(status->right_intake));
+  IntakeVoltageT right_intake_output;
+  flatbuffers::Offset<superstructure::IntakeSideStatus> right_status_offset =
+      intake_right_.Iterate(
+          unsafe_goal != nullptr ? &(right_intake_goal) : nullptr,
+          position->right_intake(),
+          output != nullptr ? &(right_intake_output) : nullptr, status->fbb());
 
   const double intake_center_error =
       intake_right_.output_position() - intake_left_.output_position();
@@ -97,63 +97,81 @@
   const bool intake_clear_of_box =
       intake_left_.clear_of_box() && intake_right_.clear_of_box();
 
-  bool open_claw = unsafe_goal != nullptr ? unsafe_goal->open_claw : false;
+  bool open_claw = unsafe_goal != nullptr ? unsafe_goal->open_claw() : false;
   if (unsafe_goal) {
-    if (unsafe_goal->open_threshold != 0.0) {
-      if (arm_.current_node() != unsafe_goal->arm_goal_position ||
-          arm_.path_distance_to_go() > unsafe_goal->open_threshold) {
+    if (unsafe_goal->open_threshold() != 0.0) {
+      if (arm_.current_node() != unsafe_goal->arm_goal_position() ||
+          arm_.path_distance_to_go() > unsafe_goal->open_threshold()) {
         open_claw = false;
       }
     }
   }
-  arm_.Iterate(
-      monotonic_now,
-      unsafe_goal != nullptr ? &(unsafe_goal->arm_goal_position) : nullptr,
-      unsafe_goal != nullptr ? unsafe_goal->grab_box : false, open_claw,
-      unsafe_goal != nullptr ? unsafe_goal->close_claw : false,
-      &(position->arm), position->claw_beambreak_triggered,
-      position->box_back_beambreak_triggered, intake_clear_of_box,
-      unsafe_goal != nullptr ? unsafe_goal->voltage_winch > 1.0 : false,
-      unsafe_goal != nullptr ? unsafe_goal->trajectory_override : false,
-      output != nullptr ? &(output->voltage_proximal) : nullptr,
-      output != nullptr ? &(output->voltage_distal) : nullptr,
-      output != nullptr ? &(output->release_arm_brake) : nullptr,
-      output != nullptr ? &(output->claw_grabbed) : nullptr, &(status->arm));
 
+  const uint32_t arm_goal_position =
+      unsafe_goal != nullptr ? unsafe_goal->arm_goal_position() : 0u;
+
+  double voltage_proximal_output = 0.0;
+  double voltage_distal_output = 0.0;
+  bool release_arm_brake_output = false;
+  bool claw_grabbed_output = false;
+  flatbuffers::Offset<superstructure::ArmStatus> arm_status_offset =
+      arm_.Iterate(
+          monotonic_now,
+          unsafe_goal != nullptr ? &(arm_goal_position) : nullptr,
+          unsafe_goal != nullptr ? unsafe_goal->grab_box() : false, open_claw,
+          unsafe_goal != nullptr ? unsafe_goal->close_claw() : false,
+          position->arm(), position->claw_beambreak_triggered(),
+          position->box_back_beambreak_triggered(), intake_clear_of_box,
+          unsafe_goal != nullptr ? unsafe_goal->voltage_winch() > 1.0 : false,
+          unsafe_goal != nullptr ? unsafe_goal->trajectory_override() : false,
+          output != nullptr ? &voltage_proximal_output : nullptr,
+          output != nullptr ? &voltage_distal_output : nullptr,
+          output != nullptr ? &release_arm_brake_output : nullptr,
+          output != nullptr ? &claw_grabbed_output : nullptr, status->fbb());
+
+
+  bool hook_release_output = false;
+  bool forks_release_output = false;
+  double voltage_winch_output = 0.0;
   if (output) {
     if (unsafe_goal) {
-      output->hook_release = unsafe_goal->hook_release;
-      output->voltage_winch = unsafe_goal->voltage_winch;
-      output->forks_release = unsafe_goal->deploy_fork;
-    } else {
-      output->voltage_winch = 0.0;
-      output->hook_release = false;
-      output->forks_release = false;
+      hook_release_output = unsafe_goal->hook_release();
+      voltage_winch_output = unsafe_goal->voltage_winch();
+      forks_release_output = unsafe_goal->deploy_fork();
     }
   }
 
-  status->estopped = status->left_intake.estopped ||
-                     status->right_intake.estopped || status->arm.estopped;
+  Status::Builder status_builder = status->MakeBuilder<Status>();
 
-  status->zeroed = status->left_intake.zeroed && status->right_intake.zeroed &&
-                   status->arm.zeroed;
+  status_builder.add_left_intake(left_status_offset);
+  status_builder.add_right_intake(right_status_offset);
+  status_builder.add_arm(arm_status_offset);
+
+  status_builder.add_filtered_box_velocity(filtered_box_velocity_);
+  const bool estopped =
+      intake_left_.estopped() || intake_right_.estopped() || arm_.estopped();
+  status_builder.add_estopped(estopped);
+
+  status_builder.add_zeroed(intake_left_.zeroed() && intake_right_.zeroed() &&
+                            arm_.zeroed());
 
   if (output && unsafe_goal) {
-    double roller_voltage = ::std::max(
-        -kMaxIntakeRollerVoltage, ::std::min(unsafe_goal->intake.roller_voltage,
-                                             kMaxIntakeRollerVoltage));
+    double roller_voltage =
+        ::std::max(-kMaxIntakeRollerVoltage,
+                   ::std::min(unsafe_goal->intake()->roller_voltage(),
+                              kMaxIntakeRollerVoltage));
     constexpr int kReverseTime = 14;
-    if (unsafe_goal->intake.roller_voltage < 0.0 ||
-        unsafe_goal->disable_box_correct) {
-      output->left_intake.voltage_rollers = roller_voltage;
-      output->right_intake.voltage_rollers = roller_voltage;
+    if (unsafe_goal->intake()->roller_voltage() < 0.0 ||
+        unsafe_goal->disable_box_correct()) {
+      left_intake_output.voltage_rollers = roller_voltage;
+      right_intake_output.voltage_rollers = roller_voltage;
       rotation_state_ = RotationState::NOT_ROTATING;
       rotation_count_ = 0;
       stuck_count_ = 0;
     } else {
-      const bool stuck = position->box_distance < 0.20 &&
-                   filtered_box_velocity_ > -0.05 &&
-                   !position->box_back_beambreak_triggered;
+      const bool stuck = position->box_distance() < 0.20 &&
+                         filtered_box_velocity_ > -0.05 &&
+                         !position->box_back_beambreak_triggered();
       // Make sure we don't declare ourselves re-stuck too quickly.  We want to
       // wait 400 ms before triggering the stuck condition again.
       if (!stuck) {
@@ -171,11 +189,11 @@
             rotation_state_ = RotationState::STUCK;
             ++stuck_count_;
             last_stuck_time_ = monotonic_now;
-          } else if (position->left_intake.beam_break) {
+          } else if (position->left_intake()->beam_break()) {
             rotation_state_ = RotationState::ROTATING_RIGHT;
             rotation_count_ = kReverseTime;
             break;
-          } else if (position->right_intake.beam_break) {
+          } else if (position->right_intake()->beam_break()) {
             rotation_state_ = RotationState::ROTATING_LEFT;
             rotation_count_ = kReverseTime;
             break;
@@ -190,7 +208,7 @@
           }
         } break;
         case RotationState::ROTATING_LEFT:
-          if (position->right_intake.beam_break) {
+          if (position->right_intake()->beam_break()) {
             rotation_count_ = kReverseTime;
           } else {
             --rotation_count_;
@@ -200,7 +218,7 @@
           }
           break;
         case RotationState::ROTATING_RIGHT:
-          if (position->left_intake.beam_break) {
+          if (position->left_intake()->beam_break()) {
             rotation_count_ = kReverseTime;
           } else {
             --rotation_count_;
@@ -214,7 +232,7 @@
       constexpr double kHoldVoltage = 1.0;
       constexpr double kStuckVoltage = 10.0;
 
-      if (position->box_back_beambreak_triggered &&
+      if (position->box_back_beambreak_triggered() &&
           roller_voltage > kHoldVoltage) {
         roller_voltage = kHoldVoltage;
       }
@@ -226,31 +244,31 @@
               centering_gain = 0.0;
             }
           }
-          output->left_intake.voltage_rollers =
+          left_intake_output.voltage_rollers =
               roller_voltage - intake_center_error * centering_gain;
-          output->right_intake.voltage_rollers =
+          right_intake_output.voltage_rollers =
               roller_voltage + intake_center_error * centering_gain;
         } break;
         case RotationState::STUCK: {
           if (roller_voltage > kHoldVoltage) {
-            output->left_intake.voltage_rollers = -kStuckVoltage;
-            output->right_intake.voltage_rollers = -kStuckVoltage;
+            left_intake_output.voltage_rollers = -kStuckVoltage;
+            right_intake_output.voltage_rollers = -kStuckVoltage;
           }
         } break;
         case RotationState::ROTATING_LEFT:
-          if (position->left_intake.beam_break) {
-            output->left_intake.voltage_rollers = -roller_voltage * 0.9;
+          if (position->left_intake()->beam_break()) {
+            left_intake_output.voltage_rollers = -roller_voltage * 0.9;
           } else {
-            output->left_intake.voltage_rollers = -roller_voltage * 0.6;
+            left_intake_output.voltage_rollers = -roller_voltage * 0.6;
           }
-          output->right_intake.voltage_rollers = roller_voltage;
+          right_intake_output.voltage_rollers = roller_voltage;
           break;
         case RotationState::ROTATING_RIGHT:
-          output->left_intake.voltage_rollers = roller_voltage;
-          if (position->right_intake.beam_break) {
-            output->right_intake.voltage_rollers = -roller_voltage * 0.9;
+          left_intake_output.voltage_rollers = roller_voltage;
+          if (position->right_intake()->beam_break()) {
+            right_intake_output.voltage_rollers = -roller_voltage * 0.9;
           } else {
-            output->right_intake.voltage_rollers = -roller_voltage * 0.6;
+            right_intake_output.voltage_rollers = -roller_voltage * 0.6;
           }
           break;
       }
@@ -260,29 +278,31 @@
     rotation_count_ = 0;
     stuck_count_ = 0;
   }
-  status->rotation_state = static_cast<uint32_t>(rotation_state_);
+  status_builder.add_rotation_state(static_cast<uint32_t>(rotation_state_));
 
   drivetrain_output_fetcher_.Fetch();
 
   vision_status_fetcher_.Fetch();
-  if (status->estopped) {
+  if (estopped) {
     SendColors(0.5, 0.0, 0.0);
   } else if (!vision_status_fetcher_.get() ||
              monotonic_now >
-                 vision_status_fetcher_->sent_time + chrono::seconds(1)) {
+                 vision_status_fetcher_.context().monotonic_sent_time +
+                     chrono::seconds(1)) {
     SendColors(0.5, 0.5, 0.0);
   } else if (rotation_state_ == RotationState::ROTATING_LEFT ||
              rotation_state_ == RotationState::ROTATING_RIGHT) {
     SendColors(0.5, 0.20, 0.0);
   } else if (rotation_state_ == RotationState::STUCK) {
     SendColors(0.5, 0.0, 0.5);
-  } else if (position->box_back_beambreak_triggered) {
+  } else if (position->box_back_beambreak_triggered()) {
     SendColors(0.0, 0.0, 0.5);
-  } else if (position->box_distance < 0.2) {
+  } else if (position->box_distance() < 0.2) {
     SendColors(0.0, 0.5, 0.0);
   } else if (drivetrain_output_fetcher_.get() &&
-             ::std::max(::std::abs(drivetrain_output_fetcher_->left_voltage),
-                        ::std::abs(drivetrain_output_fetcher_->right_voltage)) >
+             ::std::max(
+                 ::std::abs(drivetrain_output_fetcher_->left_voltage()),
+                 ::std::abs(drivetrain_output_fetcher_->right_voltage())) >
                  11.5) {
     SendColors(0.5, 0.0, 0.5);
   } else {
@@ -290,15 +310,41 @@
   }
 
   last_box_distance_ = clipped_box_distance;
+
+  if (output) {
+    flatbuffers::Offset<IntakeVoltage> left_intake_offset =
+        IntakeVoltage::Pack(*output->fbb(), &left_intake_output);
+    flatbuffers::Offset<IntakeVoltage> right_intake_offset =
+        IntakeVoltage::Pack(*output->fbb(), &right_intake_output);
+
+    Output::Builder output_builder = output->MakeBuilder<Output>();
+    output_builder.add_left_intake(left_intake_offset);
+    output_builder.add_right_intake(right_intake_offset);
+    output_builder.add_voltage_proximal(voltage_proximal_output);
+    output_builder.add_voltage_distal(voltage_distal_output);
+    output_builder.add_release_arm_brake(release_arm_brake_output);
+    output_builder.add_claw_grabbed(claw_grabbed_output);
+
+    output_builder.add_hook_release(hook_release_output);
+    output_builder.add_forks_release(forks_release_output);
+    output_builder.add_voltage_winch(voltage_winch_output);
+
+    output->Send(output_builder.Finish());
+  }
+
+  status->Send(status_builder.Finish());
 }
 
 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();
+  StatusLight::Builder status_light_builder =
+      builder.MakeBuilder<StatusLight>();
 
-  if (!new_status_light.Send()) {
+  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/y2018/control_loops/superstructure/superstructure.h b/y2018/control_loops/superstructure/superstructure.h
index 81b6d9d..78851df 100644
--- a/y2018/control_loops/superstructure/superstructure.h
+++ b/y2018/control_loops/superstructure/superstructure.h
@@ -4,36 +4,37 @@
 #include <memory>
 
 #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 "aos/time/time.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "y2018/control_loops/superstructure/arm/arm.h"
 #include "y2018/control_loops/superstructure/intake/intake.h"
-#include "y2018/control_loops/superstructure/superstructure.q.h"
-#include "y2018/status_light.q.h"
-#include "y2018/vision/vision.q.h"
+#include "y2018/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2018/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2018/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2018/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2018/status_light_generated.h"
+#include "y2018/vision/vision_generated.h"
 
 namespace y2018 {
 namespace control_loops {
 namespace superstructure {
 
 class Superstructure
-    : public ::aos::controls::ControlLoop<control_loops::SuperstructureQueue> {
+    : public ::aos::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
-  explicit Superstructure(
-      ::aos::EventLoop *event_loop,
-      const ::std::string &name = ".y2018.control_loops.superstructure_queue");
+  explicit Superstructure(::aos::EventLoop *event_loop,
+                          const ::std::string &name = "/superstructure");
 
   const intake::IntakeSide &intake_left() const { return intake_left_; }
   const intake::IntakeSide &intake_right() const { return intake_right_; }
   const arm::Arm &arm() const { return arm_; }
 
  protected:
-  virtual void RunIteration(
-      const control_loops::SuperstructureQueue::Goal *unsafe_goal,
-      const control_loops::SuperstructureQueue::Position *position,
-      control_loops::SuperstructureQueue::Output *output,
-      control_loops::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:
   // Sends the status light message for the 3 colors provided.
@@ -41,7 +42,7 @@
 
   ::aos::Sender<::y2018::StatusLight> status_light_sender_;
   ::aos::Fetcher<::y2018::vision::VisionStatus> vision_status_fetcher_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Output>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Output>
       drivetrain_output_fetcher_;
 
   intake::IntakeSide intake_left_;
diff --git a/y2018/control_loops/superstructure/superstructure.q b/y2018/control_loops/superstructure/superstructure.q
deleted file mode 100644
index 049a406..0000000
--- a/y2018/control_loops/superstructure/superstructure.q
+++ /dev/null
@@ -1,222 +0,0 @@
-package y2018.control_loops;
-
-import "aos/controls/control_loops.q";
-import "frc971/control_loops/control_loops.q";
-
-struct IntakeSideStatus {
-  // Is the subsystem zeroed?
-  bool zeroed;
-
-  // The state of the subsystem, if applicable.
-  int32_t state;
-
-  // If true, we have aborted.
-  bool estopped;
-
-  // Estimated position of the spring.
-  float spring_position;
-  // Estimated velocity of the spring in units/second.
-  float spring_velocity;
-
-  // Estimated position of the joint.
-  float motor_position;
-  // Estimated velocity of the joint in units/second.
-  float motor_velocity;
-
-  // Goal position of the joint.
-  float goal_position;
-  // Goal velocity of the joint in units/second.
-  float goal_velocity;
-
-  // The calculated velocity with delta x/delta t
-  float calculated_velocity;
-
-  // The voltage given last cycle;
-  float delayed_voltage;
-
-  // State of the estimator.
-  .frc971.PotAndAbsoluteEncoderEstimatorState estimator_state;
-};
-
-struct IntakeGoal {
-  double roller_voltage;
-
-  // Goal angle in radians of the intake.
-  // Zero radians is where the intake is pointing straight out, with positive
-  // radians inward towards the cube.
-  double left_intake_angle;
-  double right_intake_angle;
-};
-
-struct IntakeElasticSensors {
-  // Position of the motor end of the series elastic in radians.
-  .frc971.PotAndAbsolutePosition motor_position;
-
-  // Displacement of the spring in radians.
-  double spring_angle;
-
-  // False if the beam break sensor isn't triggered, true if the beam breaker is
-  // triggered.
-  bool beam_break;
-};
-
-struct ArmStatus {
-  // State of the estimators.
-  .frc971.PotAndAbsoluteEncoderEstimatorState proximal_estimator_state;
-  .frc971.PotAndAbsoluteEncoderEstimatorState distal_estimator_state;
-
-  // The node we are currently going to.
-  uint32_t current_node;
-  // Distance (in radians) to the end of the path.
-  float path_distance_to_go;
-  // Goal position and velocity (radians)
-  float goal_theta0;
-  float goal_theta1;
-  float goal_omega0;
-  float goal_omega1;
-
-  // Current position and velocity (radians)
-  float theta0;
-  float theta1;
-
-  float omega0;
-  float omega1;
-
-  // Estimated voltage error for the two joints.
-  float voltage_error0;
-  float voltage_error1;
-
-  // True if we are zeroed.
-  bool zeroed;
-
-  // True if the arm is zeroed.
-  bool estopped;
-
-  // The current state machine state.
-  uint32_t state;
-
-  uint32_t grab_state;
-
-  // The number of times the LQR solver failed.
-  uint32_t failed_solutions;
-};
-
-struct ArmPosition {
-  // Values of the encoder and potentiometer at the base of the proximal
-  // (connected to drivebase) arm in radians.
-  .frc971.PotAndAbsolutePosition proximal;
-
-  // Values of the encoder and potentiometer at the base of the distal
-  // (connected to proximal) arm in radians.
-  .frc971.PotAndAbsolutePosition distal;
-};
-
-struct IntakeVoltage {
-  // Voltage of the motors on the series elastic on one side (left or right) of
-  // the intake.
-  double voltage_elastic;
-
-  // Voltage of the rollers on one side (left or right) of the intake.
-  double voltage_rollers;
-};
-
-// Published on ".y2018.control_loops.superstructure_queue"
-queue_group SuperstructureQueue {
-  implements aos.control_loops.ControlLoop;
-
-  message Goal {
-    IntakeGoal intake;
-
-    // Used to identiy a position in the planned set of positions on the arm.
-    uint32_t arm_goal_position;
-    // If true, start the grab box sequence.
-    bool grab_box;
-
-    bool open_claw;
-    bool close_claw;
-
-    bool deploy_fork;
-
-    bool hook_release;
-
-    double voltage_winch;
-
-    double open_threshold;
-
-    bool disable_box_correct;
-
-    bool trajectory_override;
-  };
-
-  message Status {
-    // Are all the subsystems zeroed?
-    bool zeroed;
-
-    // If true, any of the subsystems have aborted.
-    bool estopped;
-
-    // Status of both intake sides.
-    IntakeSideStatus left_intake;
-    IntakeSideStatus right_intake;
-
-    ArmStatus arm;
-
-    double filtered_box_velocity;
-    uint32_t rotation_state;
-  };
-
-  message Position {
-    // Values of the series elastic encoders on the left side of the robot from
-    // the rear perspective in radians.
-    IntakeElasticSensors left_intake;
-
-    // Values of the series elastic encoders on the right side of the robot from
-    // the rear perspective in radians.
-    IntakeElasticSensors right_intake;
-
-    ArmPosition arm;
-
-    // Value of the beam breaker sensor. This value is true if the beam is
-    // broken, false if the beam isn't broken.
-    bool claw_beambreak_triggered;
-    // Value of the beambreak sensor detecting when the box has hit the frame
-    // cutout.
-    bool box_back_beambreak_triggered;
-
-    // Distance to the box in meters.
-    double box_distance;
-  };
-
-  message Output {
-    // Voltage sent to the parts on the left side of the intake.
-    IntakeVoltage left_intake;
-
-    // Voltage sent to the parts on the right side of the intake.
-    IntakeVoltage right_intake;
-
-    // Voltage sent to the motors on the proximal joint of the arm.
-    double voltage_proximal;
-
-    // Voltage sent to the motors on the distal joint of the arm.
-    double voltage_distal;
-
-    // Voltage sent to the hanger.  Positive pulls the robot up.
-    double voltage_winch;
-
-    // Clamped (when true) or unclamped (when false) status sent to the
-    // pneumatic claw on the arm.
-    bool claw_grabbed;
-
-    // If true, release the arm brakes.
-    bool release_arm_brake;
-    // If true, release the hook
-    bool hook_release;
-    // If true, release the forks
-    bool forks_release;
-  };
-
-  queue Goal goal;
-  queue Output output;
-  queue Status status;
-  queue Position position;
-};
diff --git a/y2018/control_loops/superstructure/superstructure_goal.fbs b/y2018/control_loops/superstructure/superstructure_goal.fbs
new file mode 100644
index 0000000..b618c1b
--- /dev/null
+++ b/y2018/control_loops/superstructure/superstructure_goal.fbs
@@ -0,0 +1,39 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2018.control_loops.superstructure;
+
+table IntakeGoal {
+  roller_voltage:double;
+
+  // Goal angle in radians of the intake.
+  // Zero radians is where the intake is pointing straight out, with positive
+  // radians inward towards the cube.
+  left_intake_angle:double;
+  right_intake_angle:double;
+}
+
+table Goal {
+  intake:IntakeGoal;
+
+  // Used to identiy a position in the planned set of positions on the arm.
+  arm_goal_position:uint;
+  // If true, start the grab box sequence.
+  grab_box:bool;
+
+  open_claw:bool;
+  close_claw:bool;
+
+  deploy_fork:bool;
+
+  hook_release:bool;
+
+  voltage_winch:double;
+
+  open_threshold:double;
+
+  disable_box_correct:bool;
+
+  trajectory_override:bool;
+}
+
+root_type Goal;
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 162db33..988655f 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -6,8 +6,6 @@
 #include <memory>
 
 #include "aos/controls/control_loop_test.h"
-#include "aos/queue.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/position_sensor_sim.h"
 #include "frc971/control_loops/team_number_test_environment.h"
 #include "gtest/gtest.h"
@@ -15,8 +13,8 @@
 #include "y2018/control_loops/superstructure/arm/dynamics.h"
 #include "y2018/control_loops/superstructure/arm/generated_graph.h"
 #include "y2018/control_loops/superstructure/intake/intake_plant.h"
-#include "y2018/status_light.q.h"
-#include "y2018/vision/vision.q.h"
+#include "y2018/status_light_generated.h"
+#include "y2018/vision/vision_generated.h"
 
 using ::frc971::control_loops::PositionSensorSimulator;
 
@@ -71,9 +69,18 @@
         zeroing_constants_.measured_absolute_position);
   }
 
-  void GetSensorValues(IntakeElasticSensors *position) {
-    pot_encoder_.GetSensorValues(&position->motor_position);
-    position->spring_angle = plant_.Y(0);
+  flatbuffers::Offset<IntakeElasticSensors> GetSensorValues(
+      flatbuffers::FlatBufferBuilder *fbb) {
+    frc971::PotAndAbsolutePosition::Builder motor_position_builder(*fbb);
+    flatbuffers::Offset<frc971::PotAndAbsolutePosition> motor_position_offset =
+        pot_encoder_.GetSensorValues(&motor_position_builder);
+
+    IntakeElasticSensors::Builder intake_elastic_sensors_builder(*fbb);
+
+    intake_elastic_sensors_builder.add_motor_position(motor_position_offset);
+    intake_elastic_sensors_builder.add_spring_angle(plant_.Y(0));
+
+    return intake_elastic_sensors_builder.Finish();
   }
 
   double spring_position() const { return plant_.X(0); }
@@ -85,14 +92,14 @@
     plant_.set_voltage_offset(voltage_offset);
   }
 
-  void Simulate(const IntakeVoltage &intake_voltage) {
+  void Simulate(const IntakeVoltage *intake_voltage) {
     const double voltage_check =
         superstructure::intake::IntakeSide::kOperatingVoltage();
 
-    AOS_CHECK_LE(::std::abs(intake_voltage.voltage_elastic), voltage_check);
+    AOS_CHECK_LE(::std::abs(intake_voltage->voltage_elastic()), voltage_check);
 
     ::Eigen::Matrix<double, 1, 1> U;
-    U << intake_voltage.voltage_elastic + plant_.voltage_offset();
+    U << intake_voltage->voltage_elastic() + plant_.voltage_offset();
 
     plant_.Update(U);
 
@@ -141,9 +148,21 @@
         distal_zeroing_constants_.measured_absolute_position);
   }
 
-  void GetSensorValues(ArmPosition *position) {
-    proximal_pot_encoder_.GetSensorValues(&position->proximal);
-    distal_pot_encoder_.GetSensorValues(&position->distal);
+  flatbuffers::Offset<ArmPosition> GetSensorValues(
+      flatbuffers::FlatBufferBuilder *fbb) {
+    frc971::PotAndAbsolutePosition::Builder proximal_builder(*fbb);
+    flatbuffers::Offset<frc971::PotAndAbsolutePosition> proximal_offset =
+        proximal_pot_encoder_.GetSensorValues(&proximal_builder);
+
+    frc971::PotAndAbsolutePosition::Builder distal_builder(*fbb);
+    flatbuffers::Offset<frc971::PotAndAbsolutePosition> distal_offset =
+        distal_pot_encoder_.GetSensorValues(&distal_builder);
+
+    ArmPosition::Builder arm_position_builder(*fbb);
+    arm_position_builder.add_proximal(proximal_offset);
+    arm_position_builder.add_distal(distal_offset);
+
+    return arm_position_builder.Finish();
   }
 
   double proximal_position() const { return X_(0, 0); }
@@ -184,7 +203,6 @@
   PositionSensorSimulator distal_pot_encoder_;
 };
 
-
 class SuperstructureSimulation {
  public:
   SuperstructureSimulation(::aos::EventLoop *event_loop)
@@ -198,14 +216,14 @@
         arm_(constants::GetValues().arm_proximal.zeroing,
              constants::GetValues().arm_distal.zeroing),
         superstructure_position_sender_(
-            event_loop_->MakeSender<SuperstructureQueue::Position>(
-                ".y2018.control_loops.superstructure.position")),
+            event_loop_->MakeSender<superstructure::Position>(
+                "/superstructure")),
         superstructure_status_fetcher_(
-            event_loop_->MakeFetcher<SuperstructureQueue::Status>(
-                ".y2018.control_loops.superstructure.status")),
+            event_loop_->MakeFetcher<superstructure::Status>(
+                "/superstructure")),
         superstructure_output_fetcher_(
-            event_loop_->MakeFetcher<SuperstructureQueue::Output>(
-                ".y2018.control_loops.superstructure.output")) {
+            event_loop_->MakeFetcher<superstructure::Output>(
+                "/superstructure")) {
     // Start the intake out in the middle by default.
     InitializeIntakePosition((constants::Values::kIntakeRange().lower +
                               constants::Values::kIntakeRange().upper) /
@@ -235,13 +253,20 @@
   }
 
   void SendPositionMessage() {
-    auto position = superstructure_position_sender_.MakeMessage();
+    auto builder = superstructure_position_sender_.MakeBuilder();
 
-    left_intake_.GetSensorValues(&position->left_intake);
-    right_intake_.GetSensorValues(&position->right_intake);
-    arm_.GetSensorValues(&position->arm);
-    AOS_LOG_STRUCT(INFO, "sim position", *position);
-    position.Send();
+    flatbuffers::Offset<IntakeElasticSensors> left_intake_offset =
+        left_intake_.GetSensorValues(builder.fbb());
+    flatbuffers::Offset<IntakeElasticSensors> right_intake_offset =
+        right_intake_.GetSensorValues(builder.fbb());
+    flatbuffers::Offset<ArmPosition> arm_offset =
+        arm_.GetSensorValues(builder.fbb());
+
+    Position::Builder position_builder = builder.MakeBuilder<Position>();
+    position_builder.add_left_intake(left_intake_offset);
+    position_builder.add_right_intake(right_intake_offset);
+    position_builder.add_arm(arm_offset);
+    EXPECT_TRUE(builder.Send(position_builder.Finish()));
   }
 
   // Sets the difference between the commanded and applied powers.
@@ -263,13 +288,13 @@
     ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
     ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
 
-    left_intake_.Simulate(superstructure_output_fetcher_->left_intake);
-    right_intake_.Simulate(superstructure_output_fetcher_->right_intake);
+    left_intake_.Simulate(superstructure_output_fetcher_->left_intake());
+    right_intake_.Simulate(superstructure_output_fetcher_->right_intake());
     arm_.Simulate((::Eigen::Matrix<double, 2, 1>()
-                       << superstructure_output_fetcher_->voltage_proximal,
-                   superstructure_output_fetcher_->voltage_distal)
+                       << superstructure_output_fetcher_->voltage_proximal(),
+                   superstructure_output_fetcher_->voltage_distal())
                       .finished(),
-                  superstructure_output_fetcher_->release_arm_brake);
+                  superstructure_output_fetcher_->release_arm_brake());
   }
 
  private:
@@ -280,9 +305,9 @@
   IntakeSideSimulation right_intake_;
   ArmSimulation arm_;
 
-  ::aos::Sender<SuperstructureQueue::Position> superstructure_position_sender_;
-  ::aos::Fetcher<SuperstructureQueue::Status> superstructure_status_fetcher_;
-  ::aos::Fetcher<SuperstructureQueue::Output> superstructure_output_fetcher_;
+  ::aos::Sender<superstructure::Position> superstructure_position_sender_;
+  ::aos::Fetcher<superstructure::Status> superstructure_status_fetcher_;
+  ::aos::Fetcher<superstructure::Output> superstructure_output_fetcher_;
 
   bool first_ = true;
 };
@@ -290,23 +315,24 @@
 class SuperstructureTest : public ::aos::testing::ControlLoopTest {
  protected:
   SuperstructureTest()
-      : ::aos::testing::ControlLoopTest(::std::chrono::microseconds(5050)),
+      : ::aos::testing::ControlLoopTest(
+            aos::configuration::ReadConfig("y2018/config.json"),
+            ::std::chrono::microseconds(5050)),
         test_event_loop_(MakeEventLoop()),
         superstructure_goal_fetcher_(
-            test_event_loop_->MakeFetcher<SuperstructureQueue::Goal>(
-                ".y2018.control_loops.superstructure.goal")),
+            test_event_loop_->MakeFetcher<superstructure::Goal>(
+                "/superstructure")),
         superstructure_goal_sender_(
-            test_event_loop_->MakeSender<SuperstructureQueue::Goal>(
-                ".y2018.control_loops.superstructure.goal")),
+            test_event_loop_->MakeSender<superstructure::Goal>(
+                "/superstructure")),
         superstructure_status_fetcher_(
-            test_event_loop_->MakeFetcher<SuperstructureQueue::Status>(
-                ".y2018.control_loops.superstructure.status")),
+            test_event_loop_->MakeFetcher<superstructure::Status>(
+                "/superstructure")),
         superstructure_output_fetcher_(
-            test_event_loop_->MakeFetcher<SuperstructureQueue::Output>(
-                ".y2018.control_loops.superstructure.output")),
+            test_event_loop_->MakeFetcher<superstructure::Output>(
+                "/superstructure")),
         superstructure_event_loop_(MakeEventLoop()),
-        superstructure_(superstructure_event_loop_.get(),
-                        ".y2018.control_loops.superstructure"),
+        superstructure_(superstructure_event_loop_.get(), "/superstructure"),
         superstructure_plant_event_loop_(MakeEventLoop()),
         superstructure_plant_(superstructure_plant_event_loop_.get()) {
     set_team_id(::frc971::control_loops::testing::kTeamNumber);
@@ -319,28 +345,30 @@
     ASSERT_TRUE(superstructure_goal_fetcher_.get() != nullptr) << ": No goal";
     ASSERT_TRUE(superstructure_status_fetcher_.get() != nullptr);
     // Left side test.
-    EXPECT_NEAR(superstructure_goal_fetcher_->intake.left_intake_angle,
-                superstructure_status_fetcher_->left_intake.spring_position +
-                    superstructure_status_fetcher_->left_intake.motor_position,
-                0.001);
-    EXPECT_NEAR(superstructure_goal_fetcher_->intake.left_intake_angle,
+    EXPECT_NEAR(
+        superstructure_goal_fetcher_->intake()->left_intake_angle(),
+        superstructure_status_fetcher_->left_intake()->spring_position() +
+            superstructure_status_fetcher_->left_intake()->motor_position(),
+        0.001);
+    EXPECT_NEAR(superstructure_goal_fetcher_->intake()->left_intake_angle(),
                 superstructure_plant_.left_intake().spring_position(), 0.001);
 
     // Right side test.
-    EXPECT_NEAR(superstructure_goal_fetcher_->intake.right_intake_angle,
-                superstructure_status_fetcher_->right_intake.spring_position +
-                    superstructure_status_fetcher_->right_intake.motor_position,
-                0.001);
-    EXPECT_NEAR(superstructure_goal_fetcher_->intake.right_intake_angle,
+    EXPECT_NEAR(
+        superstructure_goal_fetcher_->intake()->right_intake_angle(),
+        superstructure_status_fetcher_->right_intake()->spring_position() +
+            superstructure_status_fetcher_->right_intake()->motor_position(),
+        0.001);
+    EXPECT_NEAR(superstructure_goal_fetcher_->intake()->right_intake_angle(),
                 superstructure_plant_.right_intake().spring_position(), 0.001);
   }
 
   ::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<superstructure::Goal> superstructure_goal_fetcher_;
+  ::aos::Sender<superstructure::Goal> superstructure_goal_sender_;
+  ::aos::Fetcher<superstructure::Status> superstructure_status_fetcher_;
+  ::aos::Fetcher<superstructure::Output> superstructure_output_fetcher_;
 
   // Create a control loop and simulation.
   ::std::unique_ptr<::aos::EventLoop> superstructure_event_loop_;
@@ -360,8 +388,10 @@
             superstructure_.intake_left().state());
   EXPECT_EQ(intake::IntakeSide::State::RUNNING,
             superstructure_.intake_right().state());
-  EXPECT_EQ(superstructure_output_fetcher_->left_intake.voltage_elastic, 0.0);
-  EXPECT_EQ(superstructure_output_fetcher_->right_intake.voltage_elastic, 0.0);
+  EXPECT_EQ(superstructure_output_fetcher_->left_intake()->voltage_elastic(),
+            0.0);
+  EXPECT_EQ(superstructure_output_fetcher_->right_intake()->voltage_elastic(),
+            0.0);
 }
 
 // Tests that the intake loop can reach a goal.
@@ -369,14 +399,20 @@
   SetEnabled(true);
   // Set a reasonable goal.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    goal->intake.left_intake_angle = 0.1;
-    goal->intake.right_intake_angle = 0.2;
-    goal->arm_goal_position = arm::UpIndex();
-    goal->open_claw = true;
+    IntakeGoal::Builder intake_goal_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_goal_builder.add_left_intake_angle(0.1);
+    intake_goal_builder.add_right_intake_angle(0.2);
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_arm_goal_position(arm::UpIndex());
+    goal_builder.add_open_claw(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Give it a lot of time to get there.
@@ -393,14 +429,20 @@
 
   // Set a reasonable goal.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    goal->intake.left_intake_angle = 0.1;
-    goal->intake.right_intake_angle = 0.2;
-    goal->arm_goal_position = arm::UpIndex();
-    goal->open_claw = true;
+    IntakeGoal::Builder intake_goal_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_goal_builder.add_left_intake_angle(0.1);
+    intake_goal_builder.add_right_intake_angle(0.2);
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_arm_goal_position(arm::UpIndex());
+    goal_builder.add_open_claw(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   // Give it a lot of time to get there.
@@ -415,43 +457,58 @@
   SetEnabled(true);
   // Set some ridiculous goals to test upper limits.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    goal->intake.left_intake_angle = 5.0 * M_PI;
-    goal->intake.right_intake_angle = 5.0 * M_PI;
-    goal->arm_goal_position = arm::UpIndex();
-    goal->open_claw = true;
+    IntakeGoal::Builder intake_goal_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_goal_builder.add_left_intake_angle(5.0 * M_PI);
+    intake_goal_builder.add_right_intake_angle(5.0 * M_PI);
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_arm_goal_position(arm::UpIndex());
+    goal_builder.add_open_claw(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(10));
 
   // Check that we are near our soft limit.
   superstructure_status_fetcher_.Fetch();
 
-  EXPECT_NEAR(0.0, superstructure_status_fetcher_->left_intake.spring_position,
+  EXPECT_NEAR(0.0,
+              superstructure_status_fetcher_->left_intake()->spring_position(),
               0.001);
-  EXPECT_NEAR(constants::Values::kIntakeRange().upper,
-              superstructure_status_fetcher_->left_intake.spring_position +
-                  superstructure_status_fetcher_->left_intake.motor_position,
-              0.001);
+  EXPECT_NEAR(
+      constants::Values::kIntakeRange().upper,
+      superstructure_status_fetcher_->left_intake()->spring_position() +
+          superstructure_status_fetcher_->left_intake()->motor_position(),
+      0.001);
 
-  EXPECT_NEAR(0.0, superstructure_status_fetcher_->right_intake.spring_position,
+  EXPECT_NEAR(0.0,
+              superstructure_status_fetcher_->right_intake()->spring_position(),
               0.001);
   EXPECT_NEAR(constants::Values::kIntakeRange().upper,
-                  superstructure_status_fetcher_->right_intake.motor_position,
+              superstructure_status_fetcher_->right_intake()->motor_position(),
               0.001);
 
   // Set some ridiculous goals to test lower limits.
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    goal->intake.left_intake_angle = -5.0 * M_PI;
-    goal->intake.right_intake_angle = -5.0 * M_PI;
-    goal->arm_goal_position = arm::UpIndex();
-    goal->open_claw = true;
+    IntakeGoal::Builder intake_goal_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_goal_builder.add_left_intake_angle(-5.0 * M_PI);
+    intake_goal_builder.add_right_intake_angle(-5.0 * M_PI);
 
-    ASSERT_TRUE(goal.Send());
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_arm_goal_position(arm::UpIndex());
+    goal_builder.add_open_claw(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(10));
@@ -460,13 +517,17 @@
   superstructure_status_fetcher_.Fetch();
 
   EXPECT_NEAR(constants::Values::kIntakeRange().lower,
-              superstructure_status_fetcher_->left_intake.motor_position, 0.001);
-  EXPECT_NEAR(0.0, superstructure_status_fetcher_->left_intake.spring_position,
+              superstructure_status_fetcher_->left_intake()->motor_position(),
+              0.001);
+  EXPECT_NEAR(0.0,
+              superstructure_status_fetcher_->left_intake()->spring_position(),
               0.001);
 
   EXPECT_NEAR(constants::Values::kIntakeRange().lower,
-              superstructure_status_fetcher_->right_intake.motor_position, 0.001);
-  EXPECT_NEAR(0.0, superstructure_status_fetcher_->right_intake.spring_position,
+              superstructure_status_fetcher_->right_intake()->motor_position(),
+              0.001);
+  EXPECT_NEAR(0.0,
+              superstructure_status_fetcher_->right_intake()->spring_position(),
               0.001);
 }
 
@@ -475,19 +536,40 @@
   superstructure_plant_.InitializeIntakePosition(
       constants::Values::kIntakeRange().lower_hard);
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->intake.left_intake_angle = constants::Values::kIntakeRange().lower;
-    goal->intake.right_intake_angle = constants::Values::kIntakeRange().lower;
-    goal->arm_goal_position = arm::UpIndex();
-    goal->open_claw = true;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    IntakeGoal::Builder intake_goal_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_goal_builder.add_left_intake_angle(
+        constants::Values::kIntakeRange().lower);
+    intake_goal_builder.add_right_intake_angle(
+        constants::Values::kIntakeRange().lower);
+
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_arm_goal_position(arm::UpIndex());
+    goal_builder.add_open_claw(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(10));
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->intake.left_intake_angle = 1.0;
-    goal->intake.right_intake_angle = 1.0;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    IntakeGoal::Builder intake_goal_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_goal_builder.add_left_intake_angle(1.0);
+    intake_goal_builder.add_right_intake_angle(1.0);
+
+    flatbuffers::Offset<IntakeGoal> intake_offset =
+        intake_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_arm_goal_position(arm::UpIndex());
+    goal_builder.add_open_claw(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(10));
   VerifyNearGoal();
@@ -499,12 +581,22 @@
   superstructure_plant_.InitializeIntakePosition(
       constants::Values::kIntakeRange().upper_hard);
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->intake.left_intake_angle = constants::Values::kIntakeRange().upper;
-    goal->intake.right_intake_angle = constants::Values::kIntakeRange().upper;
-    goal->arm_goal_position = arm::UpIndex();
-    goal->open_claw = true;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    IntakeGoal::Builder intake_goal_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_goal_builder.add_left_intake_angle(
+        constants::Values::kIntakeRange().upper);
+    intake_goal_builder.add_right_intake_angle(
+        constants::Values::kIntakeRange().upper);
+
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_arm_goal_position(arm::UpIndex());
+    goal_builder.add_open_claw(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(10));
 
@@ -517,14 +609,22 @@
   superstructure_plant_.InitializeIntakePosition(
       constants::Values::kIntakeRange().upper);
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->intake.left_intake_angle =
-        constants::Values::kIntakeRange().upper - 0.1;
-    goal->intake.right_intake_angle =
-        constants::Values::kIntakeRange().upper - 0.1;
-    goal->arm_goal_position = arm::UpIndex();
-    goal->open_claw = true;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    IntakeGoal::Builder intake_goal_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_goal_builder.add_left_intake_angle(
+        constants::Values::kIntakeRange().upper - 0.1);
+    intake_goal_builder.add_right_intake_angle(
+        constants::Values::kIntakeRange().upper - 0.1);
+
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_arm_goal_position(arm::UpIndex());
+    goal_builder.add_open_claw(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   RunFor(chrono::seconds(10));
 
@@ -558,12 +658,20 @@
   RunFor(chrono::seconds(5));
 
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->intake.left_intake_angle = -0.8;
-    goal->intake.right_intake_angle = -0.8;
-    goal->arm_goal_position = arm::FrontHighBoxIndex();
-    goal->open_claw = true;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    IntakeGoal::Builder intake_goal_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_goal_builder.add_left_intake_angle(-0.8);
+    intake_goal_builder.add_right_intake_angle(-0.8);
+
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_arm_goal_position(arm::FrontHighBoxIndex());
+    goal_builder.add_open_claw(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   EXPECT_EQ(arm::Arm::State::RUNNING, superstructure_.arm().state());
@@ -573,12 +681,20 @@
 TEST_F(SuperstructureTest, ArmMoveAndMoveBack) {
   SetEnabled(true);
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->intake.left_intake_angle = 0.0;
-    goal->intake.right_intake_angle = 0.0;
-    goal->arm_goal_position = arm::FrontHighBoxIndex();
-    goal->open_claw = true;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    IntakeGoal::Builder intake_goal_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_goal_builder.add_left_intake_angle(0.0);
+    intake_goal_builder.add_right_intake_angle(0.0);
+
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_arm_goal_position(arm::FrontHighBoxIndex());
+    goal_builder.add_open_claw(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(10));
@@ -586,12 +702,20 @@
   VerifyNearGoal();
 
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->intake.left_intake_angle = 0.0;
-    goal->intake.right_intake_angle = 0.0;
-    goal->arm_goal_position = arm::ReadyAboveBoxIndex();
-    goal->open_claw = true;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    IntakeGoal::Builder intake_goal_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_goal_builder.add_left_intake_angle(0.0);
+    intake_goal_builder.add_right_intake_angle(0.0);
+
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_arm_goal_position(arm::ReadyAboveBoxIndex());
+    goal_builder.add_open_claw(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(10));
@@ -604,12 +728,20 @@
   superstructure_plant_.InitializeArmPosition(arm::ReadyAboveBoxPoint());
 
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->intake.left_intake_angle = 0.0;
-    goal->intake.right_intake_angle = 0.0;
-    goal->arm_goal_position = arm::BackLowBoxIndex();
-    goal->open_claw = true;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    IntakeGoal::Builder intake_goal_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_goal_builder.add_left_intake_angle(0.0);
+    intake_goal_builder.add_right_intake_angle(0.0);
+
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_arm_goal_position(arm::BackLowBoxIndex());
+    goal_builder.add_open_claw(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(10));
@@ -617,12 +749,20 @@
   VerifyNearGoal();
 
   {
-    auto goal = superstructure_goal_sender_.MakeMessage();
-    goal->intake.left_intake_angle = 0.0;
-    goal->intake.right_intake_angle = 0.0;
-    goal->arm_goal_position = arm::ReadyAboveBoxIndex();
-    goal->open_claw = true;
-    ASSERT_TRUE(goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    IntakeGoal::Builder intake_goal_builder = builder.MakeBuilder<IntakeGoal>();
+    intake_goal_builder.add_left_intake_angle(0.0);
+    intake_goal_builder.add_right_intake_angle(0.0);
+
+    flatbuffers::Offset<IntakeGoal> intake_offset = intake_goal_builder.Finish();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    goal_builder.add_intake(intake_offset);
+    goal_builder.add_arm_goal_position(arm::ReadyAboveBoxIndex());
+    goal_builder.add_open_claw(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
 
   RunFor(chrono::seconds(10));
diff --git a/y2018/control_loops/superstructure/superstructure_main.cc b/y2018/control_loops/superstructure/superstructure_main.cc
index 789f13f..3200ead 100644
--- a/y2018/control_loops/superstructure/superstructure_main.cc
+++ b/y2018/control_loops/superstructure/superstructure_main.cc
@@ -1,12 +1,15 @@
 #include "y2018/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() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2018::control_loops::superstructure::Superstructure superstructure(
       &event_loop);
 
diff --git a/y2018/control_loops/superstructure/superstructure_output.fbs b/y2018/control_loops/superstructure/superstructure_output.fbs
new file mode 100644
index 0000000..f4d62da
--- /dev/null
+++ b/y2018/control_loops/superstructure/superstructure_output.fbs
@@ -0,0 +1,40 @@
+namespace y2018.control_loops.superstructure;
+
+table IntakeVoltage {
+  // Voltage of the motors on the series elastic on one side (left or right) of
+  // the intake.
+  voltage_elastic:double;
+
+  // Voltage of the rollers on one side (left or right) of the intake.
+  voltage_rollers:double;
+}
+
+table Output {
+  // Voltage sent to the parts on the left side of the intake.
+  left_intake:IntakeVoltage;
+
+  // Voltage sent to the parts on the right side of the intake.
+  right_intake:IntakeVoltage;
+
+  // Voltage sent to the motors on the proximal joint of the arm.
+  voltage_proximal:double;
+
+  // Voltage sent to the motors on the distal joint of the arm.
+  voltage_distal:double;
+
+  // Voltage sent to the hanger.  Positive pulls the robot up.
+  voltage_winch:double;
+
+  // Clamped (when true) or unclamped (when false) status sent to the
+  // pneumatic claw on the arm.
+  claw_grabbed:bool;
+
+  // If true, release the arm brakes.
+  release_arm_brake:bool;
+  // If true, release the hook
+  hook_release:bool;
+  // If true, release the forks
+  forks_release:bool;
+}
+
+root_type Output;
diff --git a/y2018/control_loops/superstructure/superstructure_position.fbs b/y2018/control_loops/superstructure/superstructure_position.fbs
new file mode 100644
index 0000000..0323b78
--- /dev/null
+++ b/y2018/control_loops/superstructure/superstructure_position.fbs
@@ -0,0 +1,50 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2018.control_loops.superstructure;
+
+table IntakeElasticSensors {
+  // Position of the motor end of the series elastic in radians.
+  motor_position:frc971.PotAndAbsolutePosition;
+
+  // Displacement of the spring in radians.
+  spring_angle:double;
+
+  // False if the beam break sensor isn't triggered, true if the beam breaker is
+  // triggered.
+  beam_break:bool;
+}
+
+table ArmPosition {
+  // Values of the encoder and potentiometer at the base of the proximal
+  // (connected to drivebase) arm in radians.
+  proximal:frc971.PotAndAbsolutePosition;
+
+  // Values of the encoder and potentiometer at the base of the distal
+  // (connected to proximal) arm in radians.
+  distal:frc971.PotAndAbsolutePosition;
+}
+
+
+table Position {
+  // Values of the series elastic encoders on the left side of the robot from
+  // the rear perspective in radians.
+  left_intake:IntakeElasticSensors;
+
+  // Values of the series elastic encoders on the right side of the robot from
+  // the rear perspective in radians.
+  right_intake:IntakeElasticSensors;
+
+  arm:ArmPosition;
+
+  // Value of the beam breaker sensor. This value is true if the beam is
+  // broken, false if the beam isn't broken.
+  claw_beambreak_triggered:bool;
+  // Value of the beambreak sensor detecting when the box has hit the frame
+  // cutout.
+  box_back_beambreak_triggered:bool;
+
+  // Distance to the box in meters.
+  box_distance:double;
+}
+
+root_type Position;
diff --git a/y2018/control_loops/superstructure/superstructure_status.fbs b/y2018/control_loops/superstructure/superstructure_status.fbs
new file mode 100644
index 0000000..af2d1ab
--- /dev/null
+++ b/y2018/control_loops/superstructure/superstructure_status.fbs
@@ -0,0 +1,98 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2018.control_loops.superstructure;
+
+table IntakeSideStatus {
+  // Is the subsystem zeroed?
+  zeroed:bool;
+
+  // The state of the subsystem, if applicable.
+  state:int;
+
+  // If true, we have aborted.
+  estopped:bool;
+
+  // Estimated position of the spring.
+  spring_position:float;
+  // Estimated velocity of the spring in units/second.
+  spring_velocity:float;
+
+  // Estimated position of the joint.
+  motor_position:float;
+  // Estimated velocity of the joint in units/second.
+  motor_velocity:float;
+
+  // Goal position of the joint.
+  goal_position:float;
+  // Goal velocity of the joint in units/second.
+  goal_velocity:float;
+
+  // The calculated velocity with delta x/delta t
+  calculated_velocity:float;
+
+  // The voltage given last cycle;
+  delayed_voltage:float;
+
+  // State of the estimator.
+  estimator_state:frc971.PotAndAbsoluteEncoderEstimatorState;
+}
+
+table ArmStatus {
+  // State of the estimators.
+  proximal_estimator_state:frc971.PotAndAbsoluteEncoderEstimatorState;
+  distal_estimator_state:frc971.PotAndAbsoluteEncoderEstimatorState;
+
+  // The node we are currently going to.
+  current_node:uint;
+  // Distance (in radians) to the end of the path.
+  path_distance_to_go:float;
+  // Goal position and velocity (radians)
+  goal_theta0:float;
+  goal_theta1:float;
+  goal_omega0:float;
+  goal_omega1:float;
+
+  // Current position and velocity (radians)
+  theta0:float;
+  theta1:float;
+
+  omega0:float;
+  omega1:float;
+
+  // Estimated voltage error for the two joints.
+  voltage_error0:float;
+  voltage_error1:float;
+
+  // True if we are zeroed.
+  zeroed:bool;
+
+  // True if the arm is zeroed.
+  estopped:bool;
+
+  // The current state machine state.
+  state:uint;
+
+  grab_state:uint;
+
+  // The number of times the LQR solver failed.
+  failed_solutions:uint;
+}
+
+table Status {
+  // Are all the subsystems zeroed?
+  zeroed:bool;
+
+  // If true, any of the subsystems have aborted.
+  estopped:bool;
+
+  // Status of both intake sides.
+  left_intake:IntakeSideStatus;
+  right_intake:IntakeSideStatus;
+
+  arm:ArmStatus;
+
+  filtered_box_velocity:double;
+  rotation_state:uint;
+}
+
+root_type Status;
diff --git a/y2018/joystick_reader.cc b/y2018/joystick_reader.cc
index 54c5f8d..c9778b8 100644
--- a/y2018/joystick_reader.cc
+++ b/y2018/joystick_reader.cc
@@ -6,22 +6,22 @@
 #include <google/protobuf/stubs/stringprintf.h>
 
 #include "aos/actions/actions.h"
+#include "aos/init.h"
+#include "aos/input/action_joystick_input.h"
 #include "aos/input/driver_station_data.h"
+#include "aos/input/drivetrain_input.h"
 #include "aos/logging/logging.h"
 #include "aos/network/team_number.h"
 #include "aos/stl_mutex/stl_mutex.h"
 #include "aos/time/time.h"
 #include "aos/util/log_interval.h"
-#include "aos/input/drivetrain_input.h"
-#include "aos/input/action_joystick_input.h"
-#include "aos/init.h"
 #include "aos/vision/events/udp.h"
-#include "frc971/autonomous/auto.q.h"
 #include "frc971/autonomous/base_autonomous_actor.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "y2018/control_loops/drivetrain/drivetrain_base.h"
 #include "y2018/control_loops/superstructure/arm/generated_graph.h"
-#include "y2018/control_loops/superstructure/superstructure.q.h"
+#include "y2018/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2018/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2018/control_loops/superstructure/superstructure_status_generated.h"
 #include "y2018/vision.pb.h"
 
 using ::aos::monotonic_clock;
@@ -95,15 +95,15 @@
             {}),
         superstructure_position_fetcher_(
             event_loop->MakeFetcher<
-                ::y2018::control_loops::SuperstructureQueue::Position>(
+                ::y2018::control_loops::superstructure::Position>(
                 ".frc971.control_loops.superstructure_queue.position")),
         superstructure_status_fetcher_(
             event_loop->MakeFetcher<
-                ::y2018::control_loops::SuperstructureQueue::Status>(
+                ::y2018::control_loops::superstructure::Status>(
                 ".frc971.control_loops.superstructure_queue.status")),
         superstructure_goal_sender_(
             event_loop
-                ->MakeSender<::y2018::control_loops::SuperstructureQueue::Goal>(
+                ->MakeSender<::y2018::control_loops::superstructure::Goal>(
                     ".frc971.control_loops.superstructure_queue.goal")) {
     const uint16_t team = ::aos::network::GetTeamNumber();
 
@@ -120,10 +120,10 @@
       return;
     }
 
-    auto new_superstructure_goal = superstructure_goal_sender_.MakeMessage();
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    new_superstructure_goal->intake.left_intake_angle = intake_goal_;
-    new_superstructure_goal->intake.right_intake_angle = intake_goal_;
+    double roller_voltage = 0.0;
+    bool trajectory_override = false;
 
     if (data.PosEdge(kIntakeIn) || data.PosEdge(kSmallBox) ||
         data.PosEdge(kIntakeClosed)) {
@@ -132,22 +132,22 @@
 
     if (data.IsPressed(kIntakeIn)) {
       // Turn on the rollers.
-      new_superstructure_goal->intake.roller_voltage = 8.0;
+      roller_voltage = 8.0;
     } else if (data.IsPressed(kIntakeOut)) {
       // Turn off the rollers.
-      new_superstructure_goal->intake.roller_voltage = -12.0;
+      roller_voltage = -12.0;
     } else {
       // We don't want the rollers on.
-      new_superstructure_goal->intake.roller_voltage = 0.0;
+      roller_voltage = 0.0;
     }
 
     if (data.IsPressed(kSmallBox)) {
       // Deploy the intake.
-      if (superstructure_position_fetcher_->box_back_beambreak_triggered) {
+      if (superstructure_position_fetcher_->box_back_beambreak_triggered()) {
         intake_goal_ = 0.30;
       } else {
-        if (new_superstructure_goal->intake.roller_voltage > 0.1 &&
-            superstructure_position_fetcher_->box_distance < 0.15) {
+        if (roller_voltage > 0.1 &&
+            superstructure_position_fetcher_->box_distance() < 0.15) {
           intake_goal_ = 0.18;
         } else {
           intake_goal_ = -0.60;
@@ -155,22 +155,22 @@
       }
     } else if (data.IsPressed(kIntakeClosed)) {
       // Deploy the intake.
-      if (superstructure_position_fetcher_->box_back_beambreak_triggered) {
+      if (superstructure_position_fetcher_->box_back_beambreak_triggered()) {
         intake_goal_ = 0.30;
       } else {
-        if (new_superstructure_goal->intake.roller_voltage > 0.1) {
-          if (superstructure_position_fetcher_->box_distance < 0.10) {
-            new_superstructure_goal->intake.roller_voltage -= 3.0;
+        if (roller_voltage > 0.1) {
+          if (superstructure_position_fetcher_->box_distance() < 0.10) {
+            roller_voltage -= 3.0;
             intake_goal_ = 0.22;
-          } else if (superstructure_position_fetcher_->box_distance < 0.17) {
+          } else if (superstructure_position_fetcher_->box_distance() < 0.17) {
             intake_goal_ = 0.13;
-          } else if (superstructure_position_fetcher_->box_distance < 0.25) {
+          } else if (superstructure_position_fetcher_->box_distance() < 0.25) {
             intake_goal_ = 0.05;
           } else {
             intake_goal_ = -0.10;
           }
           if (robot_velocity() < -0.1 &&
-              superstructure_position_fetcher_->box_distance > 0.15) {
+              superstructure_position_fetcher_->box_distance() > 0.15) {
             intake_goal_ += 0.10;
           }
         } else {
@@ -182,18 +182,19 @@
       intake_goal_ = -3.20;
     }
 
-    if (new_superstructure_goal->intake.roller_voltage > 0.1 &&
+    if (roller_voltage > 0.1 &&
         intake_goal_ > 0.0) {
-      if (superstructure_position_fetcher_->box_distance < 0.10) {
-        new_superstructure_goal->intake.roller_voltage -= 3.0;
+      if (superstructure_position_fetcher_->box_distance() < 0.10) {
+        roller_voltage -= 3.0;
       }
-      new_superstructure_goal->intake.roller_voltage += 3.0;
+      roller_voltage += 3.0;
     }
 
     // If we are disabled, stay at the node closest to where we start.  This
     // should remove long motions when enabled.
     if (!data.GetControlBit(ControlBit::kEnabled) || never_disabled_) {
-      arm_goal_position_ = superstructure_status_fetcher_->arm.current_node;
+      arm_goal_position_ =
+          superstructure_status_fetcher_->arm()->current_node();
       never_disabled_ = false;
     }
 
@@ -202,9 +203,9 @@
       grab_box = true;
     }
     const bool near_goal =
-        superstructure_status_fetcher_->arm.current_node ==
+        superstructure_status_fetcher_->arm()->current_node() ==
             arm_goal_position_ &&
-        superstructure_status_fetcher_->arm.path_distance_to_go < 1e-3;
+        superstructure_status_fetcher_->arm()->path_distance_to_go() < 1e-3;
     if (data.IsPressed(kArmStepDown) && near_goal) {
       uint32_t *front_point = ::std::find(
           front_points_.begin(), front_points_.end(), arm_goal_position_);
@@ -291,50 +292,65 @@
 
     if (data.IsPressed(kEmergencyDown)) {
       arm_goal_position_ = arm::NeutralIndex();
-      new_superstructure_goal->trajectory_override = true;
+      trajectory_override = true;
     } else if (data.IsPressed(kEmergencyUp)) {
       arm_goal_position_ = arm::UpIndex();
-      new_superstructure_goal->trajectory_override = true;
+      trajectory_override = true;
     } else {
-      new_superstructure_goal->trajectory_override = false;
+      trajectory_override = false;
     }
 
-    new_superstructure_goal->deploy_fork =
+    const bool deploy_fork =
         data.IsPressed(kArmAboveHang) && data.IsPressed(kClawOpen);
 
-    if (new_superstructure_goal->deploy_fork) {
+    if (deploy_fork) {
       intake_goal_ = -2.0;
     }
 
+    control_loops::superstructure::IntakeGoal::Builder intake_goal_builder =
+        builder.MakeBuilder<control_loops::superstructure::IntakeGoal>();
+
+    intake_goal_builder.add_left_intake_angle(intake_goal_);
+    intake_goal_builder.add_right_intake_angle(intake_goal_);
+    intake_goal_builder.add_roller_voltage(roller_voltage);
+
+    flatbuffers::Offset<control_loops::superstructure::IntakeGoal>
+        intake_goal_offset = intake_goal_builder.Finish();
+
+    control_loops::superstructure::Goal::Builder superstructure_builder =
+        builder.MakeBuilder<control_loops::superstructure::Goal>();
+
+    superstructure_builder.add_intake(intake_goal_offset);
+    superstructure_builder.add_grab_box(grab_box);
+    superstructure_builder.add_trajectory_override(trajectory_override);
+    superstructure_builder.add_deploy_fork(deploy_fork);
+
     if (data.IsPressed(kWinch)) {
       AOS_LOG(INFO, "Winching\n");
-      new_superstructure_goal->voltage_winch = 12.0;
+      superstructure_builder.add_voltage_winch(12.0);
     } else {
-      new_superstructure_goal->voltage_winch = 0.0;
+      superstructure_builder.add_voltage_winch(0.0);
     }
 
-    new_superstructure_goal->hook_release = data.IsPressed(kArmBelowHang);
+    superstructure_builder.add_hook_release(data.IsPressed(kArmBelowHang));
 
-    new_superstructure_goal->arm_goal_position = arm_goal_position_;
+    superstructure_builder.add_arm_goal_position(arm_goal_position_);
     if (data.IsPressed(kArmFrontSwitch) || data.IsPressed(kArmBackSwitch)) {
-      new_superstructure_goal->open_threshold = 0.35;
+      superstructure_builder.add_open_threshold(0.35);
     } else {
-      new_superstructure_goal->open_threshold = 0.0;
+      superstructure_builder.add_open_threshold(0.0);
     }
 
     if ((data.IsPressed(kClawOpen) && data.IsPressed(kDriverClawOpen)) ||
         data.PosEdge(kArmPickupBoxFromIntake) ||
         (data.IsPressed(kClawOpen) &&
          (data.IsPressed(kArmFrontSwitch) || data.IsPressed(kArmBackSwitch)))) {
-      new_superstructure_goal->open_claw = true;
+      superstructure_builder.add_open_claw(true);
     } else {
-      new_superstructure_goal->open_claw = false;
+      superstructure_builder.add_open_claw(false);
     }
 
-    new_superstructure_goal->grab_box = grab_box;
-
-    AOS_LOG_STRUCT(DEBUG, "sending goal", *new_superstructure_goal);
-    if (!new_superstructure_goal.Send()) {
+    if (!builder.Send(superstructure_builder.Finish())) {
       AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
     }
 
@@ -347,11 +363,11 @@
     return mode();
   }
 
-  ::aos::Fetcher<::y2018::control_loops::SuperstructureQueue::Position>
+  ::aos::Fetcher<control_loops::superstructure::Position>
       superstructure_position_fetcher_;
-  ::aos::Fetcher<::y2018::control_loops::SuperstructureQueue::Status>
+  ::aos::Fetcher<control_loops::superstructure::Status>
       superstructure_status_fetcher_;
-  ::aos::Sender<::y2018::control_loops::SuperstructureQueue::Goal>
+  ::aos::Sender<control_loops::superstructure::Goal>
       superstructure_goal_sender_;
 
   // Current goals to send to the robot.
@@ -375,7 +391,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2018::input::joysticks::Reader reader(&event_loop);
 
   event_loop.Run();
diff --git a/y2018/status_light.fbs b/y2018/status_light.fbs
new file mode 100644
index 0000000..e51decb
--- /dev/null
+++ b/y2018/status_light.fbs
@@ -0,0 +1,10 @@
+namespace y2018;
+
+table StatusLight {
+  // How bright to make each one. 0 is off, 1 is full on.
+  red:float;
+  green:float;
+  blue:float;
+}
+
+root_type StatusLight;
diff --git a/y2018/status_light.q b/y2018/status_light.q
deleted file mode 100644
index 90d4eec..0000000
--- a/y2018/status_light.q
+++ /dev/null
@@ -1,8 +0,0 @@
-package y2018;
-
-message StatusLight {
-  // How bright to make each one. 0 is off, 1 is full on.
-  float red;
-  float green;
-  float blue;
-};
diff --git a/y2018/vision/BUILD b/y2018/vision/BUILD
index 8e5e950..7bcd402 100644
--- a/y2018/vision/BUILD
+++ b/y2018/vision/BUILD
@@ -1,4 +1,4 @@
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 
 cc_binary(
     name = "image_streamer",
@@ -17,11 +17,12 @@
     ],
 )
 
-queue_library(
-    name = "vision_queue",
+flatbuffer_cc_library(
+    name = "vision_fbs",
     srcs = [
-        "vision.q",
+        "vision.fbs",
     ],
+    gen_reflections = 1,
     visibility = ["//visibility:public"],
 )
 
@@ -32,11 +33,10 @@
     ],
     visibility = ["//visibility:public"],
     deps = [
-        ":vision_queue",
+        ":vision_fbs",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
         "//aos/time",
         "//aos/vision/events:udp",
         "//y2018:vision_proto",
diff --git a/y2018/vision/vision.fbs b/y2018/vision/vision.fbs
new file mode 100644
index 0000000..14f8a45
--- /dev/null
+++ b/y2018/vision/vision.fbs
@@ -0,0 +1,9 @@
+namespace y2018.vision;
+
+// Published on ".y2018.vision.vision_status"
+table VisionStatus {
+  high_frame_count:uint;
+  low_frame_count:uint;
+}
+
+root_type VisionStatus;
diff --git a/y2018/vision/vision.q b/y2018/vision/vision.q
deleted file mode 100644
index fb59d69..0000000
--- a/y2018/vision/vision.q
+++ /dev/null
@@ -1,7 +0,0 @@
-package y2018.vision;
-
-// Published on ".y2018.vision.vision_status"
-message VisionStatus {
-  uint32_t high_frame_count;
-  uint32_t low_frame_count;
-};
diff --git a/y2018/vision/vision_status.cc b/y2018/vision/vision_status.cc
index 2f358c5..fdd6ffe 100644
--- a/y2018/vision/vision_status.cc
+++ b/y2018/vision/vision_status.cc
@@ -1,13 +1,12 @@
 #include <netdb.h>
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/time/time.h"
 #include "aos/vision/events/udp.h"
 #include "y2018/vision.pb.h"
-#include "y2018/vision/vision.q.h"
+#include "y2018/vision/vision_generated.h"
 
 namespace y2018 {
 namespace vision {
@@ -15,23 +14,28 @@
 using aos::monotonic_clock;
 
 int Main() {
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
   ::aos::events::RXUdpSocket video_rx(5001);
   char data[65507];
   ::y2018::VisionStatus status;
-  ::aos::ShmEventLoop event_loop;
-  ::aos::Sender<::y2018::vision::VisionStatus> vision_status_sender_ =
-      event_loop.MakeSender<::y2018::vision::VisionStatus>(
-          ".y2018.vision.vision_status");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
+  ::aos::Sender<VisionStatus> vision_status_sender_ =
+      event_loop.MakeSender<VisionStatus>("/superstructure");
 
   while (true) {
     const ssize_t rx_size = video_rx.Recv(data, sizeof(data));
     if (rx_size > 0) {
       status.ParseFromArray(data, rx_size);
-      auto new_vision_status = vision_status_sender_.MakeMessage();
-      new_vision_status->high_frame_count = status.high_frame_count();
-      new_vision_status->low_frame_count = status.low_frame_count();
-      AOS_LOG_STRUCT(DEBUG, "vision", *new_vision_status);
-      if (!new_vision_status.Send()) {
+
+      auto builder = vision_status_sender_.MakeBuilder();
+      VisionStatus::Builder vision_status_builder =
+          builder.MakeBuilder<VisionStatus>();
+      vision_status_builder.add_high_frame_count(status.high_frame_count());
+      vision_status_builder.add_low_frame_count(status.low_frame_count());
+      if (!builder.Send(vision_status_builder.Finish())) {
         AOS_LOG(ERROR, "Failed to send vision information\n");
       }
     }
diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index b93d2b0..6fc4828 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -21,19 +21,17 @@
 #undef ERROR
 
 #include "aos/commonmath.h"
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/make_unique.h"
-#include "aos/robot_state/robot_state.q.h"
 #include "aos/time/time.h"
 #include "aos/util/compiler_memory_barrier.h"
 #include "aos/util/log_interval.h"
 #include "aos/util/phased_loop.h"
 #include "aos/util/wrapping_counter.h"
-#include "frc971/control_loops/control_loops.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
 #include "frc971/wpilib/ADIS16448.h"
 #include "frc971/wpilib/buffered_pcm.h"
 #include "frc971/wpilib/buffered_solenoid.h"
@@ -42,25 +40,26 @@
 #include "frc971/wpilib/drivetrain_writer.h"
 #include "frc971/wpilib/encoder_and_potentiometer.h"
 #include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/logging_generated.h"
 #include "frc971/wpilib/loop_output_handler.h"
 #include "frc971/wpilib/pdp_fetcher.h"
 #include "frc971/wpilib/sensor_reader.h"
 #include "frc971/wpilib/wpilib_robot_base.h"
 #include "y2018/constants.h"
-#include "y2018/control_loops/superstructure/superstructure.q.h"
-#include "y2018/status_light.q.h"
-#include "y2018/vision/vision.q.h"
+#include "y2018/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2018/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2018/status_light_generated.h"
+#include "y2018/vision/vision_generated.h"
 
 #ifndef M_PI
 #define M_PI 3.14159265358979323846
 #endif
 
-using ::y2018::control_loops::SuperstructureQueue;
-using ::y2018::constants::Values;
-using ::aos::monotonic_clock;
-namespace chrono = ::std::chrono;
 using aos::make_unique;
+using ::aos::monotonic_clock;
+using ::y2018::constants::Values;
+namespace chrono = ::std::chrono;
+namespace superstructure = ::y2018::control_loops::superstructure;
 
 namespace y2018 {
 namespace wpilib {
@@ -146,12 +145,12 @@
   SensorReader(::aos::EventLoop *event_loop)
       : ::frc971::wpilib::SensorReader(event_loop),
         superstructure_position_sender_(
-            event_loop->MakeSender<SuperstructureQueue::Position>(
-                ".y2018.control_loops.superstructure_queue.position")),
+            event_loop->MakeSender<superstructure::Position>(
+                "/superstructure")),
         drivetrain_position_sender_(
-            event_loop->MakeSender<
-                ::frc971::control_loops::DrivetrainQueue::Position>(
-                ".frc971.control_loops.drivetrain_queue.position")) {
+            event_loop
+                ->MakeSender<::frc971::control_loops::drivetrain::Position>(
+                    "/drivetrain")) {
     // Set to filter out anything shorter than 1/4 of the minimum pulse width
     // we should ever see.
     UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
@@ -272,24 +271,27 @@
 
   void RunIteration() {
     {
-      auto drivetrain_message = drivetrain_position_sender_.MakeMessage();
-      drivetrain_message->left_encoder =
-          drivetrain_translate(drivetrain_left_encoder_->GetRaw());
-      drivetrain_message->left_speed =
-          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod());
-      drivetrain_message->left_shifter_position =
-          drivetrain_shifter_pot_translate(
-              left_drivetrain_shifter_->GetVoltage());
+      auto builder = drivetrain_position_sender_.MakeBuilder();
+      frc971::control_loops::drivetrain::Position::Builder drivetrain_builder =
+          builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
 
-      drivetrain_message->right_encoder =
-          -drivetrain_translate(drivetrain_right_encoder_->GetRaw());
-      drivetrain_message->right_speed =
-          -drivetrain_velocity_translate(drivetrain_right_encoder_->GetPeriod());
-      drivetrain_message->right_shifter_position =
+      drivetrain_builder.add_left_encoder(
+          drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
+      drivetrain_builder.add_left_speed (
+          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
+      drivetrain_builder.add_left_shifter_position (
           drivetrain_shifter_pot_translate(
-              right_drivetrain_shifter_->GetVoltage());
+              left_drivetrain_shifter_->GetVoltage()));
 
-      drivetrain_message.Send();
+      drivetrain_builder.add_right_encoder (
+          -drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
+      drivetrain_builder.add_right_speed (
+          -drivetrain_velocity_translate(drivetrain_right_encoder_->GetPeriod()));
+      drivetrain_builder.add_right_shifter_position (
+          drivetrain_shifter_pot_translate(
+              right_drivetrain_shifter_->GetVoltage()));
+
+      builder.Send(drivetrain_builder.Finish());
     }
   }
 
@@ -297,57 +299,111 @@
     const auto values = constants::GetValues();
 
     {
-      auto superstructure_message =
-          superstructure_position_sender_.MakeMessage();
+      auto builder =
+          superstructure_position_sender_.MakeBuilder();
 
-      CopyPosition(proximal_encoder_, &superstructure_message->arm.proximal,
+      // Proximal arm
+      frc971::PotAndAbsolutePositionT arm_proximal;
+      CopyPosition(proximal_encoder_, &arm_proximal,
                    Values::kProximalEncoderCountsPerRevolution(),
                    Values::kProximalEncoderRatio(), proximal_pot_translate,
                    true, values.arm_proximal.potentiometer_offset);
+      flatbuffers::Offset<frc971::PotAndAbsolutePosition> arm_proximal_offset =
+          frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &arm_proximal);
 
-      CopyPosition(distal_encoder_, &superstructure_message->arm.distal,
+      // Distal arm
+      frc971::PotAndAbsolutePositionT arm_distal;
+      CopyPosition(distal_encoder_, &arm_distal,
                    Values::kDistalEncoderCountsPerRevolution(),
                    Values::kDistalEncoderRatio(), distal_pot_translate, true,
                    values.arm_distal.potentiometer_offset);
+      flatbuffers::Offset<frc971::PotAndAbsolutePosition> arm_distal_offset =
+          frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &arm_distal);
 
+      superstructure::ArmPosition::Builder arm_position_builder =
+          builder.MakeBuilder<superstructure::ArmPosition>();
+      arm_position_builder.add_proximal(arm_proximal_offset);
+      arm_position_builder.add_distal(arm_distal_offset);
+
+      flatbuffers::Offset<superstructure::ArmPosition> arm_position_offset =
+          arm_position_builder.Finish();
+
+      // Left intake
+      frc971::PotAndAbsolutePositionT left_intake_motor_position;
       CopyPosition(left_intake_encoder_,
-                   &superstructure_message->left_intake.motor_position,
+                   &left_intake_motor_position,
                    Values::kIntakeMotorEncoderCountsPerRevolution(),
                    Values::kIntakeMotorEncoderRatio(), intake_pot_translate,
                    false, values.left_intake.potentiometer_offset);
+      flatbuffers::Offset<frc971::PotAndAbsolutePosition>
+          left_intake_motor_position_offset =
+              frc971::PotAndAbsolutePosition::Pack(*builder.fbb(),
+                                                   &left_intake_motor_position);
 
+      // Right intake
+      frc971::PotAndAbsolutePositionT right_intake_motor_position;
       CopyPosition(right_intake_encoder_,
-                   &superstructure_message->right_intake.motor_position,
+                   &right_intake_motor_position,
                    Values::kIntakeMotorEncoderCountsPerRevolution(),
                    Values::kIntakeMotorEncoderRatio(), intake_pot_translate,
                    true, values.right_intake.potentiometer_offset);
+      flatbuffers::Offset<frc971::PotAndAbsolutePosition>
+          right_intake_motor_position_offset =
+              frc971::PotAndAbsolutePosition::Pack(*builder.fbb(),
+                                                   &right_intake_motor_position);
 
-      superstructure_message->left_intake.spring_angle =
+      superstructure::IntakeElasticSensors::Builder
+          left_intake_sensors_builder =
+              builder.MakeBuilder<superstructure::IntakeElasticSensors>();
+
+      left_intake_sensors_builder.add_motor_position(
+          left_intake_motor_position_offset);
+      left_intake_sensors_builder.add_spring_angle(
           intake_spring_translate(left_intake_spring_angle_->GetVoltage()) +
-          values.left_intake.spring_offset;
-      superstructure_message->left_intake.beam_break =
-          !left_intake_cube_detector_->Get();
+          values.left_intake.spring_offset);
+      left_intake_sensors_builder.add_beam_break(
+          !left_intake_cube_detector_->Get());
 
-      superstructure_message->right_intake.spring_angle =
+      flatbuffers::Offset<superstructure::IntakeElasticSensors>
+          left_intake_offset = left_intake_sensors_builder.Finish();
+
+      superstructure::IntakeElasticSensors::Builder
+          right_intake_sensors_builder =
+              builder.MakeBuilder<superstructure::IntakeElasticSensors>();
+
+      right_intake_sensors_builder.add_motor_position(
+          right_intake_motor_position_offset);
+      right_intake_sensors_builder.add_spring_angle(
           -intake_spring_translate(right_intake_spring_angle_->GetVoltage()) +
-          values.right_intake.spring_offset;
-      superstructure_message->right_intake.beam_break =
-          !right_intake_cube_detector_->Get();
+          values.right_intake.spring_offset);
+      right_intake_sensors_builder.add_beam_break(
+          !right_intake_cube_detector_->Get());
 
-      superstructure_message->claw_beambreak_triggered = !claw_beambreak_->Get();
-      superstructure_message->box_back_beambreak_triggered =
-          !box_back_beambreak_->Get();
+      flatbuffers::Offset<control_loops::superstructure::IntakeElasticSensors>
+          right_intake_offset = right_intake_sensors_builder.Finish();
 
-      superstructure_message->box_distance =
-          lidar_lite_.last_width() / 0.00001 / 100.0 / 2;
+      superstructure::Position::Builder superstructure_builder =
+          builder.MakeBuilder<superstructure::Position>();
 
-      superstructure_message.Send();
+      superstructure_builder.add_left_intake(left_intake_offset);
+      superstructure_builder.add_right_intake(right_intake_offset);
+      superstructure_builder.add_arm(arm_position_offset);
+
+      superstructure_builder.add_claw_beambreak_triggered(
+          !claw_beambreak_->Get());
+      superstructure_builder.add_box_back_beambreak_triggered(
+          !box_back_beambreak_->Get());
+
+      superstructure_builder.add_box_distance(lidar_lite_.last_width() /
+                                              0.00001 / 100.0 / 2);
+
+      builder.Send(superstructure_builder.Finish());
     }
   }
 
  private:
-  ::aos::Sender<SuperstructureQueue::Position> superstructure_position_sender_;
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Position>
+  ::aos::Sender<superstructure::Position> superstructure_position_sender_;
+  ::aos::Sender<::frc971::control_loops::drivetrain::Position>
       drivetrain_position_sender_;
 
   ::std::unique_ptr<frc::AnalogInput> left_drivetrain_shifter_,
@@ -378,16 +434,16 @@
       : event_loop_(event_loop),
         drivetrain_fetcher_(
             event_loop
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Output>(
-                    ".frc971.control_loops.drivetrain_queue.output")),
+                ->MakeFetcher<::frc971::control_loops::drivetrain::Output>(
+                    "/drivetrain")),
         superstructure_fetcher_(
-            event_loop->MakeFetcher<SuperstructureQueue::Output>(
-                ".y2018.control_loops.superstructure_queue.output")),
-        status_light_fetcher_(event_loop->MakeFetcher<::y2018::StatusLight>(
-            ".y2018.status_light")),
+            event_loop->MakeFetcher<superstructure::Output>("/superstructure")),
+        status_light_fetcher_(
+            event_loop->MakeFetcher<::y2018::StatusLight>("/superstructure")),
         vision_status_fetcher_(
-            event_loop->MakeFetcher<::y2018::vision::VisionStatus>(
-                ".y2018.vision.vision_status")),
+            event_loop->MakeFetcher<::y2018::vision::VisionStatus>("/vision")),
+        pneumatics_to_log_sender_(
+            event_loop->MakeSender<::frc971::wpilib::PneumaticsToLog>("/aos")),
         pcm_(pcm) {
     event_loop_->set_name("Solenoids");
     event_loop_->SetRuntimeRealtimePriority(27);
@@ -449,40 +505,40 @@
     {
       drivetrain_fetcher_.Fetch();
       if (drivetrain_fetcher_.get()) {
-        AOS_LOG_STRUCT(DEBUG, "solenoids", *drivetrain_fetcher_);
-        left_drivetrain_shifter_->Set(!drivetrain_fetcher_->left_high);
-        right_drivetrain_shifter_->Set(!drivetrain_fetcher_->right_high);
+        left_drivetrain_shifter_->Set(!drivetrain_fetcher_->left_high());
+        right_drivetrain_shifter_->Set(!drivetrain_fetcher_->right_high());
       }
     }
 
     {
       superstructure_fetcher_.Fetch();
       if (superstructure_fetcher_.get()) {
-        AOS_LOG_STRUCT(DEBUG, "solenoids", *superstructure_fetcher_);
-
-        claw_->Set(!superstructure_fetcher_->claw_grabbed);
-        arm_brakes_->Set(superstructure_fetcher_->release_arm_brake);
-        hook_->Set(superstructure_fetcher_->hook_release);
-        forks_->Set(superstructure_fetcher_->forks_release);
+        claw_->Set(!superstructure_fetcher_->claw_grabbed());
+        arm_brakes_->Set(superstructure_fetcher_->release_arm_brake());
+        hook_->Set(superstructure_fetcher_->hook_release());
+        forks_->Set(superstructure_fetcher_->forks_release());
       }
     }
 
     {
-      ::frc971::wpilib::PneumaticsToLog to_log;
+      auto builder = pneumatics_to_log_sender_.MakeBuilder();
+
+      ::frc971::wpilib::PneumaticsToLog::Builder to_log_builder =
+          builder.MakeBuilder<frc971::wpilib::PneumaticsToLog>();
 
       pcm_->Flush();
-      to_log.read_solenoids = pcm_->GetAll();
-      AOS_LOG_STRUCT(DEBUG, "pneumatics info", to_log);
+      to_log_builder.add_read_solenoids(pcm_->GetAll());
+      builder.Send(to_log_builder.Finish());
     }
 
     monotonic_clock::time_point monotonic_now = event_loop_->monotonic_now();
     status_light_fetcher_.Fetch();
     // If we don't have a light request (or it's an old one), we are borked.
     // Flash the red light slowly.
+    StatusLightT color;
     if (!status_light_fetcher_.get() ||
-        monotonic_now >
-            status_light_fetcher_->sent_time + chrono::milliseconds(100)) {
-      StatusLight color;
+        monotonic_now > status_light_fetcher_.context().monotonic_sent_time +
+                            chrono::milliseconds(100)) {
       color.red = 0.0;
       color.green = 0.0;
       color.blue = 0.0;
@@ -493,7 +549,8 @@
         color.red = 0.5;
       } else if (!vision_status_fetcher_.get() ||
                  monotonic_now >
-                     vision_status_fetcher_->sent_time + chrono::seconds(1)) {
+                     vision_status_fetcher_.context().monotonic_sent_time +
+                         chrono::seconds(1)) {
         color.red = 0.5;
         color.green = 0.5;
       }
@@ -501,16 +558,13 @@
       if (light_flash_ > 20) {
         light_flash_ = 0;
       }
-
-      AOS_LOG_STRUCT(DEBUG, "color", color);
-      SetColor(color);
     } else {
-      AOS_LOG_STRUCT(DEBUG, "color", *status_light_fetcher_);
-      SetColor(*status_light_fetcher_);
+      status_light_fetcher_->UnPackTo(&color);
     }
+    SetColor(color);
   }
 
-  void SetColor(const StatusLight &status_light) {
+  void SetColor(const StatusLightT &status_light) {
     // Save CAN bandwidth and CPU at the cost of RT.  Only change the light when
     // it actually changes.  This is pretty low priority anyways.
     static int time_since_last_send = 0;
@@ -541,12 +595,14 @@
 
  private:
   ::aos::EventLoop *event_loop_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Output>
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Output>
       drivetrain_fetcher_;
-  ::aos::Fetcher<SuperstructureQueue::Output> superstructure_fetcher_;
+  ::aos::Fetcher<superstructure::Output> superstructure_fetcher_;
   ::aos::Fetcher<::y2018::StatusLight> status_light_fetcher_;
   ::aos::Fetcher<::y2018::vision::VisionStatus> vision_status_fetcher_;
 
+  aos::Sender<::frc971::wpilib::PneumaticsToLog> pneumatics_to_log_sender_;
+
   ::frc971::wpilib::BufferedPcm *pcm_;
 
   ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid>
@@ -567,11 +623,11 @@
 };
 
 class SuperstructureWriter
-    : public ::frc971::wpilib::LoopOutputHandler<SuperstructureQueue::Output> {
+    : public ::frc971::wpilib::LoopOutputHandler<superstructure::Output> {
  public:
   SuperstructureWriter(::aos::EventLoop *event_loop)
-      : ::frc971::wpilib::LoopOutputHandler<SuperstructureQueue::Output>(
-            event_loop, ".y2018.control_loops.superstructure_queue.output") {}
+      : ::frc971::wpilib::LoopOutputHandler<superstructure::Output>(
+            event_loop, "/superstructure") {}
 
   void set_proximal_victor(::std::unique_ptr<::frc::VictorSP> t) {
     proximal_victor_ = ::std::move(t);
@@ -600,40 +656,38 @@
   }
 
  private:
-  virtual void Write(const SuperstructureQueue::Output &output) override {
-    AOS_LOG_STRUCT(DEBUG, "will output", output);
-
+  virtual void Write(const superstructure::Output &output) override {
     left_intake_elastic_victor_->SetSpeed(
-        ::aos::Clip(-output.left_intake.voltage_elastic, -kMaxBringupPower,
+        ::aos::Clip(-output.left_intake()->voltage_elastic(), -kMaxBringupPower,
                     kMaxBringupPower) /
         12.0);
 
     right_intake_elastic_victor_->SetSpeed(
-        ::aos::Clip(output.right_intake.voltage_elastic, -kMaxBringupPower,
+        ::aos::Clip(output.right_intake()->voltage_elastic(), -kMaxBringupPower,
                     kMaxBringupPower) /
         12.0);
 
     left_intake_rollers_victor_->SetSpeed(
-        ::aos::Clip(-output.left_intake.voltage_rollers, -kMaxBringupPower,
+        ::aos::Clip(-output.left_intake()->voltage_rollers(), -kMaxBringupPower,
                     kMaxBringupPower) /
         12.0);
 
     right_intake_rollers_victor_->SetSpeed(
-        ::aos::Clip(output.right_intake.voltage_rollers, -kMaxBringupPower,
+        ::aos::Clip(output.right_intake()->voltage_rollers(), -kMaxBringupPower,
                     kMaxBringupPower) /
         12.0);
 
-    proximal_victor_->SetSpeed(::aos::Clip(-output.voltage_proximal,
+    proximal_victor_->SetSpeed(::aos::Clip(-output.voltage_proximal(),
                                            -kMaxBringupPower,
                                            kMaxBringupPower) /
                                12.0);
 
-    distal_victor_->SetSpeed(::aos::Clip(output.voltage_distal,
+    distal_victor_->SetSpeed(::aos::Clip(output.voltage_distal(),
                                          -kMaxBringupPower, kMaxBringupPower) /
                              12.0);
-    hanger_victor_->SetSpeed(
-        ::aos::Clip(-output.voltage_winch, -kMaxBringupPower, kMaxBringupPower) /
-        12.0);
+    hanger_victor_->SetSpeed(::aos::Clip(-output.voltage_winch(),
+                                         -kMaxBringupPower, kMaxBringupPower) /
+                             12.0);
   }
 
   virtual void Stop() override {
@@ -663,19 +717,22 @@
   }
 
   void Run() override {
+    aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+        aos::configuration::ReadConfig("config.json");
+
     // Thread 1.
-    ::aos::ShmEventLoop joystick_sender_event_loop;
+    ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
     ::frc971::wpilib::JoystickSender joystick_sender(
         &joystick_sender_event_loop);
     AddLoop(&joystick_sender_event_loop);
 
     // Thread 2.
-    ::aos::ShmEventLoop pdp_fetcher_event_loop;
+    ::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
     ::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
     AddLoop(&pdp_fetcher_event_loop);
 
     // Thread 3.
-    ::aos::ShmEventLoop sensor_reader_event_loop;
+    ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
     SensorReader sensor_reader(&sensor_reader_event_loop);
     sensor_reader.set_drivetrain_left_encoder(make_encoder(0));
     sensor_reader.set_left_drivetrain_shifter_potentiometer(
@@ -721,7 +778,7 @@
     AddLoop(&sensor_reader_event_loop);
 
     // Thread 4.
-    ::aos::ShmEventLoop imu_event_loop;
+    ::aos::ShmEventLoop imu_event_loop(&config.message());
     auto imu_trigger = make_unique<frc::DigitalInput>(5);
     ::frc971::wpilib::ADIS16448 imu(&imu_event_loop, frc::SPI::Port::kOnboardCS1,
                                     imu_trigger.get());
@@ -735,7 +792,7 @@
     // variety so all the Victors are written as SPs.
 
     // Thread 5.
-    ::aos::ShmEventLoop output_event_loop;
+    ::aos::ShmEventLoop output_event_loop(&config.message());
 
     ::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
     drivetrain_writer.set_left_controller0(
@@ -764,7 +821,7 @@
     // Thread 6.
     // This is a separate event loop because we want to run it at much lower
     // priority.
-    ::aos::ShmEventLoop solenoid_writer_event_loop;
+    ::aos::ShmEventLoop solenoid_writer_event_loop(&config.message());
     ::frc971::wpilib::BufferedPcm pcm;
     SolenoidWriter solenoid_writer(&solenoid_writer_event_loop, &pcm);
     solenoid_writer.set_left_drivetrain_shifter(pcm.MakeSolenoid(0));
diff --git a/y2018/y2018.json b/y2018/y2018.json
new file mode 100644
index 0000000..ebb6c75
--- /dev/null
+++ b/y2018/y2018.json
@@ -0,0 +1,44 @@
+{
+  "channels":
+  [
+    {
+      "name": "/superstructure",
+      "type": "y2018.control_loops.superstructure.Goal",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2018.control_loops.superstructure.Position",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2018.control_loops.superstructure.Status",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2018.control_loops.superstructure.Output",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2018.StatusLight",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2018.vision.VisionStatus",
+      "frequency": 200
+    }
+  ],
+  "applications": [
+    {
+      "name": "drivetrain"
+    }
+  ],
+  "imports": [
+    "../aos/robot_state/robot_state_config.json",
+    "../frc971/control_loops/drivetrain/drivetrain_config.json"
+  ]
+}
diff --git a/y2019/BUILD b/y2019/BUILD
index 04855d5..5c9a3a6 100644
--- a/y2019/BUILD
+++ b/y2019/BUILD
@@ -1,6 +1,7 @@
 load("//frc971:downloader.bzl", "robot_downloader")
-load("//aos/build:queues.bzl", "queue_library")
+load("//aos:config.bzl", "aos_config")
 load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
 
 robot_downloader(
     dirs = [
@@ -56,25 +57,24 @@
         "//aos:make_unique",
         "//aos:math",
         "//aos/controls:control_loop",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//aos/logging",
-        "//aos/logging:queue_logging",
-        "//aos/robot_state",
+        "//aos/robot_state:robot_state_fbs",
         "//aos/stl_mutex",
         "//aos/time",
         "//aos/util:log_interval",
         "//aos/util:phased_loop",
         "//aos/util:wrapping_counter",
-        "//frc971/autonomous:auto_queue",
-        "//frc971/control_loops:queues",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/autonomous:auto_fbs",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
         "//frc971/wpilib:ADIS16448",
         "//frc971/wpilib:buffered_pcm",
         "//frc971/wpilib:drivetrain_writer",
         "//frc971/wpilib:encoder_and_potentiometer",
         "//frc971/wpilib:interrupt_edge_counting",
         "//frc971/wpilib:joystick_sender",
-        "//frc971/wpilib:logging_queue",
+        "//frc971/wpilib:logging_fbs",
         "//frc971/wpilib:loop_output_handler",
         "//frc971/wpilib:pdp_fetcher",
         "//frc971/wpilib:sensor_reader",
@@ -82,8 +82,9 @@
         "//frc971/wpilib:wpilib_robot_base",
         "//third_party:phoenix",
         "//third_party:wpilib",
-        "//y2019/control_loops/drivetrain:camera_queue",
-        "//y2019/control_loops/superstructure:superstructure_queue",
+        "//y2019/control_loops/drivetrain:camera_fbs",
+        "//y2019/control_loops/superstructure:superstructure_output_fbs",
+        "//y2019/control_loops/superstructure:superstructure_position_fbs",
         "//y2019/jevois:spi",
     ],
 )
@@ -132,23 +133,45 @@
         "//aos/time",
         "//aos/util:log_interval",
         "//aos/vision/events:udp",
-        "//frc971/autonomous:auto_queue",
+        "//frc971/autonomous:auto_fbs",
         "//frc971/autonomous:base_autonomous_actor",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
-        "//frc971/control_loops/drivetrain:localizer_queue",
+        "//frc971/control_loops:profiled_subsystem_fbs",
+        "//frc971/control_loops/drivetrain:localizer_fbs",
         "//y2019/control_loops/drivetrain:drivetrain_base",
-        "//y2019/control_loops/drivetrain:target_selector_queue",
-        "//y2019/control_loops/superstructure:superstructure_queue",
+        "//y2019/control_loops/drivetrain:target_selector_fbs",
+        "//y2019/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2019/control_loops/superstructure:superstructure_position_fbs",
+        "//y2019/control_loops/superstructure:superstructure_status_fbs",
         "@com_google_protobuf//:protobuf",
     ],
 )
 
-queue_library(
+flatbuffer_cc_library(
     name = "status_light",
     srcs = [
-        "status_light.q",
+        "status_light.fbs",
+    ],
+    gen_reflections = 1,
+    visibility = ["//visibility:public"],
+)
+
+aos_config(
+    name = "config",
+    src = "y2019.json",
+    flatbuffers = [
+        ":status_light",
+        "//y2019/control_loops/drivetrain:camera_fbs",
+        "//y2019/control_loops/drivetrain:target_selector_fbs",
+        "//y2019/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2019/control_loops/superstructure:superstructure_output_fbs",
+        "//y2019/control_loops/superstructure:superstructure_position_fbs",
+        "//y2019/control_loops/superstructure:superstructure_status_fbs",
     ],
     visibility = ["//visibility:public"],
+    deps = [
+        "//aos/robot_state:config",
+        "//frc971/control_loops/drivetrain:config",
+    ],
 )
 
 cc_proto_library(
diff --git a/y2019/actors/BUILD b/y2019/actors/BUILD
index a622dbf..3aa2a22 100644
--- a/y2019/actors/BUILD
+++ b/y2019/actors/BUILD
@@ -25,16 +25,17 @@
         "autonomous_actor.h",
     ],
     deps = [
-        "//aos/events:event-loop",
+        "//aos/events:event_loop",
         "//aos/logging",
         "//aos/util:phased_loop",
         "//frc971/autonomous:base_autonomous_actor",
-        "//frc971/control_loops:queues",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:profiled_subsystem_fbs",
         "//frc971/control_loops/drivetrain:drivetrain_config",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
-        "//frc971/control_loops/drivetrain:localizer_queue",
+        "//frc971/control_loops/drivetrain:localizer_fbs",
         "//y2019/control_loops/drivetrain:drivetrain_base",
-        "//y2019/control_loops/superstructure:superstructure_queue",
+        "//y2019/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2019/control_loops/superstructure:superstructure_status_fbs",
     ],
 )
 
@@ -46,7 +47,7 @@
     deps = [
         ":autonomous_action_lib",
         "//aos:init",
-        "//aos/events:shm-event-loop",
-        "//frc971/autonomous:auto_queue",
+        "//aos/events:shm_event_loop",
+        "//frc971/autonomous:auto_fbs",
     ],
 )
diff --git a/y2019/actors/auto_splines.cc b/y2019/actors/auto_splines.cc
index 4e8e60d..6166ca8 100644
--- a/y2019/actors/auto_splines.cc
+++ b/y2019/actors/auto_splines.cc
@@ -1,397 +1,792 @@
 #include "y2019/actors/auto_splines.h"
 
-#include "frc971/control_loops/control_loops.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
 
 namespace y2019 {
 namespace actors {
 
-void MaybeFlipSpline(::frc971::MultiSpline *spline, bool is_left) {
+void MaybeFlipSpline(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+    flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset,
+    bool is_left) {
+
+  flatbuffers::Vector<float> *spline_y =
+      GetMutableTemporaryPointer(*builder->fbb(), spline_y_offset);
+
   if (!is_left) {
-    for (size_t i = 0; i < spline->spline_y.size(); i++) {
-      spline->spline_y[i] *= -1.0;
+    for (size_t i = 0; i < spline_y->size(); i++) {
+      spline_y->Mutate(i, -spline_y->Get(i));
     }
   }
 }
 
 // Path off of level 2 to the far side of the rocket with a panel
-::frc971::MultiSpline AutonomousSplines::HABToFarRocket(bool is_left) {
-  ::frc971::MultiSpline spline;
-  ::frc971::Constraint longitudinal_constraint;
-  ::frc971::Constraint lateral_constraint;
-  ::frc971::Constraint voltage_constraint;
-  ::frc971::Constraint velocity_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HABToFarRocket(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+    bool is_left) {
+  flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
 
-  longitudinal_constraint.constraint_type = 1;
-  longitudinal_constraint.value = 2.0;
+  {
+    frc971::Constraint::Builder longitudinal_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    longitudinal_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+    longitudinal_constraint_builder.add_value(2.0);
+    longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+  }
 
-  lateral_constraint.constraint_type = 2;
-  lateral_constraint.value = 2.0;
+  {
+    frc971::Constraint::Builder lateral_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    lateral_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LATERAL_ACCELERATION);
+    lateral_constraint_builder.add_value(2.0);
+    lateral_constraint_offset = lateral_constraint_builder.Finish();
+  }
 
-  voltage_constraint.constraint_type = 3;
-  voltage_constraint.value = 11.0;
+  {
+    frc971::Constraint::Builder voltage_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    voltage_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VOLTAGE);
+    voltage_constraint_builder.add_value(11.0);
+    voltage_constraint_offset = voltage_constraint_builder.Finish();
+  }
 
-  velocity_constraint.constraint_type = 4;
-  velocity_constraint.value = 4.0;
-  velocity_constraint.start_distance = 0.0;
-  velocity_constraint.end_distance = 10.0;
+  {
+    frc971::Constraint::Builder velocity_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    velocity_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VELOCITY);
+    velocity_constraint_builder.add_value(4.0);
+    velocity_constraint_builder.add_start_distance(0.0);
+    velocity_constraint_builder.add_end_distance(10.0);
+    velocity_constraint_offset = velocity_constraint_builder.Finish();
+  }
 
-  spline.spline_count = 2;
-  spline.spline_x = {{1.14763818102, 1.66, 3.10, 4.05, 4.45, 5.11, 5.77, 6.71,
-                      7.27, 7.19, 6.57}};
-  spline.spline_y = {{1.30261224364, 1.30217320136, 1.39, 1.47, 1.56346705393,
-                      1.69, 1.81, 1.97, 2.18, 2.84, 3.33}};
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {longitudinal_constraint_offset, lateral_constraint_offset,
+               voltage_constraint_offset, velocity_constraint_offset});
 
-  spline.constraints = {{longitudinal_constraint, lateral_constraint,
-                         voltage_constraint, velocity_constraint}};
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>({1.14763818102, 1.66, 3.10, 4.05,
+                                           4.45, 5.11, 5.77, 6.71, 7.27, 7.19,
+                                           6.57});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({1.30261224364, 1.30217320136, 1.39,
+                                           1.47, 1.56346705393, 1.69, 1.81,
+                                           1.97, 2.18, 2.84, 3.33});
+  MaybeFlipSpline(builder, spline_y_offset, is_left);
 
-  MaybeFlipSpline(&spline, is_left);
-  return spline;
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
+
+  multispline_builder.add_spline_count(2);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
 }
 
 // Path from the far side of the rocket to the loading station to pickup
-::frc971::MultiSpline AutonomousSplines::FarRocketToHP(bool is_left) {
-  ::frc971::MultiSpline spline;
-  ::frc971::Constraint longitudinal_constraint;
-  ::frc971::Constraint lateral_constraint;
-  ::frc971::Constraint voltage_constraint;
-  ::frc971::Constraint velocity_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FarRocketToHP(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+    bool is_left) {
+  flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
 
-  longitudinal_constraint.constraint_type = 1;
-  longitudinal_constraint.value = 3.0;
+  {
+    frc971::Constraint::Builder longitudinal_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    longitudinal_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+    longitudinal_constraint_builder.add_value(3.0);
+    longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+  }
 
-  lateral_constraint.constraint_type = 2;
-  lateral_constraint.value = 2.0;
+  {
+    frc971::Constraint::Builder lateral_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    lateral_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LATERAL_ACCELERATION);
+    lateral_constraint_builder.add_value(2.0);
+    lateral_constraint_offset = lateral_constraint_builder.Finish();
+  }
 
-  voltage_constraint.constraint_type = 3;
-  voltage_constraint.value = 11.0;
+  {
+    frc971::Constraint::Builder voltage_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    voltage_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VOLTAGE);
+    voltage_constraint_builder.add_value(11.0);
+    voltage_constraint_offset = voltage_constraint_builder.Finish();
+  }
 
-  velocity_constraint.constraint_type = 4;
-  velocity_constraint.value = 4.5;
-  velocity_constraint.start_distance = 0.0;
-  velocity_constraint.end_distance = 10.0;
+  {
+    frc971::Constraint::Builder velocity_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    velocity_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VELOCITY);
+    velocity_constraint_builder.add_value(4.5);
+    velocity_constraint_builder.add_start_distance(0.0);
+    velocity_constraint_builder.add_end_distance(10.0);
+    velocity_constraint_offset = velocity_constraint_builder.Finish();
+  }
 
-  spline.spline_count = 1;
-  spline.spline_x = {{6.6, 7.511, 6.332, 4.590, 1.561, 0.179}};
-  spline.spline_y = {{3.391, 2.826, 1.384, 3.395 - 0.20, 3.429 - 0.20, 3.434 - 0.20}};
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {longitudinal_constraint_offset, lateral_constraint_offset,
+               voltage_constraint_offset, velocity_constraint_offset});
 
-  spline.constraints = {{longitudinal_constraint, lateral_constraint,
-                         voltage_constraint, velocity_constraint}};
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>(
+          {6.6, 7.511, 6.332, 4.590, 1.561, 0.179});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>(
+          {3.391, 2.826, 1.384, 3.395 - 0.20, 3.429 - 0.20, 3.434 - 0.20});
+  MaybeFlipSpline(builder, spline_y_offset, is_left);
 
-  MaybeFlipSpline(&spline, is_left);
-  return spline;
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
+
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
 }
 
 // Path from the human player station to the far side of the rocket with a panel
-::frc971::MultiSpline AutonomousSplines::HPToFarRocket(bool is_left) {
-  ::frc971::MultiSpline spline;
-  ::frc971::Constraint lateral_constraint;
-  ::frc971::Constraint longitudinal_constraint;
-  ::frc971::Constraint velocity_constraint;
-  ::frc971::Constraint voltage_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HPToFarRocket(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+    bool is_left) {
+  flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
 
-  longitudinal_constraint.constraint_type = 1;
-  longitudinal_constraint.value = 3.0;
+  {
+    frc971::Constraint::Builder longitudinal_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    longitudinal_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+    longitudinal_constraint_builder.add_value(3.0);
+    longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+  }
 
-  lateral_constraint.constraint_type = 2;
-  lateral_constraint.value = 3.0;
+  {
+    frc971::Constraint::Builder lateral_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    lateral_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LATERAL_ACCELERATION);
+    lateral_constraint_builder.add_value(3.0);
+    lateral_constraint_offset = lateral_constraint_builder.Finish();
+  }
 
-  voltage_constraint.constraint_type = 3;
-  voltage_constraint.value = 11.0;
+  {
+    frc971::Constraint::Builder voltage_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    voltage_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VOLTAGE);
+    voltage_constraint_builder.add_value(11.0);
+    voltage_constraint_offset = voltage_constraint_builder.Finish();
+  }
 
-  velocity_constraint.constraint_type = 4;
-  velocity_constraint.value = 2.0;
-  velocity_constraint.start_distance = 7.0;
-  velocity_constraint.end_distance = 15.0;
+  {
+    frc971::Constraint::Builder velocity_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    velocity_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VELOCITY);
+    velocity_constraint_builder.add_value(4.0);
+    velocity_constraint_builder.add_start_distance(7.0);
+    velocity_constraint_builder.add_end_distance(15.0);
+    velocity_constraint_offset = velocity_constraint_builder.Finish();
+  }
 
-  spline.spline_count = 1;
-  spline.spline_x = {{0.895115737979, 2.9155615909, 5.02361983866,
-                      6.40346237218, 7.1260656844, 7.83907559509}};
-  spline.spline_y = {{3.43030859063, 3.44230565037, 2.8824369646, 2.81000389973,
-                      3.08853311072, 2.6933085577}};
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {longitudinal_constraint_offset, lateral_constraint_offset,
+               voltage_constraint_offset, velocity_constraint_offset});
 
-  spline.constraints = {{lateral_constraint, velocity_constraint,
-                         voltage_constraint, longitudinal_constraint}};
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>({0.895115737979, 2.9155615909,
+                                           5.02361983866, 6.40346237218,
+                                           7.1260656844, 7.83907559509});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({3.43030859063, 3.44230565037,
+                                           2.8824369646, 2.81000389973,
+                                           3.08853311072, 2.6933085577});
+  MaybeFlipSpline(builder, spline_y_offset, is_left);
 
-  MaybeFlipSpline(&spline, is_left);
-  return spline;
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
+
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
 }
 
 // Path from the far side of the rocket to close to the loading station
-::frc971::MultiSpline AutonomousSplines::FarRocketToNearHP(bool is_left) {
-  ::frc971::MultiSpline spline;
-  ::frc971::Constraint constraints;
-
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FarRocketToNearHP(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+    bool is_left) {
   // TODO(theo): Add some real constraints.
-  constraints.constraint_type = 0;
-  constraints.value = 0;
-  constraints.start_distance = 0;
-  constraints.end_distance = 0;
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>({6.51652191988, 6.83156293562,
+                                           5.74513904409, 2.2337653586,
+                                           1.94766705864, 0.727526876557});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({3.2465107468, 2.88277456846,
+                                           1.93458779243, 3.44064777429,
+                                           3.44377880106, 3.43326367284});
+  MaybeFlipSpline(builder, spline_y_offset, is_left);
 
-  spline.spline_count = 1;
-  spline.spline_x = {{6.51652191988, 6.83156293562, 5.74513904409, 2.2337653586,
-                      1.94766705864, 0.727526876557}};
-  spline.spline_y = {{3.2465107468, 2.88277456846, 1.93458779243, 3.44064777429,
-                      3.44377880106, 3.43326367284}};
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
 
-  spline.constraints = {{constraints}};
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
 
-  MaybeFlipSpline(&spline, is_left);
-  return spline;
+  return multispline_builder.Finish();
 }
 
 // Path from level 2 to 2nd cargo ship bay with a hatch panel
-::frc971::MultiSpline AutonomousSplines::HABToSecondCargoShipBay(bool is_left) {
-  ::frc971::MultiSpline spline;
-  ::frc971::Constraint constraints;
-  ::frc971::Constraint longitudinal_constraint;
-  ::frc971::Constraint voltage_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HABToSecondCargoShipBay(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+    bool is_left) {
+  flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
 
-  constraints.constraint_type = 4;
-  constraints.value = 1.6;
-  constraints.start_distance = 4.0;
-  constraints.end_distance = 10.0;
+  {
+    frc971::Constraint::Builder longitudinal_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    longitudinal_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+    longitudinal_constraint_builder.add_value(2.0);
+    longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+  }
 
-  longitudinal_constraint.constraint_type = 1;
-  longitudinal_constraint.value = 2.0;
+  {
+    frc971::Constraint::Builder voltage_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    voltage_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VOLTAGE);
+    voltage_constraint_builder.add_value(10.0);
+    voltage_constraint_offset = voltage_constraint_builder.Finish();
+  }
 
-  voltage_constraint.constraint_type = 3;
-  voltage_constraint.value = 10.0;
+  {
+    frc971::Constraint::Builder velocity_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    velocity_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VELOCITY);
+    velocity_constraint_builder.add_value(1.6);
+    velocity_constraint_builder.add_start_distance(4.0);
+    velocity_constraint_builder.add_end_distance(10.0);
+    velocity_constraint_offset = velocity_constraint_builder.Finish();
+  }
 
-  spline.spline_count = 1;
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {longitudinal_constraint_offset, voltage_constraint_offset,
+               velocity_constraint_offset});
+
   constexpr double kLess = 0.06;
-  spline.spline_x = {{1.0, 2.53944573074, 5.75526086906, 6.52583747973 - kLess,
-                      7.12318661548 - kLess, 7.22595029399 - kLess}};
-  spline.spline_y = {{1.5, 1.48, 2.05178220103,
-                      2.56666687655, 1.79340280288, 1.16170693058}};
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>(
+          {1.0, 2.53944573074, 5.75526086906, 6.52583747973 - kLess,
+           7.12318661548 - kLess, 7.22595029399 - kLess});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({1.5, 1.48, 2.05178220103,
+                                           2.56666687655, 1.79340280288,
+                                           1.16170693058});
+  MaybeFlipSpline(builder, spline_y_offset, is_left);
 
-  spline.constraints = {{constraints, longitudinal_constraint, voltage_constraint}};
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
 
-  MaybeFlipSpline(&spline, is_left);
-  return spline;
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
 }
 
 // Path from 2nd cargo ship bay to loading station
-::frc971::MultiSpline AutonomousSplines::SecondCargoShipBayToHP(bool is_left) {
-  ::frc971::MultiSpline spline;
-  ::frc971::Constraint constraints;
-  ::frc971::Constraint voltage_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::SecondCargoShipBayToHP(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+    bool is_left) {
+  flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
 
-  constraints.constraint_type = 4;
-  constraints.value = 4.0;
-  constraints.start_distance = 0;
-  constraints.end_distance = 10;
+  {
+    frc971::Constraint::Builder voltage_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    voltage_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VOLTAGE);
+    voltage_constraint_builder.add_value(11.0);
+    voltage_constraint_offset = voltage_constraint_builder.Finish();
+  }
 
-  voltage_constraint.constraint_type = 3;
-  voltage_constraint.value = 11.0;
+  {
+    frc971::Constraint::Builder velocity_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    velocity_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VELOCITY);
+    velocity_constraint_builder.add_value(4.0);
+    velocity_constraint_builder.add_start_distance(0.0);
+    velocity_constraint_builder.add_end_distance(10.0);
+    velocity_constraint_offset = velocity_constraint_builder.Finish();
+  }
 
-  spline.spline_count = 1;
-  spline.spline_x = {{7.22595029399, 7.1892447864, 6.5373977907, 5.55997590982,
-                      1.22953437637, 0.32521840905}};
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {voltage_constraint_offset, velocity_constraint_offset});
+
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>({7.22595029399, 7.1892447864,
+                                           6.5373977907, 5.55997590982,
+                                           1.22953437637, 0.32521840905});
   constexpr double kYShift = 0.1;
-  spline.spline_y = {{1.2, 1.44543230529, 2.00646674662,
-                      3.43762336271 - kYShift, 3.44125430793 - kYShift,
-                      3.4360348159 - kYShift}};
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>(
+          {1.2, 1.44543230529, 2.00646674662, 3.43762336271 - kYShift,
+           3.44125430793 - kYShift, 3.4360348159 - kYShift});
+  MaybeFlipSpline(builder, spline_y_offset, is_left);
 
-  spline.constraints = {{constraints, voltage_constraint}};
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
 
-  MaybeFlipSpline(&spline, is_left);
-  return spline;
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
 }
 
 // Path from loading station to 3rd cargo ship bay with a hatch panel
-::frc971::MultiSpline AutonomousSplines::HPToThirdCargoShipBay(bool is_left) {
-  ::frc971::MultiSpline spline;
-  ::frc971::Constraint velocity_constraint;
-  ::frc971::Constraint voltage_constraint;
-  ::frc971::Constraint velocity_constraint2;
-  velocity_constraint.constraint_type = 4;
-  velocity_constraint.value = 3.5;
-  velocity_constraint.start_distance = 0;
-  velocity_constraint.end_distance = 10;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HPToThirdCargoShipBay(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+    bool is_left) {
+  flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> velocity_constraint2_offset;
 
-  velocity_constraint2.constraint_type = 4;
-  velocity_constraint2.value = 2.0;
-  velocity_constraint2.start_distance = 6;
-  velocity_constraint2.end_distance = 10;
+  {
+    frc971::Constraint::Builder voltage_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    voltage_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VOLTAGE);
+    voltage_constraint_builder.add_value(10.0);
+    voltage_constraint_offset = voltage_constraint_builder.Finish();
+  }
 
-  voltage_constraint.constraint_type = 3;
-  voltage_constraint.value = 10.0;
+  {
+    frc971::Constraint::Builder velocity_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    velocity_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VELOCITY);
+    velocity_constraint_builder.add_value(3.5);
+    velocity_constraint_builder.add_start_distance(0.0);
+    velocity_constraint_builder.add_end_distance(10.0);
+    velocity_constraint_offset = velocity_constraint_builder.Finish();
+  }
 
-  spline.spline_count = 1;
+  {
+    frc971::Constraint::Builder velocity_constraint2_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    velocity_constraint2_builder.add_constraint_type(
+        frc971::ConstraintType_VELOCITY);
+    velocity_constraint2_builder.add_value(2.0);
+    velocity_constraint2_builder.add_start_distance(6.0);
+    velocity_constraint2_builder.add_end_distance(10.0);
+    velocity_constraint2_offset = velocity_constraint2_builder.Finish();
+  }
+
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {voltage_constraint_offset, velocity_constraint_offset,
+               velocity_constraint2_offset});
+
   constexpr double kEndMove = 0.25;
-  spline.spline_x = {{0.75, 1.112, 5.576, 7.497 - kEndMove, 7.675 - kEndMove,
-                      7.768 - kEndMove}};
-  spline.spline_y = {{3.431, 3.434, 2.712, 2.874, 1.786, 1.168}};
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>({0.75, 1.112, 5.576, 7.497 - kEndMove,
+                                           7.675 - kEndMove, 7.768 - kEndMove});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>(
+          {3.431, 3.434, 2.712, 2.874, 1.786, 1.168});
+  MaybeFlipSpline(builder, spline_y_offset, is_left);
 
-  spline.constraints = {
-      {velocity_constraint, voltage_constraint, velocity_constraint2}};
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
 
-  MaybeFlipSpline(&spline, is_left);
-  return spline;
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
 }
 
 // Path from 3rd cargo ship bay to near the loading station
-::frc971::MultiSpline AutonomousSplines::ThirdCargoShipBayToNearHP(
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::ThirdCargoShipBayToNearHP(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
     bool is_left) {
-  ::frc971::MultiSpline spline;
-  ::frc971::Constraint velocity_constraint;
+  flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
 
-  velocity_constraint.constraint_type = 4;
-  velocity_constraint.value = 0.5;
-  velocity_constraint.start_distance = 0;
-  velocity_constraint.end_distance = 10;
+  {
+    frc971::Constraint::Builder velocity_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    velocity_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VELOCITY);
+    velocity_constraint_builder.add_value(0.5);
+    velocity_constraint_builder.add_start_distance(0.0);
+    velocity_constraint_builder.add_end_distance(10.0);
+    velocity_constraint_offset = velocity_constraint_builder.Finish();
+  }
 
-  spline.spline_count = 1;
-  spline.spline_x = {{7.75823205276, 7.58356294646, 5.95536035287,
-                      2.12377989323, 1.29347361128, 0.598613577531}};
-  spline.spline_y = {{1.16791407107, 1.94564064915, 2.54565614767,
-                      3.43728005786, 3.43775494434, 3.43119598027}};
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {velocity_constraint_offset});
 
-  spline.constraints = {{velocity_constraint}};
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>({7.75823205276, 7.58356294646,
+                                           5.95536035287, 2.12377989323,
+                                           1.29347361128, 0.598613577531});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({1.16791407107, 1.94564064915,
+                                           2.54565614767, 3.43728005786,
+                                           3.43775494434, 3.43119598027});
+  MaybeFlipSpline(builder, spline_y_offset, is_left);
 
-  MaybeFlipSpline(&spline, is_left);
-  return spline;
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
+
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
 }
 
-::frc971::MultiSpline AutonomousSplines::HabToFarRocketTest(bool is_left) {
-  ::frc971::MultiSpline spline;
-  ::frc971::Constraint longitudinal_constraint;
-  ::frc971::Constraint lateral_constraint;
-  ::frc971::Constraint voltage_constraint;
-  ::frc971::Constraint velocity_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HabToFarRocketTest(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+    bool is_left) {
+  flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
 
-  longitudinal_constraint.constraint_type = 1;
-  longitudinal_constraint.value = 2.0;
+  {
+    frc971::Constraint::Builder longitudinal_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    longitudinal_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+    longitudinal_constraint_builder.add_value(2.0);
+    longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+  }
 
-  lateral_constraint.constraint_type = 2;
-  lateral_constraint.value = 2.0;
+  {
+    frc971::Constraint::Builder lateral_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    lateral_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LATERAL_ACCELERATION);
+    lateral_constraint_builder.add_value(2.0);
+    lateral_constraint_offset = lateral_constraint_builder.Finish();
+  }
 
-  voltage_constraint.constraint_type = 3;
-  voltage_constraint.value = 11.0;
+  {
+    frc971::Constraint::Builder voltage_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    voltage_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VOLTAGE);
+    voltage_constraint_builder.add_value(11.0);
+    voltage_constraint_offset = voltage_constraint_builder.Finish();
+  }
 
-  velocity_constraint.constraint_type = 4;
-  velocity_constraint.value = 1.7;
-  velocity_constraint.start_distance = 0.0;
-  velocity_constraint.end_distance = 0.8;
+  {
+    frc971::Constraint::Builder velocity_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    velocity_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VELOCITY);
+    velocity_constraint_builder.add_value(1.7);
+    velocity_constraint_builder.add_start_distance(0.0);
+    velocity_constraint_builder.add_end_distance(0.8);
+    velocity_constraint_offset = velocity_constraint_builder.Finish();
+  }
 
-  spline.spline_count = 1;
-  spline.spline_x = {{1.14763818102, 2.53944573074, 3.74586892131,
-                      5.22352745444, 6.70255737219, 7.35784750785}};
-  spline.spline_y = {{1.30261224364, 1.28295363394, 1.27450357714,
-                      2.89953366429, 3.10734391012, 2.90125929705}};
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {longitudinal_constraint_offset, lateral_constraint_offset,
+               voltage_constraint_offset, velocity_constraint_offset});
 
-  spline.constraints = {{longitudinal_constraint, lateral_constraint,
-                         voltage_constraint, velocity_constraint}};
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>({1.14763818102, 2.53944573074,
+                                           3.74586892131, 5.22352745444,
+                                           6.70255737219, 7.35784750785});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({1.30261224364, 1.28295363394,
+                                           1.27450357714, 2.89953366429,
+                                           3.10734391012, 2.90125929705});
+  MaybeFlipSpline(builder, spline_y_offset, is_left);
 
-  MaybeFlipSpline(&spline, is_left);
-  return spline;
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
+
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
 }
 
-::frc971::MultiSpline AutonomousSplines::FarRocketToHPTest() {
-  ::frc971::MultiSpline spline;
-  ::frc971::Constraint longitudinal_constraint;
-  ::frc971::Constraint lateral_constraint;
-  ::frc971::Constraint voltage_constraint;
-  ::frc971::Constraint velocity_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FarRocketToHPTest(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+  flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
 
-  longitudinal_constraint.constraint_type = 1;
-  longitudinal_constraint.value = 1.5;
+  {
+    frc971::Constraint::Builder longitudinal_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    longitudinal_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+    longitudinal_constraint_builder.add_value(1.5);
+    longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+  }
 
-  lateral_constraint.constraint_type = 2;
-  lateral_constraint.value = 1.0;
+  {
+    frc971::Constraint::Builder lateral_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    lateral_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LATERAL_ACCELERATION);
+    lateral_constraint_builder.add_value(1.0);
+    lateral_constraint_offset = lateral_constraint_builder.Finish();
+  }
 
-  voltage_constraint.constraint_type = 3;
-  voltage_constraint.value = 11.0;
+  {
+    frc971::Constraint::Builder voltage_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    voltage_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VOLTAGE);
+    voltage_constraint_builder.add_value(11.0);
+    voltage_constraint_offset = voltage_constraint_builder.Finish();
+  }
 
-  velocity_constraint.constraint_type = 4;
-  velocity_constraint.value = 0.5;
-  velocity_constraint.start_distance = 9.5;
-  velocity_constraint.end_distance = 10.0;
+  {
+    frc971::Constraint::Builder velocity_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    velocity_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VELOCITY);
+    velocity_constraint_builder.add_value(0.5);
+    velocity_constraint_builder.add_start_distance(9.5);
+    velocity_constraint_builder.add_end_distance(10.0);
+    velocity_constraint_offset = velocity_constraint_builder.Finish();
+  }
 
-  spline.spline_count = 1;
-  spline.spline_x = {{6.53, 7.8, 7.8, 4.0, 2.0, 0.4}};
-  spline.spline_y = {{3.47, 3.0, 1.5, 3.0, 3.4, 3.4}};
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {longitudinal_constraint_offset, lateral_constraint_offset,
+               voltage_constraint_offset, velocity_constraint_offset});
 
-  spline.constraints = {{longitudinal_constraint, lateral_constraint,
-                         voltage_constraint, velocity_constraint}};
-  return spline;
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>({6.53, 7.8, 7.8, 4.0, 2.0, 0.4});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({3.47, 3.0, 1.5, 3.0, 3.4, 3.4});
+
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
+
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
 }
 
-::frc971::MultiSpline AutonomousSplines::HPToNearRocketTest() {
-  ::frc971::MultiSpline spline;
-  ::frc971::Constraint longitudinal_constraint;
-  ::frc971::Constraint lateral_constraint;
-  ::frc971::Constraint voltage_constraint;
-  ::frc971::Constraint velocity_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HPToNearRocketTest(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+  flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
 
-  longitudinal_constraint.constraint_type = 1;
-  longitudinal_constraint.value = 1.0;
+  {
+    frc971::Constraint::Builder longitudinal_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    longitudinal_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+    longitudinal_constraint_builder.add_value(1.0);
+    longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+  }
 
-  lateral_constraint.constraint_type = 2;
-  lateral_constraint.value = 1.0;
+  {
+    frc971::Constraint::Builder lateral_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    lateral_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LATERAL_ACCELERATION);
+    lateral_constraint_builder.add_value(1.0);
+    lateral_constraint_offset = lateral_constraint_builder.Finish();
+  }
 
-  voltage_constraint.constraint_type = 3;
-  voltage_constraint.value = 11.0;
+  {
+    frc971::Constraint::Builder voltage_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    voltage_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VOLTAGE);
+    voltage_constraint_builder.add_value(11.0);
+    voltage_constraint_offset = voltage_constraint_builder.Finish();
+  }
 
-  velocity_constraint.constraint_type = 4;
-  velocity_constraint.value = 0.5;
-  velocity_constraint.start_distance = 2.7;
-  velocity_constraint.end_distance = 10.0;
+  {
+    frc971::Constraint::Builder velocity_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    velocity_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VELOCITY);
+    velocity_constraint_builder.add_value(0.5);
+    velocity_constraint_builder.add_start_distance(2.7);
+    velocity_constraint_builder.add_end_distance(10.0);
+    velocity_constraint_offset = velocity_constraint_builder.Finish();
+  }
 
-  spline.spline_count = 1;
-  spline.spline_x = {{1.5, 2.0, 3.0, 4.0, 4.5, 5.12}};
-  spline.spline_y = {{3.4, 3.4, 3.4, 3.0, 3.0, 3.43}};
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {longitudinal_constraint_offset, lateral_constraint_offset,
+               voltage_constraint_offset, velocity_constraint_offset});
 
-  spline.constraints = {{longitudinal_constraint, lateral_constraint,
-                         voltage_constraint, velocity_constraint}};
-  return spline;
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>({1.5, 2.0, 3.0, 4.0, 4.5, 5.12});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({3.4, 3.4, 3.4, 3.0, 3.0, 3.43});
+
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
+
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
 }
 
-::frc971::MultiSpline AutonomousSplines::BasicSSpline() {
-  ::frc971::MultiSpline spline;
-  ::frc971::Constraint longitudinal_constraint;
-  ::frc971::Constraint lateral_constraint;
-  ::frc971::Constraint voltage_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::BasicSSpline(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+  flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+  flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
 
-  longitudinal_constraint.constraint_type = 1;
-  longitudinal_constraint.value = 1.0;
+  {
+    frc971::Constraint::Builder longitudinal_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    longitudinal_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+    longitudinal_constraint_builder.add_value(1.0);
+    longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+  }
 
-  lateral_constraint.constraint_type = 2;
-  lateral_constraint.value = 1.0;
+  {
+    frc971::Constraint::Builder lateral_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    lateral_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_LATERAL_ACCELERATION);
+    lateral_constraint_builder.add_value(1.0);
+    lateral_constraint_offset = lateral_constraint_builder.Finish();
+  }
 
-  voltage_constraint.constraint_type = 3;
-  voltage_constraint.value = 6.0;
+  {
+    frc971::Constraint::Builder voltage_constraint_builder =
+        builder->MakeBuilder<frc971::Constraint>();
+    voltage_constraint_builder.add_constraint_type(
+        frc971::ConstraintType_VOLTAGE);
+    voltage_constraint_builder.add_value(6.0);
+    voltage_constraint_offset = voltage_constraint_builder.Finish();
+  }
 
-  spline.spline_count = 1;
+  flatbuffers::Offset<
+      flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+      constraints_offset =
+          builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+              {longitudinal_constraint_offset, lateral_constraint_offset,
+               voltage_constraint_offset});
+
   const float startx = 0.4;
   const float starty = 3.4;
-  spline.spline_x = {{0.0f + startx, 0.6f + startx, 0.6f + startx,
-                      0.4f + startx, 0.4f + startx, 1.0f + startx}};
-  spline.spline_y = {{starty - 0.0f, starty - 0.0f, starty - 0.3f,
-                      starty - 0.7f, starty - 1.0f, starty - 1.0f}};
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>({0.0f + startx, 0.6f + startx,
+                                           0.6f + startx, 0.4f + startx,
+                                           0.4f + startx, 1.0f + startx});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({starty - 0.0f, starty - 0.0f,
+                                           starty - 0.3f, starty - 0.7f,
+                                           starty - 1.0f, starty - 1.0f});
 
-  spline.constraints = {
-      {longitudinal_constraint, lateral_constraint, voltage_constraint}};
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
 
-  return spline;
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_constraints(constraints_offset);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
+
+  return multispline_builder.Finish();
 }
 
-::frc971::MultiSpline AutonomousSplines::StraightLine() {
-  ::frc971::MultiSpline spline;
-  ::frc971::Constraint contraints;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::StraightLine(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+      builder->fbb()->CreateVector<float>(
+          {-12.3, -11.9, -11.5, -11.1, -10.6, -10.0});
+  flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+      builder->fbb()->CreateVector<float>({1.25, 1.25, 1.25, 1.25, 1.25, 1.25});
 
-  contraints.constraint_type = 0;
-  contraints.value = 0.0;
-  contraints.start_distance = 0.0;
-  contraints.end_distance = 0.0;
+  frc971::MultiSpline::Builder multispline_builder =
+      builder->MakeBuilder<frc971::MultiSpline>();
 
-  spline.spline_count = 1;
-  spline.spline_x = {{-12.3, -11.9, -11.5, -11.1, -10.6, -10.0}};
-  spline.spline_y = {{1.25, 1.25, 1.25, 1.25, 1.25, 1.25}};
+  multispline_builder.add_spline_count(1);
+  multispline_builder.add_spline_x(spline_x_offset);
+  multispline_builder.add_spline_y(spline_y_offset);
 
-  spline.constraints = {{contraints}};
-
-  return spline;
+  return multispline_builder.Finish();
 }
 
 }  // namespace actors
diff --git a/y2019/actors/auto_splines.h b/y2019/actors/auto_splines.h
index a55c2f1..5d79ba9 100644
--- a/y2019/actors/auto_splines.h
+++ b/y2019/actors/auto_splines.h
@@ -1,7 +1,9 @@
 #ifndef Y2019_ACTORS_AUTO_SPLINES_H_
 #define Y2019_ACTORS_AUTO_SPLINES_H_
 
-#include "frc971/control_loops/control_loops.q.h"
+#include "aos/events/event_loop.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
 /*
 
   The cooridinate system for the autonomous splines is the same as the spline
@@ -17,38 +19,60 @@
   // Splines for 2 Panels on the far side of the Rocket
 
   // Path off of level 2 to the far side of the rocket with a panel
-  static ::frc971::MultiSpline HABToFarRocket(bool is_left);
+  static flatbuffers::Offset<frc971::MultiSpline> HABToFarRocket(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+      bool is_left);
 
   // Path from the far side of the rocket to the loading station to pickup
-  static ::frc971::MultiSpline FarRocketToHP(bool is_left);
+  static flatbuffers::Offset<frc971::MultiSpline> FarRocketToHP(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+      bool is_left);
 
   // Path from the far side of the rocket to the loading station to pickup
-  static ::frc971::MultiSpline HPToFarRocket(bool is_left);
+  static flatbuffers::Offset<frc971::MultiSpline> HPToFarRocket(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+      bool is_left);
 
   // Path from the far side of the rocket to close to the loading station
-  static ::frc971::MultiSpline FarRocketToNearHP(bool is_left);
+  static flatbuffers::Offset<frc971::MultiSpline> FarRocketToNearHP(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+      bool is_left);
 
   // Splines for 2 Panels on the far reaches of the cargo ship
 
   // Path from level 2 to 2nd cargo ship bay with a hatch panel
-  static ::frc971::MultiSpline HABToSecondCargoShipBay(bool is_left);
+  static flatbuffers::Offset<frc971::MultiSpline> HABToSecondCargoShipBay(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+      bool is_left);
 
   // Path from 2nd cargo ship bay to loading station
-  static ::frc971::MultiSpline SecondCargoShipBayToHP(bool is_left);
+  static flatbuffers::Offset<frc971::MultiSpline> SecondCargoShipBayToHP(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+      bool is_left);
 
   // Path from loading station to 3rd cargo ship bay with a hatch panel
-  static ::frc971::MultiSpline HPToThirdCargoShipBay(bool is_left);
+  static flatbuffers::Offset<frc971::MultiSpline> HPToThirdCargoShipBay(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+      bool is_left);
 
   // Path from 3rd cargo ship bay to near the loading station
-  static ::frc971::MultiSpline ThirdCargoShipBayToNearHP(bool is_left);
+  static flatbuffers::Offset<frc971::MultiSpline> ThirdCargoShipBayToNearHP(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+      bool is_left);
 
   // Testing Splines
-  static ::frc971::MultiSpline HPToNearRocketTest();
-  static ::frc971::MultiSpline HabToFarRocketTest(bool is_left);
-  static ::frc971::MultiSpline FarRocketToHPTest();
+  static flatbuffers::Offset<frc971::MultiSpline> HPToNearRocketTest(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+  static flatbuffers::Offset<frc971::MultiSpline> HabToFarRocketTest(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+      bool is_left);
+  static flatbuffers::Offset<frc971::MultiSpline> FarRocketToHPTest(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
 
-  static ::frc971::MultiSpline BasicSSpline();
-  static ::frc971::MultiSpline StraightLine();
+  static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+  static flatbuffers::Offset<frc971::MultiSpline> StraightLine(
+      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
 };
 
 }  // namespace actors
diff --git a/y2019/actors/autonomous_actor.cc b/y2019/actors/autonomous_actor.cc
index a5a71aa..fbde0be 100644
--- a/y2019/actors/autonomous_actor.cc
+++ b/y2019/actors/autonomous_actor.cc
@@ -8,14 +8,16 @@
 #include "aos/logging/logging.h"
 #include "aos/util/phased_loop.h"
 
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/control_loops/drivetrain/localizer.q.h"
+#include "frc971/control_loops/drivetrain/localizer_generated.h"
 #include "y2019/actors/auto_splines.h"
 #include "y2019/control_loops/drivetrain/drivetrain_base.h"
 
 namespace y2019 {
 namespace actors {
+
+using ::frc971::ProfileParametersT;
 using ::aos::monotonic_clock;
+using frc971::control_loops::drivetrain::LocalizerControl;
 namespace chrono = ::std::chrono;
 
 AutonomousActor::AutonomousActor(::aos::EventLoop *event_loop)
@@ -24,15 +26,14 @@
       localizer_control_sender_(
           event_loop->MakeSender<
               ::frc971::control_loops::drivetrain::LocalizerControl>(
-              ".frc971.control_loops.drivetrain.localizer_control")),
+              "/drivetrain")),
       superstructure_goal_sender_(
-          event_loop->MakeSender<::y2019::control_loops::superstructure::
-                                     SuperstructureQueue::Goal>(
-              ".y2019.control_loops.superstructure.superstructure_queue.goal")),
-      superstructure_status_fetcher_(event_loop->MakeFetcher<
-                                     ::y2019::control_loops::superstructure::
-                                         SuperstructureQueue::Status>(
-          ".y2019.control_loops.superstructure.superstructure_queue.status")) {}
+          event_loop->MakeSender<::y2019::control_loops::superstructure::Goal>(
+              "/superstructure")),
+      superstructure_status_fetcher_(
+          event_loop
+              ->MakeFetcher<::y2019::control_loops::superstructure::Status>(
+                  "/superstructure")) {}
 
 bool AutonomousActor::WaitForDriveXGreater(double x) {
   AOS_LOG(INFO, "Waiting until x > %f\n", x);
@@ -46,8 +47,8 @@
     }
     phased_loop.SleepUntilNext();
     drivetrain_status_fetcher_.Fetch();
-    if (drivetrain_status_fetcher_->x > x) {
-      AOS_LOG(INFO, "X at %f\n", drivetrain_status_fetcher_->x);
+    if (drivetrain_status_fetcher_->x() > x) {
+      AOS_LOG(INFO, "X at %f\n", drivetrain_status_fetcher_->x());
       return true;
     }
   }
@@ -65,8 +66,8 @@
     }
     phased_loop.SleepUntilNext();
     drivetrain_status_fetcher_.Fetch();
-    if (::std::abs(drivetrain_status_fetcher_->y) < y) {
-      AOS_LOG(INFO, "Y at %f\n", drivetrain_status_fetcher_->y);
+    if (::std::abs(drivetrain_status_fetcher_->y()) < y) {
+      AOS_LOG(INFO, "Y at %f\n", drivetrain_status_fetcher_->y());
       return true;
     }
   }
@@ -90,13 +91,16 @@
   SendSuperstructureGoal();
 
   {
-    auto localizer_resetter = localizer_control_sender_.MakeMessage();
+    auto builder = localizer_control_sender_.MakeBuilder();
+
+    LocalizerControl::Builder localizer_control_builder =
+        builder.MakeBuilder<LocalizerControl>();
     // Start on the left l2.
-    localizer_resetter->x = 1.0;
-    localizer_resetter->y = 1.35 * turn_scalar;
-    localizer_resetter->theta = M_PI;
-    localizer_resetter->theta_uncertainty = 0.00001;
-    if (!localizer_resetter.Send()) {
+    localizer_control_builder.add_x(1.0);
+    localizer_control_builder.add_y(1.35 * turn_scalar);
+    localizer_control_builder.add_theta(M_PI);
+    localizer_control_builder.add_theta_uncertainty(0.00001);
+    if (!builder.Send(localizer_control_builder.Finish())) {
       AOS_LOG(ERROR, "Failed to reset localizer.\n");
     }
   }
@@ -105,20 +109,28 @@
   // Otherwise our drivetrain reset will do a 180 right at the start.
   WaitUntil([this]() { return drivetrain_status_fetcher_.Fetch(); });
   AOS_LOG(INFO, "Heading is %f\n",
-          drivetrain_status_fetcher_->estimated_heading);
+          drivetrain_status_fetcher_->estimated_heading());
   InitializeEncoders();
   ResetDrivetrain();
   WaitUntil([this]() { return drivetrain_status_fetcher_.Fetch(); });
   AOS_LOG(INFO, "Heading is %f\n",
-          drivetrain_status_fetcher_->estimated_heading);
+          drivetrain_status_fetcher_->estimated_heading());
 
   ResetDrivetrain();
   InitializeEncoders();
 }
 
-const ProfileParameters kJumpDrive = {2.0, 3.0};
-const ProfileParameters kDrive = {4.0, 3.0};
-const ProfileParameters kTurn = {5.0, 15.0};
+ProfileParametersT MakeProfileParameters(float max_velocity,
+                                         float max_acceleration) {
+  ProfileParametersT result;
+  result.max_velocity = max_velocity;
+  result.max_acceleration = max_acceleration;
+  return result;
+}
+
+const ProfileParametersT kJumpDrive = MakeProfileParameters(2.0, 3.0);
+const ProfileParametersT kDrive = MakeProfileParameters(4.0, 3.0);
+const ProfileParametersT kTurn = MakeProfileParameters(5.0, 15.0);
 
 const ElevatorWristPosition kPanelHPIntakeForwrdPos{0.01, M_PI / 2.0};
 const ElevatorWristPosition kPanelHPIntakeBackwardPos{0.015, -M_PI / 2.0};
@@ -130,14 +142,23 @@
 
 const ElevatorWristPosition kPanelCargoBackwardPos{0.0, -M_PI / 2.0};
 
+template <typename Functor>
+std::function<flatbuffers::Offset<frc971::MultiSpline>(
+    aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder)>
+BindIsLeft(Functor f, bool is_left) {
+  return
+      [is_left, f](aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder
+                       *builder) { return f(builder, is_left); };
+}
+
 bool AutonomousActor::RunAction(
-    const ::frc971::autonomous::AutonomousActionParams &params) {
+    const ::frc971::autonomous::AutonomousActionParams *params) {
   const monotonic_clock::time_point start_time = monotonic_now();
-  const bool is_left = params.mode == 0;
+  const bool is_left = params->mode() == 0;
 
   {
     AOS_LOG(INFO, "Starting autonomous action with mode %" PRId32 " %s\n",
-            params.mode, is_left ? "left" : "right");
+            params->mode(), is_left ? "left" : "right");
   }
 
   const double turn_scalar = is_left ? 1.0 : -1.0;
@@ -147,7 +168,7 @@
   Mode mode = Mode::kCargoship;
   if (mode == Mode::kRocket) {
     SplineHandle spline1 =
-        PlanSpline(AutonomousSplines::HabToFarRocketTest(is_left),
+        PlanSpline(BindIsLeft(AutonomousSplines::HabToFarRocketTest, is_left),
                    SplineDirection::kBackward);
 
     // Grab the disk, jump, wait until we have vacuum, then raise the elevator
@@ -176,15 +197,18 @@
     // END SPLINE 1
 
     if (!spline1.WaitForSplineDistanceRemaining(0.2)) return true;
-    LineFollowAtVelocity(1.3, 4);
+    LineFollowAtVelocity(1.3,
+                         control_loops::drivetrain::SelectionHint_FAR_ROCKET);
     if (!WaitForMilliseconds(::std::chrono::milliseconds(1200))) return true;
 
     set_suction_goal(false, 1);
     SendSuperstructureGoal();
     if (!WaitForMilliseconds(::std::chrono::milliseconds(200))) return true;
-    LineFollowAtVelocity(-1.0, 4);
-    SplineHandle spline2 = PlanSpline(AutonomousSplines::FarRocketToHP(is_left),
-                                      SplineDirection::kBackward);
+    LineFollowAtVelocity(-1.0,
+                         control_loops::drivetrain::SelectionHint_FAR_ROCKET);
+    SplineHandle spline2 =
+        PlanSpline(BindIsLeft(AutonomousSplines::FarRocketToHP, is_left),
+                   SplineDirection::kBackward);
 
     if (!WaitForMilliseconds(::std::chrono::milliseconds(150))) return true;
     if (!spline2.WaitForPlan()) return true;
@@ -204,8 +228,9 @@
     // As soon as we pick up Panel 2 go score on the back rocket
     if (!WaitForGamePiece()) return true;
     LineFollowAtVelocity(1.5);
-    SplineHandle spline3 = PlanSpline(AutonomousSplines::HPToFarRocket(is_left),
-                                      SplineDirection::kForward);
+    SplineHandle spline3 =
+        PlanSpline(BindIsLeft(AutonomousSplines::HPToFarRocket, is_left),
+                   SplineDirection::kForward);
     if (!WaitForDriveXGreater(0.50)) return true;
     if (!spline3.WaitForPlan()) return true;
     spline3.Start();
@@ -214,7 +239,8 @@
     set_elevator_wrist_goal(kPanelBackwardMiddlePos);
     SendSuperstructureGoal();
     if (!WaitForDriveXGreater(7.1)) return true;
-    LineFollowAtVelocity(-1.5, 4);
+    LineFollowAtVelocity(-1.5,
+                         control_loops::drivetrain::SelectionHint_FAR_ROCKET);
     if (!WaitForMilliseconds(::std::chrono::milliseconds(1000))) return true;
     set_elevator_wrist_goal(kPanelBackwardUpperPos);
     SendSuperstructureGoal();
@@ -222,13 +248,14 @@
     set_suction_goal(false, 1);
     SendSuperstructureGoal();
     if (!WaitForMilliseconds(::std::chrono::milliseconds(400))) return true;
-    LineFollowAtVelocity(1.0, 4);
+    LineFollowAtVelocity(1.0,
+                         control_loops::drivetrain::SelectionHint_FAR_ROCKET);
     SendSuperstructureGoal();
     if (!WaitForMilliseconds(::std::chrono::milliseconds(200))) return true;
   } else if (mode == Mode::kCargoship) {
-    SplineHandle spline1 =
-        PlanSpline(AutonomousSplines::HABToSecondCargoShipBay(is_left),
-                   SplineDirection::kBackward);
+    SplineHandle spline1 = PlanSpline(
+        BindIsLeft(AutonomousSplines::HABToSecondCargoShipBay, is_left),
+        SplineDirection::kBackward);
     set_elevator_goal(0.01);
     set_wrist_goal(-M_PI / 2.0);
     set_intake_goal(-1.2);
@@ -254,7 +281,8 @@
 
     if (!spline1.WaitForSplineDistanceRemaining(0.8)) return true;
     // Line follow in to the first disc.
-    LineFollowAtVelocity(-0.9, 2);
+    LineFollowAtVelocity(-0.9,
+                         control_loops::drivetrain::SelectionHint_MID_SHIP);
     if (!WaitForDriveYCloseToZero(1.2)) return true;
 
     set_suction_goal(false, 1);
@@ -265,10 +293,11 @@
     if (!WaitForDriveYCloseToZero(1.13)) return true;
     if (!WaitForMilliseconds(::std::chrono::milliseconds(300))) return true;
 
-    LineFollowAtVelocity(0.9, 2);
-    SplineHandle spline2 =
-        PlanSpline(AutonomousSplines::SecondCargoShipBayToHP(is_left),
-                   SplineDirection::kForward);
+    LineFollowAtVelocity(0.9,
+                         control_loops::drivetrain::SelectionHint_MID_SHIP);
+    SplineHandle spline2 = PlanSpline(
+        BindIsLeft(AutonomousSplines::SecondCargoShipBayToHP, is_left),
+        SplineDirection::kForward);
     if (!WaitForMilliseconds(::std::chrono::milliseconds(400))) return true;
     if (!spline2.WaitForPlan()) return true;
     AOS_LOG(INFO, "Planned\n");
@@ -288,9 +317,9 @@
     AOS_LOG(INFO, "Got gamepiece %f\n",
             ::aos::time::DurationInSeconds(monotonic_now() - start_time));
     LineFollowAtVelocity(-4.0);
-    SplineHandle spline3 =
-        PlanSpline(AutonomousSplines::HPToThirdCargoShipBay(is_left),
-                   SplineDirection::kBackward);
+    SplineHandle spline3 = PlanSpline(
+        BindIsLeft(AutonomousSplines::HPToThirdCargoShipBay, is_left),
+        SplineDirection::kBackward);
     if (!WaitForDriveXGreater(0.55)) return true;
     if (!spline3.WaitForPlan()) return true;
     spline3.Start();
@@ -301,7 +330,8 @@
 
     if (!spline3.WaitForSplineDistanceRemaining(0.7)) return true;
     // Line follow in to the second disc.
-    LineFollowAtVelocity(-0.7, 3);
+    LineFollowAtVelocity(-0.7,
+                         control_loops::drivetrain::SelectionHint_FAR_SHIP);
     AOS_LOG(INFO, "Drawing in disc 2 %f\n",
             ::aos::time::DurationInSeconds(monotonic_now() - start_time));
     if (!WaitForDriveYCloseToZero(1.2)) return true;
@@ -315,7 +345,8 @@
     if (!WaitForMilliseconds(::std::chrono::milliseconds(200))) return true;
     AOS_LOG(INFO, "Backing up %f\n",
             ::aos::time::DurationInSeconds(monotonic_now() - start_time));
-    LineFollowAtVelocity(0.9, 3);
+    LineFollowAtVelocity(0.9,
+                         control_loops::drivetrain::SelectionHint_FAR_SHIP);
     if (!WaitForMilliseconds(::std::chrono::milliseconds(400))) return true;
   } else {
     // Grab the disk, wait until we have vacuum, then jump
diff --git a/y2019/actors/autonomous_actor.h b/y2019/actors/autonomous_actor.h
index 8c61596..af2a60f 100644
--- a/y2019/actors/autonomous_actor.h
+++ b/y2019/actors/autonomous_actor.h
@@ -7,16 +7,18 @@
 #include "aos/actions/actions.h"
 #include "aos/actions/actor.h"
 #include "frc971/autonomous/base_autonomous_actor.h"
-#include "frc971/control_loops/control_loops.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
-#include "frc971/control_loops/drivetrain/localizer.q.h"
-#include "y2019/control_loops/superstructure/superstructure.q.h"
+#include "frc971/control_loops/drivetrain/localizer_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2019 {
 namespace actors {
 
-using ::frc971::ProfileParameters;
+using ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
+
+namespace superstructure = y2019::control_loops::superstructure;
 
 struct ElevatorWristPosition {
   double elevator;
@@ -28,7 +30,7 @@
   explicit AutonomousActor(::aos::EventLoop *event_loop);
 
   bool RunAction(
-      const ::frc971::autonomous::AutonomousActionParams &params) override;
+      const ::frc971::autonomous::AutonomousActionParams *params) override;
 
  private:
   void Reset(bool is_left);
@@ -75,25 +77,83 @@
   }
 
   void SendSuperstructureGoal() {
-    auto new_superstructure_goal = superstructure_goal_sender_.MakeMessage();
-    new_superstructure_goal->elevator.unsafe_goal = elevator_goal_;
-    new_superstructure_goal->wrist.unsafe_goal = wrist_goal_;
-    new_superstructure_goal->intake.unsafe_goal = intake_goal_;
+    auto builder = superstructure_goal_sender_.MakeBuilder();
 
-    new_superstructure_goal->suction.grab_piece = suction_on_;
-    new_superstructure_goal->suction.gamepiece_mode = suction_gamepiece_;
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        elevator_offset;
 
-    new_superstructure_goal->elevator.profile_params.max_velocity =
-        elevator_max_velocity_;
-    new_superstructure_goal->elevator.profile_params.max_acceleration =
-        elevator_max_acceleration_;
+    {
+      frc971::ProfileParameters::Builder profile_params_builder =
+          builder.MakeBuilder<frc971::ProfileParameters>();
+      profile_params_builder.add_max_velocity(elevator_max_velocity_);
+      profile_params_builder.add_max_acceleration(elevator_max_acceleration_);
 
-    new_superstructure_goal->wrist.profile_params.max_velocity =
-        wrist_max_velocity_;
-    new_superstructure_goal->wrist.profile_params.max_acceleration =
-        wrist_max_acceleration_;
+      flatbuffers::Offset<frc971::ProfileParameters> profile_params_offset =
+          profile_params_builder.Finish();
 
-    if (!new_superstructure_goal.Send()) {
+      StaticZeroingSingleDOFProfiledSubsystemGoal::Builder elevator_builder =
+          builder.MakeBuilder<StaticZeroingSingleDOFProfiledSubsystemGoal>();
+
+      elevator_builder.add_unsafe_goal(elevator_goal_);
+      elevator_builder.add_profile_params(profile_params_offset);
+
+      elevator_offset = elevator_builder.Finish();
+    }
+
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        wrist_offset;
+
+    {
+      frc971::ProfileParameters::Builder profile_params_builder =
+          builder.MakeBuilder<frc971::ProfileParameters>();
+      profile_params_builder.add_max_velocity(wrist_max_velocity_);
+      profile_params_builder.add_max_acceleration(wrist_max_acceleration_);
+
+      flatbuffers::Offset<frc971::ProfileParameters> profile_params_offset =
+          profile_params_builder.Finish();
+
+      StaticZeroingSingleDOFProfiledSubsystemGoal::Builder wrist_builder =
+          builder.MakeBuilder<StaticZeroingSingleDOFProfiledSubsystemGoal>();
+
+      wrist_builder.add_unsafe_goal(wrist_goal_);
+      wrist_builder.add_profile_params(profile_params_offset);
+
+      wrist_offset = wrist_builder.Finish();
+    }
+
+    flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+        intake_offset;
+
+    {
+      StaticZeroingSingleDOFProfiledSubsystemGoal::Builder intake_builder =
+          builder.MakeBuilder<StaticZeroingSingleDOFProfiledSubsystemGoal>();
+
+      intake_builder.add_unsafe_goal(intake_goal_);
+
+      intake_offset = intake_builder.Finish();
+    }
+
+    flatbuffers::Offset<superstructure::SuctionGoal> suction_offset;
+
+    {
+      superstructure::SuctionGoal::Builder suction_builder =
+          builder.MakeBuilder<superstructure::SuctionGoal>();
+
+      suction_builder.add_grab_piece(suction_on_);
+      suction_builder.add_gamepiece_mode(suction_gamepiece_);
+
+      suction_offset = suction_builder.Finish();
+    }
+
+    superstructure::Goal::Builder superstructure_builder =
+        builder.MakeBuilder<superstructure::Goal>();
+
+    superstructure_builder.add_elevator(elevator_offset);
+    superstructure_builder.add_wrist(wrist_offset);
+    superstructure_builder.add_intake(intake_offset);
+    superstructure_builder.add_suction(suction_offset);
+
+    if (!builder.Send(superstructure_builder.Finish())) {
       AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
     }
   }
@@ -102,7 +162,7 @@
     superstructure_status_fetcher_.Fetch();
 
     if (superstructure_status_fetcher_.get()) {
-      return superstructure_status_fetcher_->has_piece;
+      return superstructure_status_fetcher_->has_piece();
     }
     return false;
   }
@@ -145,12 +205,12 @@
     if (superstructure_status_fetcher_.get()) {
       const bool elevator_at_goal =
           ::std::abs(elevator_goal_ -
-                     superstructure_status_fetcher_->elevator.position) <
+                     superstructure_status_fetcher_->elevator()->position()) <
           kElevatorTolerance;
 
       const bool wrist_at_goal =
           ::std::abs(wrist_goal_ -
-                     superstructure_status_fetcher_->wrist.position) <
+                     superstructure_status_fetcher_->wrist()->position()) <
           kWristTolerance;
 
       return elevator_at_goal && wrist_at_goal;
@@ -183,11 +243,9 @@
 
   ::aos::Sender<::frc971::control_loops::drivetrain::LocalizerControl>
       localizer_control_sender_;
-  ::aos::Sender<
-      ::y2019::control_loops::superstructure::SuperstructureQueue::Goal>
+  ::aos::Sender<::y2019::control_loops::superstructure::Goal>
       superstructure_goal_sender_;
-  ::aos::Fetcher<
-      ::y2019::control_loops::superstructure::SuperstructureQueue::Status>
+  ::aos::Fetcher<::y2019::control_loops::superstructure::Status>
       superstructure_status_fetcher_;
 };
 
diff --git a/y2019/actors/autonomous_actor_main.cc b/y2019/actors/autonomous_actor_main.cc
index 79b52da..aa176f9 100644
--- a/y2019/actors/autonomous_actor_main.cc
+++ b/y2019/actors/autonomous_actor_main.cc
@@ -1,14 +1,16 @@
 #include <stdio.h>
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
-#include "frc971/autonomous/auto.q.h"
 #include "y2019/actors/autonomous_actor.h"
 
 int main(int /*argc*/, char * /*argv*/ []) {
   ::aos::Init(-1);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2019::actors::AutonomousActor autonomous(&event_loop);
 
   event_loop.Run();
diff --git a/y2019/control_loops/drivetrain/BUILD b/y2019/control_loops/drivetrain/BUILD
index 9b9ba30..1575584 100644
--- a/y2019/control_loops/drivetrain/BUILD
+++ b/y2019/control_loops/drivetrain/BUILD
@@ -1,5 +1,5 @@
-load("//aos/build:queues.bzl", "queue_library")
-load("//tools/build_rules:select.bzl", "cpu_select", "compiler_select")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("//tools/build_rules:select.bzl", "compiler_select", "cpu_select")
 
 genrule(
     name = "genrule_drivetrain",
@@ -31,39 +31,6 @@
     ],
 )
 
-cc_binary(
-    name = "replay_localizer",
-    srcs = [
-        "replay_localizer.cc",
-    ],
-    defines =
-        cpu_select({
-            "amd64": [
-                "SUPPORT_PLOT=1",
-            ],
-            "arm": [],
-        }),
-    linkstatic = True,
-    deps = [
-        "//frc971/control_loops/drivetrain:localizer_queue",
-        ":localizer",
-        ":event_loop_localizer",
-        ":drivetrain_base",
-        "@com_github_gflags_gflags//:gflags",
-        "//y2019:constants",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
-        "//aos:init",
-        "//aos/controls:replay_control_loop",
-        "//frc971/queues:gyro",
-        "//frc971/wpilib:imu_queue",
-    ] + cpu_select({
-        "amd64": [
-            "//third_party/matplotlib-cpp",
-        ],
-        "arm": [],
-    }),
-)
-
 cc_library(
     name = "polydrivetrain_plants",
     srcs = [
@@ -111,24 +78,24 @@
         ":drivetrain_base",
         ":event_loop_localizer",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
     ],
 )
 
-queue_library(
-    name = "target_selector_queue",
-    srcs = [
-        "target_selector.q",
-    ],
+flatbuffer_cc_library(
+    name = "target_selector_fbs",
+    srcs = ["target_selector.fbs"],
+    gen_reflections = 1,
     visibility = ["//visibility:public"],
 )
 
-queue_library(
-    name = "camera_queue",
+flatbuffer_cc_library(
+    name = "camera_fbs",
     srcs = [
-        "camera.q",
+        "camera.fbs",
     ],
+    gen_reflections = 1,
     visibility = ["//visibility:public"],
 )
 
@@ -167,17 +134,18 @@
     hdrs = ["target_selector.h"],
     deps = [
         ":camera",
-        ":target_selector_queue",
+        ":target_selector_fbs",
         "//frc971/control_loops:pose",
         "//frc971/control_loops/drivetrain:localizer",
         "//y2019:constants",
-        "//y2019/control_loops/superstructure:superstructure_queue",
+        "//y2019/control_loops/superstructure:superstructure_goal_fbs",
     ],
 )
 
 cc_test(
     name = "target_selector_test",
     srcs = ["target_selector_test.cc"],
+    data = ["//y2019:config.json"],
     deps = [
         ":target_selector",
         "//aos/events:simulated_event_loop",
@@ -191,7 +159,7 @@
     srcs = ["event_loop_localizer.cc"],
     hdrs = ["event_loop_localizer.h"],
     deps = [
-        ":camera_queue",
+        ":camera_fbs",
         ":localizer",
         ":target_selector",
         "//frc971/control_loops/drivetrain:localizer",
@@ -232,13 +200,14 @@
 cc_test(
     name = "localized_drivetrain_test",
     srcs = ["localized_drivetrain_test.cc"],
+    data = ["//y2019:config.json"],
     deps = [
-        ":camera_queue",
+        ":camera_fbs",
         ":drivetrain_base",
         ":event_loop_localizer",
         ":localizer",
         "//aos/controls:control_loop_test",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//aos/network:team_number",
         "//frc971/control_loops:team_number_test_environment",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
diff --git a/y2019/control_loops/drivetrain/camera.fbs b/y2019/control_loops/drivetrain/camera.fbs
new file mode 100644
index 0000000..154dd2e
--- /dev/null
+++ b/y2019/control_loops/drivetrain/camera.fbs
@@ -0,0 +1,24 @@
+namespace y2019.control_loops.drivetrain;
+
+// See the Target structure in //y2019/jevois:structures.h for documentation.
+table CameraTarget {
+  distance:float;
+  height:float;
+  heading:float;
+  skew:float;
+}
+
+// Frames from a camera.
+table CameraFrame {
+  // Number of nanoseconds since the aos::monotonic_clock epoch at which this
+  // frame was captured.
+  timestamp:long;
+
+  // Buffer for the 3 targets.
+  targets:[CameraTarget];
+
+  // Index of the camera position (not serial number) which this frame is from.
+  camera:ubyte;
+}
+
+root_type CameraFrame;
diff --git a/y2019/control_loops/drivetrain/camera.q b/y2019/control_loops/drivetrain/camera.q
deleted file mode 100644
index 9d5dffc..0000000
--- a/y2019/control_loops/drivetrain/camera.q
+++ /dev/null
@@ -1,26 +0,0 @@
-package y2019.control_loops.drivetrain;
-
-// See the Target structure in //y2019/jevois:structures.h for documentation.
-struct CameraTarget {
-  float distance;
-  float height;
-  float heading;
-  float skew;
-};
-
-// Frames from a camera.
-// Published on ".y2019.control_loops.drivetrain.camera_frames"
-message CameraFrame {
-  // Number of nanoseconds since the aos::monotonic_clock epoch at which this
-  // frame was captured.
-  int64_t timestamp;
-
-  // Number of targets actually in this frame.
-  uint8_t num_targets;
-
-  // Buffer for the targets.
-  CameraTarget[3] targets;
-
-  // Index of the camera position (not serial number) which this frame is from.
-  uint8_t camera;
-};
diff --git a/y2019/control_loops/drivetrain/drivetrain_main.cc b/y2019/control_loops/drivetrain/drivetrain_main.cc
index ada8f53..77df69b 100644
--- a/y2019/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,6 @@
 #include "aos/init.h"
 
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2019/control_loops/drivetrain/drivetrain_base.h"
 #include "y2019/control_loops/drivetrain/event_loop_localizer.h"
@@ -10,7 +10,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2019::control_loops::drivetrain::EventLoopLocalizer localizer(
       &event_loop, ::y2019::control_loops::drivetrain::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(
diff --git a/y2019/control_loops/drivetrain/event_loop_localizer.cc b/y2019/control_loops/drivetrain/event_loop_localizer.cc
index 67a708a..a372df4 100644
--- a/y2019/control_loops/drivetrain/event_loop_localizer.cc
+++ b/y2019/control_loops/drivetrain/event_loop_localizer.cc
@@ -45,8 +45,7 @@
     localizer_.ResetInitialState(monotonic_now, localizer_.X_hat(),
                                  localizer_.P());
   });
-  frame_fetcher_ = event_loop_->MakeFetcher<CameraFrame>(
-      ".y2019.control_loops.drivetrain.camera_frames");
+  frame_fetcher_ = event_loop_->MakeFetcher<CameraFrame>("/drivetrain");
 }
 
 void EventLoopLocalizer::Reset(::aos::monotonic_clock::time_point now,
@@ -71,37 +70,39 @@
   localizer_.UpdateEncodersAndGyro(left_encoder, right_encoder, gyro_rate, U,
                                    now);
   while (frame_fetcher_.FetchNext()) {
-    HandleFrame(*frame_fetcher_.get());
+    HandleFrame(frame_fetcher_.get());
   }
 }
 
-void EventLoopLocalizer::HandleFrame(const CameraFrame &frame) {
+void EventLoopLocalizer::HandleFrame(const CameraFrame *frame) {
   // We need to construct TargetView's and pass them to the localizer:
   ::aos::SizedArray<TargetView, kMaxTargetsPerFrame> views;
   // Note: num_targets and camera are unsigned integers and so don't need to be
   // checked for < 0.
-  if (frame.num_targets > kMaxTargetsPerFrame) {
-    AOS_LOG(ERROR, "Got bad num_targets %d\n", frame.num_targets);
+  size_t camera = frame->camera();
+  if (!frame->has_targets() || frame->targets()->size() > kMaxTargetsPerFrame) {
+    AOS_LOG(ERROR, "Got bad num_targets %d\n",
+            frame->has_targets() ? frame->targets()->size() : 0);
     return;
   }
-  if (frame.camera > cameras_.size()) {
-    AOS_LOG(ERROR, "Got bad camera number %d\n", frame.camera);
+  if (camera > cameras_.size()) {
+    AOS_LOG(ERROR, "Got bad camera number %zu\n", camera);
     return;
   }
-  for (int ii = 0; ii < frame.num_targets; ++ii) {
+  for (const CameraTarget *target : *frame->targets()) {
     TargetView view;
-    view.reading.heading = frame.targets[ii].heading;
-    view.reading.distance = frame.targets[ii].distance;
-    view.reading.skew = frame.targets[ii].skew;
-    view.reading.height = frame.targets[ii].height;
+    view.reading.heading = target->heading();
+    view.reading.distance = target->distance();
+    view.reading.skew = target->skew();
+    view.reading.height = target->height();
     if (view.reading.distance < 2.25) {
-      cameras_[frame.camera].PopulateNoise(&view);
+      cameras_[camera].PopulateNoise(&view);
       views.push_back(view);
     }
   }
   ::aos::monotonic_clock::time_point t(
-      ::std::chrono::nanoseconds(frame.timestamp));
-  localizer_.UpdateTargets(cameras_[frame.camera], views, t);
+      ::std::chrono::nanoseconds(frame->timestamp()));
+  localizer_.UpdateTargets(cameras_[camera], views, t);
 }
 
 }  // namespace drivetrain
diff --git a/y2019/control_loops/drivetrain/event_loop_localizer.h b/y2019/control_loops/drivetrain/event_loop_localizer.h
index dac614b..83b8e79 100644
--- a/y2019/control_loops/drivetrain/event_loop_localizer.h
+++ b/y2019/control_loops/drivetrain/event_loop_localizer.h
@@ -3,7 +3,7 @@
 
 #include "frc971/control_loops/drivetrain/localizer.h"
 #include "y2019/constants.h"
-#include "y2019/control_loops/drivetrain/camera.q.h"
+#include "y2019/control_loops/drivetrain/camera_generated.h"
 #include "y2019/control_loops/drivetrain/localizer.h"
 #include "y2019/control_loops/drivetrain/target_selector.h"
 
@@ -92,7 +92,7 @@
   }
 
  private:
-  void HandleFrame(const CameraFrame &frame);
+  void HandleFrame(const CameraFrame *frame);
 
   ::aos::EventLoop *event_loop_;
   // TODO(james): Make this use Watchers once we have them working in our
diff --git a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
index ad7223e..06d2f24 100644
--- a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
+++ b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
@@ -7,9 +7,9 @@
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
 #include "frc971/control_loops/team_number_test_environment.h"
-#include "y2019/control_loops/drivetrain/camera.q.h"
-#include "y2019/control_loops/drivetrain/event_loop_localizer.h"
+#include "y2019/control_loops/drivetrain/camera_generated.h"
 #include "y2019/control_loops/drivetrain/drivetrain_base.h"
+#include "y2019/control_loops/drivetrain/event_loop_localizer.h"
 
 // This file tests that the full Localizer, when used with queues within the
 // drivetrain, will behave properly. The purpose of this test is to make sure
@@ -20,7 +20,9 @@
 namespace drivetrain {
 namespace testing {
 
-using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+using frc971::control_loops::drivetrain::DrivetrainConfig;
+using frc971::control_loops::drivetrain::Goal;
+using frc971::control_loops::drivetrain::LocalizerControl;
 
 namespace {
 DrivetrainConfig<double> GetTest2019DrivetrainConfig() {
@@ -42,25 +44,21 @@
   // We must use the 2019 drivetrain config so that we don't have to deal
   // with shifting:
   LocalizedDrivetrainTest()
-      : ::aos::testing::ControlLoopTest(GetTest2019DrivetrainConfig().dt),
+      : ::aos::testing::ControlLoopTest(
+            aos::configuration::ReadConfig("y2019/config.json"),
+            GetTest2019DrivetrainConfig().dt),
         test_event_loop_(MakeEventLoop()),
         drivetrain_goal_sender_(
-            test_event_loop_
-                ->MakeSender<::frc971::control_loops::DrivetrainQueue::Goal>(
-                    ".frc971.control_loops.drivetrain_queue.goal")),
+            test_event_loop_->MakeSender<Goal>("/drivetrain")),
         drivetrain_goal_fetcher_(
-            test_event_loop_
-                ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Goal>(
-                    ".frc971.control_loops.drivetrain_queue.goal")),
+            test_event_loop_->MakeFetcher<Goal>("/drivetrain")),
         localizer_control_sender_(
-            test_event_loop_->MakeSender<
-                ::frc971::control_loops::drivetrain::LocalizerControl>(
-                ".frc971.control_loops.drivetrain.localizer_control")),
+            test_event_loop_->MakeSender<LocalizerControl>("/drivetrain")),
 
         drivetrain_event_loop_(MakeEventLoop()),
         dt_config_(GetTest2019DrivetrainConfig()),
-        camera_sender_(test_event_loop_->MakeSender<CameraFrame>(
-            ".y2019.control_loops.drivetrain.camera_frames")),
+        camera_sender_(
+            test_event_loop_->MakeSender<CameraFrame>("/drivetrain")),
         localizer_(drivetrain_event_loop_.get(), dt_config_),
         drivetrain_(dt_config_, drivetrain_event_loop_.get(), &localizer_),
 
@@ -76,8 +74,8 @@
     set_battery_voltage(12.0);
 
     test_event_loop_->MakeWatcher(
-        ".frc971.control_loops.drivetrain_queue.status",
-        [this](const ::frc971::control_loops::DrivetrainQueue::Status &) {
+        "/drivetrain",
+        [this](const ::frc971::control_loops::drivetrain::Status &) {
           // Needs to do camera updates right after we run the control loop.
           if (enable_cameras_) {
             SendDelayedFrames();
@@ -104,9 +102,9 @@
 
   void VerifyNearGoal() {
     drivetrain_goal_fetcher_.Fetch();
-    EXPECT_NEAR(drivetrain_goal_fetcher_->left_goal,
+    EXPECT_NEAR(drivetrain_goal_fetcher_->left_goal(),
                 drivetrain_plant_.GetLeftPosition(), 1e-3);
-    EXPECT_NEAR(drivetrain_goal_fetcher_->right_goal,
+    EXPECT_NEAR(drivetrain_goal_fetcher_->right_goal(),
                 drivetrain_plant_.GetRightPosition(), 1e-3);
   }
 
@@ -125,32 +123,36 @@
     robot_pose_.set_theta(drivetrain_plant_.state()(2, 0));
     for (size_t ii = 0; ii < cameras_.size(); ++ii) {
       const auto target_views = cameras_[ii].target_views();
-      CameraFrame frame;
-      frame.timestamp = chrono::duration_cast<chrono::nanoseconds>(
-                            monotonic_now().time_since_epoch())
-                            .count();
-      frame.camera = ii;
-      frame.num_targets = 0;
+      std::unique_ptr<CameraFrameT> frame(new CameraFrameT());
+
       for (size_t jj = 0;
            jj < ::std::min(EventLoopLocalizer::kMaxTargetsPerFrame,
                            target_views.size());
            ++jj) {
         EventLoopLocalizer::TargetView view = target_views[jj];
-        ++frame.num_targets;
+        std::unique_ptr<CameraTargetT> camera_target(new CameraTargetT());
+
         const float nan = ::std::numeric_limits<float>::quiet_NaN();
         if (send_bad_frames_) {
-          frame.targets[jj].heading = nan;
-          frame.targets[jj].distance = nan;
-          frame.targets[jj].skew = nan;
-          frame.targets[jj].height = nan;
+          camera_target->heading = nan;
+          camera_target->distance = nan;
+          camera_target->skew = nan;
+          camera_target->height = nan;
         } else {
-          frame.targets[jj].heading = view.reading.heading;
-          frame.targets[jj].distance = view.reading.distance;
-          frame.targets[jj].skew = view.reading.skew;
-          frame.targets[jj].height = view.reading.height;
+          camera_target->heading = view.reading.heading;
+          camera_target->distance = view.reading.distance;
+          camera_target->skew = view.reading.skew;
+          camera_target->height = view.reading.height;
         }
+        frame->targets.emplace_back(std::move(camera_target));
       }
-      camera_delay_queue_.emplace(monotonic_now(), frame);
+
+      frame->timestamp = chrono::duration_cast<chrono::nanoseconds>(
+                             monotonic_now().time_since_epoch())
+                             .count();
+      frame->camera = ii;
+
+      camera_delay_queue_.emplace(monotonic_now(), std::move(frame));
     }
   }
 
@@ -159,20 +161,17 @@
     while (!camera_delay_queue_.empty() &&
            ::std::get<0>(camera_delay_queue_.front()) <
                monotonic_now() - camera_latency) {
-      auto message = camera_sender_.MakeMessage();
-      *message = ::std::get<1>(camera_delay_queue_.front());
-      ASSERT_TRUE(message.Send());
+      auto builder = camera_sender_.MakeBuilder();
+      ASSERT_TRUE(builder.Send(CameraFrame::Pack(
+          *builder.fbb(), ::std::get<1>(camera_delay_queue_.front()).get())));
       camera_delay_queue_.pop();
     }
   }
 
   ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Goal>
-      drivetrain_goal_sender_;
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Goal>
-      drivetrain_goal_fetcher_;
-  ::aos::Sender<::frc971::control_loops::drivetrain::LocalizerControl>
-      localizer_control_sender_;
+  ::aos::Sender<Goal> drivetrain_goal_sender_;
+  ::aos::Fetcher<Goal> drivetrain_goal_fetcher_;
+  ::aos::Sender<LocalizerControl> localizer_control_sender_;
 
   ::std::unique_ptr<::aos::EventLoop> drivetrain_event_loop_;
   const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>
@@ -192,7 +191,8 @@
 
   // A queue of camera frames so that we can add a time delay to the data
   // coming from the cameras.
-  ::std::queue<::std::tuple<::aos::monotonic_clock::time_point, CameraFrame>>
+  ::std::queue<::std::tuple<::aos::monotonic_clock::time_point,
+                            std::unique_ptr<CameraFrameT>>>
       camera_delay_queue_;
 
   void set_enable_cameras(bool enable) { enable_cameras_ = enable; }
@@ -210,11 +210,15 @@
   set_enable_cameras(false);
   VerifyEstimatorAccurate(1e-10);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 1;
-    message->left_goal = -1.0;
-    message->right_goal = 1.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
+    drivetrain_builder.add_controller_type(
+        frc971::control_loops::drivetrain::ControllerType_MOTION_PROFILE);
+    drivetrain_builder.add_left_goal(-1.0);
+    drivetrain_builder.add_right_goal(1.0);
+
+    EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
   }
   RunFor(chrono::seconds(3));
   VerifyNearGoal();
@@ -227,11 +231,15 @@
   set_enable_cameras(true);
   set_bad_frames(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-      message->controller_type = 1;
-      message->left_goal = -1.0;
-      message->right_goal = 1.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
+    drivetrain_builder.add_controller_type(
+        frc971::control_loops::drivetrain::ControllerType_MOTION_PROFILE);
+    drivetrain_builder.add_left_goal(-1.0);
+    drivetrain_builder.add_right_goal(1.0);
+
+    EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
   }
   RunFor(chrono::seconds(3));
   VerifyNearGoal();
@@ -243,11 +251,15 @@
   SetEnabled(true);
   set_enable_cameras(true);
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-      message->controller_type = 1;
-      message->left_goal = -1.0;
-      message->right_goal = 1.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
+    drivetrain_builder.add_controller_type(
+        frc971::control_loops::drivetrain::ControllerType_MOTION_PROFILE);
+    drivetrain_builder.add_left_goal(-1.0);
+    drivetrain_builder.add_right_goal(1.0);
+
+    EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
   }
   RunFor(chrono::seconds(3));
   VerifyNearGoal();
@@ -261,17 +273,20 @@
   set_enable_cameras(false);
   (*drivetrain_plant_.mutable_state())(0, 0) += 0.05;
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-      message->controller_type = 1;
-      message->left_goal = -1.0;
-      message->right_goal = 1.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
+    drivetrain_builder.add_controller_type(
+        frc971::control_loops::drivetrain::ControllerType_MOTION_PROFILE);
+    drivetrain_builder.add_left_goal(-1.0);
+    drivetrain_builder.add_right_goal(1.0);
+
+    EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
   }
   RunFor(chrono::seconds(3));
   // VerifyNearGoal succeeds because it is just checking wheel positions:
   VerifyNearGoal();
-  const Eigen::Matrix<double, 5, 1> true_state =
-      drivetrain_plant_.state();
+  const Eigen::Matrix<double, 5, 1> true_state = drivetrain_plant_.state();
   // Everything but X-value should be correct:
   EXPECT_NEAR(true_state.x(), localizer_.x() + 0.05, 1e-5);
   EXPECT_NEAR(true_state.y(), localizer_.y(), 1e-5);
@@ -287,19 +302,28 @@
   set_enable_cameras(false);
   (*drivetrain_plant_.mutable_state())(0, 0) += 0.05;
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-      message->controller_type = 1;
-      message->left_goal = -1.0;
-      message->right_goal = 1.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
+    drivetrain_builder.add_controller_type(
+        frc971::control_loops::drivetrain::ControllerType_MOTION_PROFILE);
+    drivetrain_builder.add_left_goal(-1.0);
+    drivetrain_builder.add_right_goal(1.0);
+
+    EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
   }
 
   {
-    auto message = localizer_control_sender_.MakeMessage();
-    message->x = drivetrain_plant_.state().x();
-    message->y = drivetrain_plant_.state().y();
-    message->theta = drivetrain_plant_.state()(2, 0);
-    ASSERT_TRUE(message.Send());
+    auto builder = localizer_control_sender_.MakeBuilder();
+
+    LocalizerControl::Builder localizer_control_builder =
+        builder.MakeBuilder<LocalizerControl>();
+
+    localizer_control_builder.add_x(drivetrain_plant_.state().x());
+    localizer_control_builder.add_y(drivetrain_plant_.state().y());
+    localizer_control_builder.add_theta(drivetrain_plant_.state()(2, 0));
+
+    EXPECT_TRUE(builder.Send(localizer_control_builder.Finish()));
   }
   RunFor(chrono::seconds(3));
   VerifyNearGoal();
@@ -314,11 +338,15 @@
   SetStartingPosition({4.0, 0.5, 0.0});
   (*drivetrain_plant_.mutable_state())(0, 0) += 0.05;
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-      message->controller_type = 1;
-      message->left_goal = -1.0;
-      message->right_goal = 1.0;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
+    drivetrain_builder.add_controller_type(
+        frc971::control_loops::drivetrain::ControllerType_MOTION_PROFILE);
+    drivetrain_builder.add_left_goal(-1.0);
+    drivetrain_builder.add_right_goal(1.0);
+
+    EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
   }
   RunFor(chrono::seconds(5));
   VerifyNearGoal();
@@ -326,7 +354,9 @@
 }
 
 namespace {
-EventLoopLocalizer::Pose HPSlotLeft() { return constants::Field().targets()[7].pose(); }
+EventLoopLocalizer::Pose HPSlotLeft() {
+  return constants::Field().targets()[7].pose();
+}
 }  // namespace
 
 // Tests that using the line following drivetrain and just driving straight
@@ -336,10 +366,14 @@
   set_enable_cameras(false);
   SetStartingPosition({4, HPSlotLeft().abs_pos().y(), M_PI});
   {
-    auto message = drivetrain_goal_sender_.MakeMessage();
-    message->controller_type = 3;
-    message->throttle = 0.5;
-    EXPECT_TRUE(message.Send());
+    auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+    Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
+    drivetrain_builder.add_controller_type(
+        frc971::control_loops::drivetrain::ControllerType_LINE_FOLLOWER);
+    drivetrain_builder.add_throttle(0.5);
+
+    EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
   }
   RunFor(chrono::seconds(6));
 
diff --git a/y2019/control_loops/drivetrain/localizer_test.cc b/y2019/control_loops/drivetrain/localizer_test.cc
index 1950468..d9a55f6 100644
--- a/y2019/control_loops/drivetrain/localizer_test.cc
+++ b/y2019/control_loops/drivetrain/localizer_test.cc
@@ -141,26 +141,75 @@
   }
 
   void SetUp() {
-    ::frc971::control_loops::DrivetrainQueue::Goal goal;
-    goal.controller_type = 2;
-    goal.spline.spline_idx = 1;
-    goal.spline.spline_count = 1;
-    goal.spline_handle = 1;
-    ::std::copy(GetParam().control_pts_x.begin(),
-                GetParam().control_pts_x.end(), goal.spline.spline_x.begin());
-    ::std::copy(GetParam().control_pts_y.begin(),
-                GetParam().control_pts_y.end(), goal.spline.spline_y.begin());
-    spline_drivetrain_.SetGoal(goal);
+    flatbuffers::DetachedBuffer goal_buffer;
+    {
+      flatbuffers::FlatBufferBuilder fbb;
+
+      flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+          fbb.CreateVector<float>(GetParam().control_pts_x.begin(),
+                                  GetParam().control_pts_x.size());
+
+      flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+          fbb.CreateVector<float>(GetParam().control_pts_y.begin(),
+                                  GetParam().control_pts_y.size());
+
+      frc971::MultiSpline::Builder multispline_builder(fbb);
+
+      multispline_builder.add_spline_count(1);
+      multispline_builder.add_spline_x(spline_x_offset);
+      multispline_builder.add_spline_y(spline_y_offset);
+
+      flatbuffers::Offset<frc971::MultiSpline> multispline_offset =
+          multispline_builder.Finish();
+
+      frc971::control_loops::drivetrain::SplineGoal::Builder spline_builder(
+          fbb);
+
+      spline_builder.add_spline_idx(1);
+      spline_builder.add_spline(multispline_offset);
+
+      flatbuffers::Offset<frc971::control_loops::drivetrain::SplineGoal>
+          spline_offset = spline_builder.Finish();
+
+      frc971::control_loops::drivetrain::Goal::Builder goal_builder(fbb);
+
+      goal_builder.add_spline(spline_offset);
+      goal_builder.add_controller_type(
+          frc971::control_loops::drivetrain::ControllerType_SPLINE_FOLLOWER);
+      goal_builder.add_spline_handle(1);
+
+      fbb.Finish(goal_builder.Finish());
+
+      goal_buffer = fbb.Release();
+    }
+    aos::FlatbufferDetachedBuffer<frc971::control_loops::drivetrain::Goal> goal(
+        std::move(goal_buffer));
+
+    spline_drivetrain_.SetGoal(&goal.message());
 
     // Let the spline drivetrain compute the spline.
-    ::frc971::control_loops::DrivetrainQueue::Status status;
-    do {
+    while (true) {
       ::std::this_thread::sleep_for(::std::chrono::milliseconds(5));
-      spline_drivetrain_.PopulateStatus(&status);
-    } while (status.trajectory_logging.planning_state !=
-             (int8_t)::frc971::control_loops::drivetrain::SplineDrivetrain::
-                 PlanState::kPlannedTrajectory);
-    spline_drivetrain_.SetGoal(goal);
+
+      flatbuffers::FlatBufferBuilder fbb;
+
+      flatbuffers::Offset<frc971::control_loops::drivetrain::TrajectoryLogging>
+          trajectory_logging_offset =
+              spline_drivetrain_.MakeTrajectoryLogging(&fbb);
+
+      ::frc971::control_loops::drivetrain::Status::Builder status_builder(fbb);
+      status_builder.add_trajectory_logging(trajectory_logging_offset);
+      spline_drivetrain_.PopulateStatus(&status_builder);
+      fbb.Finish(status_builder.Finish());
+      aos::FlatbufferDetachedBuffer<::frc971::control_loops::drivetrain::Status>
+          status(fbb.Release());
+
+      if (status.message().trajectory_logging()->planning_state() ==
+          ::frc971::control_loops::drivetrain::PlanningState_PLANNED) {
+        break;
+      }
+    }
+    spline_drivetrain_.SetGoal(&goal.message());
   }
 
   void TearDown() {
@@ -373,7 +422,7 @@
 
     spline_drivetrain_.Update(true, known_state);
 
-    ::frc971::control_loops::DrivetrainQueue::Output output;
+    ::frc971::control_loops::drivetrain::OutputT output;
     output.left_voltage = 0;
     output.right_voltage = 0;
     spline_drivetrain_.SetOutput(&output);
diff --git a/y2019/control_loops/drivetrain/target_selector.cc b/y2019/control_loops/drivetrain/target_selector.cc
index 3e43db9..7f2259d 100644
--- a/y2019/control_loops/drivetrain/target_selector.cc
+++ b/y2019/control_loops/drivetrain/target_selector.cc
@@ -1,5 +1,7 @@
 #include "y2019/control_loops/drivetrain/target_selector.h"
 
+#include "aos/json_to_flatbuffer.h"
+
 namespace y2019 {
 namespace control_loops {
 
@@ -11,10 +13,9 @@
       back_viewer_({&robot_pose_, {0.0, 0.0, 0.0}, M_PI}, kFakeFov, fake_noise_,
                    constants::Field().targets(), {}),
       hint_fetcher_(event_loop->MakeFetcher<drivetrain::TargetSelectorHint>(
-          ".y2019.control_loops.drivetrain.target_selector_hint")),
-      superstructure_goal_fetcher_(event_loop->MakeFetcher<
-          superstructure::SuperstructureQueue::Goal>(
-          ".y2019.control_loops.superstructure.superstructure_queue.goal")) {}
+          "/drivetrain")),
+      superstructure_goal_fetcher_(
+          event_loop->MakeFetcher<superstructure::Goal>("/superstructure")) {}
 
 bool TargetSelector::UpdateSelection(const ::Eigen::Matrix<double, 5, 1> &state,
                                      double command_speed) {
@@ -22,14 +23,14 @@
     return false;
   }
   if (superstructure_goal_fetcher_.Fetch()) {
-    ball_mode_ = superstructure_goal_fetcher_->suction.gamepiece_mode == 0;
+    ball_mode_ = superstructure_goal_fetcher_->suction()->gamepiece_mode() == 0;
   }
   if (hint_fetcher_.Fetch()) {
-    AOS_LOG_STRUCT(DEBUG, "selector_hint", *hint_fetcher_);
+    VLOG(1) << "selector_hint: " << aos::FlatbufferToJson(hint_fetcher_.get());
     // suggested_target is unsigned so we don't check for >= 0.
-    if (hint_fetcher_->suggested_target < 4) {
+    if (hint_fetcher_->suggested_target() < 4) {
       target_hint_ =
-          static_cast<SelectionHint>(hint_fetcher_->suggested_target);
+          static_cast<SelectionHint>(hint_fetcher_->suggested_target());
     } else {
       AOS_LOG(ERROR, "Got invalid suggested target.\n");
     }
diff --git a/y2019/control_loops/drivetrain/target_selector.fbs b/y2019/control_loops/drivetrain/target_selector.fbs
new file mode 100644
index 0000000..d264992
--- /dev/null
+++ b/y2019/control_loops/drivetrain/target_selector.fbs
@@ -0,0 +1,23 @@
+namespace y2019.control_loops.drivetrain;
+
+// These should match the SelectionHint enum in target_selector.h.
+enum SelectionHint : byte {
+  // No selection, we should just default to whatever.
+  NONE,
+  // Near, middle, and far targets.
+  NEAR_SHIP,
+  MID_SHIP,
+  FAR_SHIP,
+  // Far side of the rocket ship.
+  FAR_ROCKET,
+}
+
+
+// A message to provide information to the target selector about what it should
+// The drivetrain listens on ".y2019.control_loops.drivetrain.target_selector_hint"
+table TargetSelectorHint {
+  // Which target we should go for:
+  suggested_target:SelectionHint;
+}
+
+root_type TargetSelectorHint;
diff --git a/y2019/control_loops/drivetrain/target_selector.h b/y2019/control_loops/drivetrain/target_selector.h
index 7f86f89..e75e122 100644
--- a/y2019/control_loops/drivetrain/target_selector.h
+++ b/y2019/control_loops/drivetrain/target_selector.h
@@ -5,8 +5,8 @@
 #include "frc971/control_loops/drivetrain/localizer.h"
 #include "y2019/constants.h"
 #include "y2019/control_loops/drivetrain/camera.h"
-#include "y2019/control_loops/drivetrain/target_selector.q.h"
-#include "y2019/control_loops/superstructure/superstructure.q.h"
+#include "y2019/control_loops/drivetrain/target_selector_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
 
 namespace y2019 {
 namespace control_loops {
@@ -68,8 +68,7 @@
   FakeCamera back_viewer_;
 
   ::aos::Fetcher<drivetrain::TargetSelectorHint> hint_fetcher_;
-  ::aos::Fetcher<superstructure::SuperstructureQueue::Goal>
-      superstructure_goal_fetcher_;
+  ::aos::Fetcher<superstructure::Goal> superstructure_goal_fetcher_;
 
   // Whether we are currently in ball mode.
   bool ball_mode_ = false;
diff --git a/y2019/control_loops/drivetrain/target_selector.q b/y2019/control_loops/drivetrain/target_selector.q
deleted file mode 100644
index 021bd3a..0000000
--- a/y2019/control_loops/drivetrain/target_selector.q
+++ /dev/null
@@ -1,12 +0,0 @@
-package y2019.control_loops.drivetrain;
-
-// A message to provide information to the target selector about what it should
-// The drivetrain listens on ".y2019.control_loops.drivetrain.target_selector_hint"
-message TargetSelectorHint {
-  // Which target we should go for:
-  // 0 implies no selection, we should just default to whatever.
-  // 1, 2, and 3 imply the near, middle, and far targets.
-  // 4 implies far side of the rocket ship.
-  // These should match the SelectionHint enum in target_selector.h.
-  uint8_t suggested_target;
-};
diff --git a/y2019/control_loops/drivetrain/target_selector_test.cc b/y2019/control_loops/drivetrain/target_selector_test.cc
index 32e060f..2e9028f 100644
--- a/y2019/control_loops/drivetrain/target_selector_test.cc
+++ b/y2019/control_loops/drivetrain/target_selector_test.cc
@@ -1,8 +1,8 @@
 #include "y2019/control_loops/drivetrain/target_selector.h"
 
-#include "aos/events/simulated-event-loop.h"
+#include "aos/events/simulated_event_loop.h"
 #include "gtest/gtest.h"
-#include "y2019/control_loops/superstructure/superstructure.q.h"
+#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
 
 namespace y2019 {
 namespace control_loops {
@@ -10,7 +10,6 @@
 
 typedef ::frc971::control_loops::TypedPose<double> Pose;
 typedef ::Eigen::Matrix<double, 5, 1> State;
-using SelectionHint = TargetSelector::SelectionHint;
 
 namespace {
 // Accessors to get some useful particular targets on the field:
@@ -29,7 +28,7 @@
 struct TestParams {
   State state;
   bool ball_mode;
-  SelectionHint selection_hint;
+  drivetrain::SelectionHint selection_hint;
   double command_speed;
   bool expect_target;
   Pose expected_pose;
@@ -38,18 +37,21 @@
 class TargetSelectorParamTest : public ::testing::TestWithParam<TestParams> {
  public:
   TargetSelectorParamTest()
-      : event_loop_(this->event_loop_factory_.MakeEventLoop()),
+      : configuration_(aos::configuration::ReadConfig("y2019/config.json")),
+        event_loop_factory_(&configuration_.message()),
+        event_loop_(this->event_loop_factory_.MakeEventLoop()),
         test_event_loop_(this->event_loop_factory_.MakeEventLoop()),
         target_selector_hint_sender_(
             test_event_loop_->MakeSender<
                 ::y2019::control_loops::drivetrain::TargetSelectorHint>(
-                ".y2019.control_loops.drivetrain.target_selector_hint")),
-        superstructure_goal_sender_(test_event_loop_->MakeSender<
-                                    ::y2019::control_loops::superstructure::
-                                        SuperstructureQueue::Goal>(
-            ".y2019.control_loops.superstructure.superstructure_queue.goal")) {}
+                "/drivetrain")),
+        superstructure_goal_sender_(
+            test_event_loop_
+                ->MakeSender<::y2019::control_loops::superstructure::Goal>(
+                    "/superstructure")) {}
 
  private:
+  aos::FlatbufferDetachedBuffer<aos::Configuration> configuration_;
   ::aos::SimulatedEventLoopFactory event_loop_factory_;
 
  protected:
@@ -58,22 +60,33 @@
 
   ::aos::Sender<::y2019::control_loops::drivetrain::TargetSelectorHint>
       target_selector_hint_sender_;
-  ::aos::Sender<::y2019::control_loops::superstructure::SuperstructureQueue::Goal>
+  ::aos::Sender<::y2019::control_loops::superstructure::Goal>
       superstructure_goal_sender_;
-
 };
 
 TEST_P(TargetSelectorParamTest, ExpectReturn) {
   TargetSelector selector(event_loop_.get());
   {
-    auto super_goal = superstructure_goal_sender_.MakeMessage();
-    super_goal->suction.gamepiece_mode = GetParam().ball_mode ? 0 : 1;
-    ASSERT_TRUE(super_goal.Send());
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    superstructure::SuctionGoal::Builder suction_builder =
+        builder.MakeBuilder<superstructure::SuctionGoal>();
+
+    suction_builder.add_gamepiece_mode(GetParam().ball_mode ? 0 : 1);
+
+    flatbuffers::Offset<superstructure::SuctionGoal> suction_offset =
+        suction_builder.Finish();
+
+    superstructure::Goal::Builder goal_builder =
+        builder.MakeBuilder<superstructure::Goal>();
+
+    goal_builder.add_suction(suction_offset);
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
   }
   {
-    auto hint = target_selector_hint_sender_.MakeMessage();
-    hint->suggested_target = static_cast<int>(GetParam().selection_hint);
-    ASSERT_TRUE(hint.Send());
+    auto builder = target_selector_hint_sender_.MakeBuilder();
+    ASSERT_TRUE(builder.Send(drivetrain::CreateTargetSelectorHint(
+        *builder.fbb(), GetParam().selection_hint)));
   }
   bool expect_target = GetParam().expect_target;
   const State state = GetParam().state;
@@ -105,7 +118,7 @@
         // targets:
         TestParams{(State() << 0.0, 0.0, 0.0, 1.0, 1.0).finished(),
                    /*ball_mode=*/false,
-                   SelectionHint::kNone,
+                   drivetrain::SelectionHint_NONE,
                    1.0,
                    false,
                    {},
@@ -114,41 +127,43 @@
         // anything.
         TestParams{(State() << 4.0, 2.0, M_PI, 0.05, 0.05).finished(),
                    /*ball_mode=*/false,
-                   SelectionHint::kNone,
+                   drivetrain::SelectionHint_NONE,
                    0.05,
                    false,
                    {},
                    /*expected_radius=*/0.0},
         TestParams{(State() << 4.0, 2.0, M_PI, -0.05, -0.05).finished(),
                    /*ball_mode=*/false,
-                   SelectionHint::kNone,
+                   drivetrain::SelectionHint_NONE,
                    -0.05,
                    false,
                    {},
                    /*expected_radius=*/0.0},
         TestParams{(State() << 4.0, 2.0, M_PI, 0.5, 0.5).finished(),
-                   /*ball_mode=*/false, SelectionHint::kNone, 1.0, true,
-                   HPSlotLeft(), /*expected_radius=*/0.0},
+                   /*ball_mode=*/false, drivetrain::SelectionHint_NONE, 1.0,
+                   true, HPSlotLeft(), /*expected_radius=*/0.0},
         // Put ourselves between the rocket and cargo ship; we should see the
         // hatches driving one direction and the near cargo ship port the other.
         // We also command a speed opposite the current direction of motion and
         // confirm that that behaves as expected.
         TestParams{(State() << 6.0, 2.0, -M_PI_2, -0.5, -0.5).finished(),
-                   /*ball_mode=*/false, SelectionHint::kNone, 1.0, true,
-                   CargoNearLeft(), /*expected_radius=*/HatchRadius()},
+                   /*ball_mode=*/false, drivetrain::SelectionHint_NONE, 1.0,
+                   true, CargoNearLeft(), /*expected_radius=*/HatchRadius()},
         TestParams{(State() << 6.0, 2.0, M_PI_2, 0.5, 0.5).finished(),
-                   /*ball_mode=*/false, SelectionHint::kNone, -1.0, true,
-                   CargoNearLeft(), /*expected_radius=*/HatchRadius()},
+                   /*ball_mode=*/false, drivetrain::SelectionHint_NONE, -1.0,
+                   true, CargoNearLeft(), /*expected_radius=*/HatchRadius()},
         TestParams{(State() << 6.0, 2.0, -M_PI_2, 0.5, 0.5).finished(),
-                   /*ball_mode=*/false, SelectionHint::kNone, -1.0, true,
-                   RocketHatchFarLeft(), /*expected_radius=*/HatchRadius()},
+                   /*ball_mode=*/false, drivetrain::SelectionHint_NONE, -1.0,
+                   true, RocketHatchFarLeft(),
+                   /*expected_radius=*/HatchRadius()},
         TestParams{(State() << 6.0, 2.0, M_PI_2, -0.5, -0.5).finished(),
-                   /*ball_mode=*/false, SelectionHint::kNone, 1.0, true,
-                   RocketHatchFarLeft(), /*expected_radius=*/HatchRadius()},
+                   /*ball_mode=*/false, drivetrain::SelectionHint_NONE, 1.0,
+                   true, RocketHatchFarLeft(),
+                   /*expected_radius=*/HatchRadius()},
         // And we shouldn't see anything spinning in place:
         TestParams{(State() << 6.0, 2.0, M_PI_2, -0.5, 0.5).finished(),
                    /*ball_mode=*/false,
-                   SelectionHint::kNone,
+                   drivetrain::SelectionHint_NONE,
                    0.0,
                    false,
                    {},
@@ -156,7 +171,7 @@
         // Drive backwards off the field--we should not see anything.
         TestParams{(State() << -0.1, 0.0, 0.0, -0.5, -0.5).finished(),
                    /*ball_mode=*/false,
-                   SelectionHint::kNone,
+                   drivetrain::SelectionHint_NONE,
                    -1.0,
                    false,
                    {},
@@ -164,21 +179,14 @@
         // In ball mode, we should be able to see the portal, and get zero
         // radius.
         TestParams{(State() << 6.0, 2.0, M_PI_2, 0.5, 0.5).finished(),
-                   /*ball_mode=*/true,
-                   SelectionHint::kNone,
-                   1.0,
-                   true,
-                   RocketPortal(),
+                   /*ball_mode=*/true, drivetrain::SelectionHint_NONE, 1.0,
+                   true, RocketPortal(),
                    /*expected_radius=*/0.0},
         // Reversing direction should get cargo ship with zero radius.
         TestParams{(State() << 6.0, 2.0, M_PI_2, 0.5, 0.5).finished(),
-                   /*ball_mode=*/true,
-                   SelectionHint::kNone,
-                   -1.0,
-                   true,
-                   CargoNearLeft(),
-                   /*expected_radius=*/0.0}
-                   ));
+                   /*ball_mode=*/true, drivetrain::SelectionHint_NONE, -1.0,
+                   true, CargoNearLeft(),
+                   /*expected_radius=*/0.0}));
 
 }  // namespace testing
 }  // namespace control_loops
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;
diff --git a/y2019/jevois/BUILD b/y2019/jevois/BUILD
index 599bcba..0363ced 100644
--- a/y2019/jevois/BUILD
+++ b/y2019/jevois/BUILD
@@ -66,7 +66,7 @@
     deps = [
         "//aos/containers:sized_array",
         "//aos/time",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -79,7 +79,7 @@
     deps = [
         "//aos/containers:sized_array",
         "//aos/time:time_mcu",
-        "//third_party/eigen",
+        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index 9450b13..da43495 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -11,27 +11,30 @@
 #include "aos/input/drivetrain_input.h"
 #include "aos/input/joystick_input.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/logging.h"
 #include "aos/network/team_number.h"
 #include "aos/util/log_interval.h"
 #include "aos/vision/events/udp.h"
 #include "external/com_google_protobuf/src/google/protobuf/stubs/stringprintf.h"
-#include "frc971/autonomous/auto.q.h"
 #include "frc971/autonomous/base_autonomous_actor.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/control_loops/drivetrain/localizer.q.h"
+#include "frc971/control_loops/drivetrain/localizer_generated.h"
 
 #include "y2019/control_loops/drivetrain/drivetrain_base.h"
-#include "y2019/control_loops/drivetrain/target_selector.q.h"
-#include "y2019/control_loops/superstructure/superstructure.q.h"
-#include "y2019/status_light.q.h"
+#include "y2019/control_loops/drivetrain/target_selector_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2019/status_light_generated.h"
 #include "y2019/vision.pb.h"
 
-using ::aos::input::driver_station::ButtonLocation;
-using ::aos::input::driver_station::ControlBit;
-using ::aos::input::driver_station::JoystickAxis;
-using ::aos::input::driver_station::POVLocation;
-using ::aos::events::ProtoTXUdpSocket;
+using aos::events::ProtoTXUdpSocket;
+using aos::input::driver_station::ButtonLocation;
+using aos::input::driver_station::ControlBit;
+using aos::input::driver_station::JoystickAxis;
+using aos::input::driver_station::POVLocation;
+using frc971::CreateProfileParameters;
+using frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
+using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
+using frc971::control_loops::drivetrain::LocalizerControl;
 
 namespace chrono = ::std::chrono;
 
@@ -39,6 +42,8 @@
 namespace input {
 namespace joysticks {
 
+namespace superstructure = y2019::control_loops::superstructure;
+
 using google::protobuf::StringPrintf;
 
 struct ElevatorWristPosition {
@@ -143,36 +148,31 @@
         target_selector_hint_sender_(
             event_loop->MakeSender<
                 ::y2019::control_loops::drivetrain::TargetSelectorHint>(
-                ".y2019.control_loops.drivetrain.target_selector_hint")),
+                "/drivetrain")),
         localizer_control_sender_(
-            event_loop->MakeSender<
-                ::frc971::control_loops::drivetrain::LocalizerControl>(
-                ".frc971.control_loops.drivetrain.localizer_control")),
+            event_loop->MakeSender<LocalizerControl>("/drivetrain")),
         camera_log_sender_(
-            event_loop->MakeSender<::y2019::CameraLog>(".y2019.camera_log")),
-        superstructure_goal_fetcher_(event_loop->MakeFetcher<
-                                     ::y2019::control_loops::superstructure::
-                                         SuperstructureQueue::Goal>(
-            ".y2019.control_loops.superstructure.superstructure_queue.goal")),
-        superstructure_goal_sender_(event_loop->MakeSender<
-                                    ::y2019::control_loops::superstructure::
-                                        SuperstructureQueue::Goal>(
-            ".y2019.control_loops.superstructure.superstructure_queue.goal")),
+            event_loop->MakeSender<::y2019::CameraLog>("/camera")),
+        superstructure_goal_fetcher_(
+            event_loop->MakeFetcher<superstructure::Goal>("/superstructure")),
+        superstructure_goal_sender_(
+            event_loop->MakeSender<superstructure::Goal>("/superstructure")),
         superstructure_position_fetcher_(
-            event_loop->MakeFetcher<::y2019::control_loops::superstructure::
-                                        SuperstructureQueue::Position>(
-                ".y2019.control_loops.superstructure.superstructure_queue."
-                "position")),
+            event_loop->MakeFetcher<superstructure::Position>(
+                "/superstructure")),
         superstructure_status_fetcher_(
-            event_loop->MakeFetcher<::y2019::control_loops::superstructure::
-                                        SuperstructureQueue::Status>(
-                ".y2019.control_loops.superstructure.superstructure_queue."
-                "status")) {
+            event_loop->MakeFetcher<superstructure::Status>(
+                "/superstructure")) {
     const uint16_t team = ::aos::network::GetTeamNumber();
     superstructure_goal_fetcher_.Fetch();
     if (superstructure_goal_fetcher_.get()) {
-      grab_piece_ = superstructure_goal_fetcher_->suction.grab_piece;
-      switch_ball_ = superstructure_goal_fetcher_->suction.gamepiece_mode == 0;
+      grab_piece_ = superstructure_goal_fetcher_->has_suction()
+                        ? superstructure_goal_fetcher_->suction()->grab_piece()
+                        : false;
+      switch_ball_ =
+          superstructure_goal_fetcher_->has_suction()
+              ? (superstructure_goal_fetcher_->suction()->gamepiece_mode() == 0)
+              : true;
     }
     video_tx_.reset(new ProtoTXUdpSocket<VisionControl>(
         StringPrintf("10.%d.%d.179", team / 100, team % 100), 5000));
@@ -195,106 +195,172 @@
       return;
     }
 
-    if (!superstructure_status_fetcher_->has_piece) {
+    CHECK(superstructure_status_fetcher_->has_stilts());
+
+    if (!superstructure_status_fetcher_->has_piece()) {
       last_not_has_piece_ = monotonic_now;
     }
 
-    auto new_superstructure_goal = superstructure_goal_sender_.MakeMessage();
+    auto main_superstructure_goal_builder =
+        superstructure_goal_sender_.MakeBuilder();
+
+    flatbuffers::Offset<superstructure::Goal> superstructure_goal_offset;
 
     {
-      auto target_hint = target_selector_hint_sender_.MakeMessage();
+      flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+          elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+              *main_superstructure_goal_builder.fbb(), 0.0,
+              CreateProfileParameters(*main_superstructure_goal_builder.fbb(),
+                                      0.0, 0.0));
+
+      flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+          intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+              *main_superstructure_goal_builder.fbb(), -1.2);
+
+      flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+          wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+              *main_superstructure_goal_builder.fbb(), 0.0,
+              CreateProfileParameters(*main_superstructure_goal_builder.fbb(),
+                                      0.0, 0.0));
+
+      flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+          stilts_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+              *main_superstructure_goal_builder.fbb(), 0.0,
+              CreateProfileParameters(*main_superstructure_goal_builder.fbb(),
+                                      0.0, 0.0));
+
+      superstructure::Goal::Builder superstructure_goal_builder =
+          main_superstructure_goal_builder.MakeBuilder<superstructure::Goal>();
+
+      superstructure_goal_builder.add_elevator(elevator_offset);
+      superstructure_goal_builder.add_intake(intake_offset);
+      superstructure_goal_builder.add_wrist(wrist_offset);
+      superstructure_goal_builder.add_stilts(stilts_offset);
+      superstructure_goal_builder.add_roller_voltage(0.0);
+
+      superstructure_goal_offset = superstructure_goal_builder.Finish();
+    }
+    superstructure::Goal *mutable_superstructure_goal =
+        GetMutableTemporaryPointer(*main_superstructure_goal_builder.fbb(),
+                                   superstructure_goal_offset);
+
+    {
+      auto builder = target_selector_hint_sender_.MakeBuilder();
+      control_loops::drivetrain::TargetSelectorHint::Builder
+          target_selector_hint_builder =
+              builder
+                  .MakeBuilder<control_loops::drivetrain::TargetSelectorHint>();
       if (data.IsPressed(kNearCargoHint)) {
-        target_hint->suggested_target = 1;
+        target_selector_hint_builder.add_suggested_target(
+            control_loops::drivetrain::SelectionHint_NEAR_SHIP);
       } else if (data.IsPressed(kMidCargoHint)) {
-        target_hint->suggested_target = 2;
+        target_selector_hint_builder.add_suggested_target(
+            control_loops::drivetrain::SelectionHint_MID_SHIP);
       } else if (data.IsPressed(kFarCargoHint)) {
-        target_hint->suggested_target = 3;
+        target_selector_hint_builder.add_suggested_target(
+            control_loops::drivetrain::SelectionHint_FAR_SHIP);
       } else {
         const double cargo_joy_y = data.GetAxis(kCargoSelectorY);
         const double cargo_joy_x = data.GetAxis(kCargoSelectorX);
         if (cargo_joy_y > 0.5) {
-          target_hint->suggested_target = 1;
+          target_selector_hint_builder.add_suggested_target(
+            control_loops::drivetrain::SelectionHint_NEAR_SHIP);
         } else if (cargo_joy_y < -0.5) {
-          target_hint->suggested_target = 3;
+          target_selector_hint_builder.add_suggested_target(
+              control_loops::drivetrain::SelectionHint_FAR_SHIP);
         } else if (::std::abs(cargo_joy_x) > 0.5) {
-          target_hint->suggested_target = 2;
+          target_selector_hint_builder.add_suggested_target(
+            control_loops::drivetrain::SelectionHint_MID_SHIP);
         } else {
-          target_hint->suggested_target = 0;
+          target_selector_hint_builder.add_suggested_target(
+            control_loops::drivetrain::SelectionHint_NONE);
         }
       }
-      if (!target_hint.Send()) {
+      if (!builder.Send(target_selector_hint_builder.Finish())) {
         AOS_LOG(ERROR, "Failed to send target selector hint.\n");
       }
     }
 
     if (data.PosEdge(kResetLocalizerLeft)) {
-      auto localizer_resetter = localizer_control_sender_.MakeMessage();
+      auto builder = localizer_control_sender_.MakeBuilder();
       // Start at the left feeder station.
-      localizer_resetter->x = 0.6;
-      localizer_resetter->y = 3.4;
-      localizer_resetter->keep_current_theta = true;
+      LocalizerControl::Builder localizer_control_builder =
+          builder.MakeBuilder<LocalizerControl>();
+      localizer_control_builder.add_x(0.6);
+      localizer_control_builder.add_y(3.4);
+      localizer_control_builder.add_keep_current_theta(true);
 
-      if (!localizer_resetter.Send()) {
+      if (!builder.Send(localizer_control_builder.Finish())) {
         AOS_LOG(ERROR, "Failed to reset localizer.\n");
       }
     }
 
     if (data.PosEdge(kResetLocalizerRight)) {
-      auto localizer_resetter = localizer_control_sender_.MakeMessage();
-      // Start at the left feeder station.
-      localizer_resetter->x = 0.6;
-      localizer_resetter->y = -3.4;
-      localizer_resetter->keep_current_theta = true;
+      auto builder = localizer_control_sender_.MakeBuilder();
+      // Start at the right feeder station.
+      LocalizerControl::Builder localizer_control_builder =
+          builder.MakeBuilder<LocalizerControl>();
+      localizer_control_builder.add_x(0.6);
+      localizer_control_builder.add_y(-3.4);
+      localizer_control_builder.add_keep_current_theta(true);
 
-      if (!localizer_resetter.Send()) {
+      if (!builder.Send(localizer_control_builder.Finish())) {
         AOS_LOG(ERROR, "Failed to reset localizer.\n");
       }
     }
 
     if (data.PosEdge(kResetLocalizerLeftForwards)) {
-      auto localizer_resetter = localizer_control_sender_.MakeMessage();
+      auto builder = localizer_control_sender_.MakeBuilder();
       // Start at the left feeder station.
-      localizer_resetter->x = 0.4;
-      localizer_resetter->y = 3.4;
-      localizer_resetter->theta = 0.0;
+      LocalizerControl::Builder localizer_control_builder =
+          builder.MakeBuilder<LocalizerControl>();
+      localizer_control_builder.add_x(0.4);
+      localizer_control_builder.add_y(3.4);
+      localizer_control_builder.add_theta(0.0);
 
-      if (!localizer_resetter.Send()) {
+      if (!builder.Send(localizer_control_builder.Finish())) {
         AOS_LOG(ERROR, "Failed to reset localizer.\n");
       }
     }
 
     if (data.PosEdge(kResetLocalizerLeftBackwards)) {
-      auto localizer_resetter = localizer_control_sender_.MakeMessage();
+      auto builder = localizer_control_sender_.MakeBuilder();
       // Start at the left feeder station.
-      localizer_resetter->x = 0.4;
-      localizer_resetter->y = 3.4;
-      localizer_resetter->theta = M_PI;
+      LocalizerControl::Builder localizer_control_builder =
+          builder.MakeBuilder<LocalizerControl>();
+      localizer_control_builder.add_x(0.4);
+      localizer_control_builder.add_y(3.4);
+      localizer_control_builder.add_theta(M_PI);
 
-      if (!localizer_resetter.Send()) {
+      if (!builder.Send(localizer_control_builder.Finish())) {
         AOS_LOG(ERROR, "Failed to reset localizer.\n");
       }
     }
 
     if (data.PosEdge(kResetLocalizerRightForwards)) {
-      auto localizer_resetter = localizer_control_sender_.MakeMessage();
+      auto builder = localizer_control_sender_.MakeBuilder();
       // Start at the right feeder station.
-      localizer_resetter->x = 0.4;
-      localizer_resetter->y = -3.4;
-      localizer_resetter->theta = 0.0;
+      LocalizerControl::Builder localizer_control_builder =
+          builder.MakeBuilder<LocalizerControl>();
+      localizer_control_builder.add_x(0.4);
+      localizer_control_builder.add_y(-3.4);
+      localizer_control_builder.add_theta(0.0);
 
-      if (!localizer_resetter.Send()) {
+      if (!builder.Send(localizer_control_builder.Finish())) {
         AOS_LOG(ERROR, "Failed to reset localizer.\n");
       }
     }
 
     if (data.PosEdge(kResetLocalizerRightBackwards)) {
-      auto localizer_resetter = localizer_control_sender_.MakeMessage();
+      auto builder = localizer_control_sender_.MakeBuilder();
       // Start at the right feeder station.
-      localizer_resetter->x = 0.4;
-      localizer_resetter->y = -3.4;
-      localizer_resetter->theta = M_PI;
+      LocalizerControl::Builder localizer_control_builder =
+          builder.MakeBuilder<LocalizerControl>();
+      localizer_control_builder.add_x(0.4);
+      localizer_control_builder.add_y(-3.4);
+      localizer_control_builder.add_theta(M_PI);
 
-      if (!localizer_resetter.Send()) {
+      if (!builder.Send(localizer_control_builder.Finish())) {
         AOS_LOG(ERROR, "Failed to reset localizer.\n");
       }
     }
@@ -302,7 +368,7 @@
     if (data.PosEdge(kRelease) &&
         monotonic_now >
             last_release_button_press_ + ::std::chrono::milliseconds(500)) {
-      if (superstructure_status_fetcher_->has_piece) {
+      if (superstructure_status_fetcher_->has_piece()) {
         release_mode_ = ReleaseButtonMode::kRelease;
       } else {
         release_mode_ = ReleaseButtonMode::kBallIntake;
@@ -313,7 +379,8 @@
       last_release_button_press_ = monotonic_now;
     }
 
-    AOS_LOG(INFO, "has_piece: %d\n", superstructure_status_fetcher_->has_piece);
+    AOS_LOG(INFO, "has_piece: %d\n",
+            superstructure_status_fetcher_->has_piece());
     if (data.IsPressed(kSuctionBall)) {
       grab_piece_ = true;
     } else if (data.IsPressed(kSuctionHatch)) {
@@ -321,7 +388,7 @@
     } else if ((release_mode_ == ReleaseButtonMode::kRelease &&
                 data.IsPressed(kRelease)) ||
                data.IsPressed(kReleaseButtonBoard) ||
-               !superstructure_status_fetcher_->has_piece) {
+               !superstructure_status_fetcher_->has_piece()) {
       grab_piece_ = false;
       AOS_LOG(INFO, "releasing due to other thing\n");
     }
@@ -329,8 +396,8 @@
     if (data.IsPressed(kRocketBackwardUnpressed)) {
       elevator_wrist_pos_ = kStowPos;
     }
-    new_superstructure_goal->intake.unsafe_goal = -1.2;
-    new_superstructure_goal->roller_voltage = 0.0;
+    mutable_superstructure_goal->mutable_intake()->mutate_unsafe_goal(-1.2);
+    mutable_superstructure_goal->mutate_roller_voltage(0.0);
 
     const bool kDoBallIntake =
         (!climbed_ && release_mode_ == ReleaseButtonMode::kBallIntake &&
@@ -345,8 +412,10 @@
     }
 
     if (switch_ball_) {
-      if (superstructure_status_fetcher_->has_piece) {
-        new_superstructure_goal->wrist.profile_params.max_acceleration = 20;
+      if (superstructure_status_fetcher_->has_piece()) {
+        mutable_superstructure_goal->mutable_wrist()
+            ->mutable_profile_params()
+            ->mutate_max_acceleration(20);
       }
 
       // Go to intake position and apply vacuum
@@ -411,18 +480,18 @@
       if (kDoBallOutake ||
           (kDoBallIntake &&
            monotonic_now < last_not_has_piece_ + chrono::milliseconds(200))) {
-        new_superstructure_goal->intake.unsafe_goal = 0.83;
+        mutable_superstructure_goal->mutable_intake()->mutate_unsafe_goal(0.83);
       }
 
-      if (kDoBallIntake && !superstructure_status_fetcher_->has_piece) {
+      if (kDoBallIntake && !superstructure_status_fetcher_->has_piece()) {
         elevator_wrist_pos_ = kBallIntakePos;
-        new_superstructure_goal->roller_voltage = 9.0;
+        mutable_superstructure_goal->mutate_roller_voltage(9.0);
         grab_piece_ = true;
       } else {
         if (kDoBallOutake) {
-          new_superstructure_goal->roller_voltage = -6.0;
+          mutable_superstructure_goal->mutate_roller_voltage(-6.0);
         } else {
-          new_superstructure_goal->roller_voltage = 0.0;
+          mutable_superstructure_goal->mutate_roller_voltage(0.0);
         }
       }
     }
@@ -430,47 +499,70 @@
     constexpr double kDeployStiltPosition = 0.5;
 
     if (data.IsPressed(kFallOver)) {
-      new_superstructure_goal->stilts.unsafe_goal = 0.71;
-      new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
-      new_superstructure_goal->stilts.profile_params.max_acceleration = 1.25;
+      mutable_superstructure_goal->mutable_stilts()->mutate_unsafe_goal(0.71);
+      mutable_superstructure_goal->mutable_stilts()
+          ->mutable_profile_params()
+          ->mutate_max_velocity(0.65);
+      mutable_superstructure_goal->mutable_stilts()
+          ->mutable_profile_params()
+          ->mutate_max_acceleration(1.25);
     } else if (data.IsPressed(kHalfStilt)) {
       was_above_ = false;
-      new_superstructure_goal->stilts.unsafe_goal = 0.345;
-      new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
+      mutable_superstructure_goal->mutable_stilts()->mutate_unsafe_goal ( 0.345);
+      mutable_superstructure_goal->mutable_stilts()->mutable_profile_params()->mutate_max_velocity ( 0.65);
     } else if (data.IsPressed(kDeployStilt) || was_above_) {
-      new_superstructure_goal->stilts.unsafe_goal = kDeployStiltPosition;
-      new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
-      new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
+      mutable_superstructure_goal->mutable_stilts()->mutate_unsafe_goal(
+          kDeployStiltPosition);
+      mutable_superstructure_goal->mutable_stilts()
+          ->mutable_profile_params()
+          ->mutate_max_velocity(0.65);
+      mutable_superstructure_goal->mutable_stilts()
+          ->mutable_profile_params()
+          ->mutate_max_acceleration(2.0);
     } else {
-      new_superstructure_goal->stilts.unsafe_goal = 0.005;
-      new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
-      new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
+      mutable_superstructure_goal->mutable_stilts()->mutate_unsafe_goal(0.005);
+      mutable_superstructure_goal->mutable_stilts()
+          ->mutable_profile_params()
+          ->mutate_max_velocity(0.65);
+      mutable_superstructure_goal->mutable_stilts()
+          ->mutable_profile_params()
+          ->mutate_max_acceleration(2.0);
     }
 
-    if (superstructure_status_fetcher_->stilts.position > 0.1) {
+    if (superstructure_status_fetcher_->stilts()->position() > 0.1) {
       elevator_wrist_pos_ = kClimbPos;
       climbed_ = true;
-      new_superstructure_goal->wrist.profile_params.max_acceleration = 10;
-      new_superstructure_goal->elevator.profile_params.max_acceleration = 6;
+      mutable_superstructure_goal->mutable_wrist()
+          ->mutable_profile_params()
+          ->mutate_max_acceleration(10);
+      mutable_superstructure_goal->mutable_elevator()
+          ->mutable_profile_params()
+          ->mutate_max_acceleration(6);
     }
 
     // If we've been asked to go above deploy and made it up that high, latch
     // was_above.
-    if (new_superstructure_goal->stilts.unsafe_goal > kDeployStiltPosition &&
-        superstructure_status_fetcher_->stilts.position >=
+    if (mutable_superstructure_goal->stilts()->unsafe_goal() >
+            kDeployStiltPosition &&
+        superstructure_status_fetcher_->stilts()->position() >=
             kDeployStiltPosition) {
       was_above_ = true;
-    } else if ((superstructure_position_fetcher_->platform_left_detect &&
-                superstructure_position_fetcher_->platform_right_detect) &&
+    } else if ((superstructure_position_fetcher_->platform_left_detect() &&
+                superstructure_position_fetcher_->platform_right_detect()) &&
                !data.IsPressed(kDeployStilt) && !data.IsPressed(kFallOver)) {
       was_above_ = false;
     }
 
-    if (superstructure_status_fetcher_->stilts.position >
+    if (superstructure_status_fetcher_->stilts()->position() >
             kDeployStiltPosition &&
-        new_superstructure_goal->stilts.unsafe_goal == kDeployStiltPosition) {
-      new_superstructure_goal->stilts.profile_params.max_velocity = 0.30;
-      new_superstructure_goal->stilts.profile_params.max_acceleration = 0.75;
+        mutable_superstructure_goal->stilts()->unsafe_goal() ==
+            kDeployStiltPosition) {
+      mutable_superstructure_goal->mutable_stilts()
+          ->mutable_profile_params()
+          ->mutate_max_velocity(0.30);
+      mutable_superstructure_goal->mutable_stilts()
+          ->mutable_profile_params()
+          ->mutate_max_acceleration(0.75);
     }
 
     if ((release_mode_ == ReleaseButtonMode::kRelease &&
@@ -481,21 +573,22 @@
     }
 
     if (switch_ball_) {
-      new_superstructure_goal->suction.gamepiece_mode = 0;
+      mutable_superstructure_goal->mutable_suction()->mutate_gamepiece_mode(0);
     } else {
-      new_superstructure_goal->suction.gamepiece_mode = 1;
+      mutable_superstructure_goal->mutable_suction()->mutate_gamepiece_mode(1);
     }
 
     vision_control_.set_flip_image(elevator_wrist_pos_.wrist < 0);
 
-    new_superstructure_goal->suction.grab_piece = grab_piece_;
+    mutable_superstructure_goal->mutable_suction()->mutate_grab_piece(
+        grab_piece_);
 
-    new_superstructure_goal->elevator.unsafe_goal =
-        elevator_wrist_pos_.elevator;
-    new_superstructure_goal->wrist.unsafe_goal = elevator_wrist_pos_.wrist;
+    mutable_superstructure_goal->mutable_elevator()->mutate_unsafe_goal(
+        elevator_wrist_pos_.elevator);
+    mutable_superstructure_goal->mutable_wrist()->mutate_unsafe_goal(
+        elevator_wrist_pos_.wrist);
 
-    AOS_LOG_STRUCT(DEBUG, "sending goal", *new_superstructure_goal);
-    if (!new_superstructure_goal.Send()) {
+    if (!main_superstructure_goal_builder.Send(superstructure_goal_offset)) {
       AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
     }
 
@@ -506,10 +599,8 @@
     }
 
     {
-      auto camera_log_message = camera_log_sender_.MakeMessage();
-      camera_log_message->log = data.IsPressed(kCameraLog);
-      AOS_LOG_STRUCT(DEBUG, "camera_log", *camera_log_message);
-      camera_log_message.Send();
+      auto builder = camera_log_sender_.MakeBuilder();
+      builder.Send(CreateCameraLog(*builder.fbb(), data.IsPressed(kCameraLog)));
     }
   }
 
@@ -517,26 +608,16 @@
   ::aos::Sender<::y2019::control_loops::drivetrain::TargetSelectorHint>
       target_selector_hint_sender_;
 
-  ::aos::Sender<::frc971::control_loops::drivetrain::LocalizerControl>
-      localizer_control_sender_;
+  ::aos::Sender<LocalizerControl> localizer_control_sender_;
 
   ::aos::Sender<::y2019::CameraLog> camera_log_sender_;
 
-  ::aos::Fetcher<
-      ::y2019::control_loops::superstructure::SuperstructureQueue::Goal>
-      superstructure_goal_fetcher_;
+  ::aos::Fetcher<superstructure::Goal> superstructure_goal_fetcher_;
 
-  ::aos::Sender<
-      ::y2019::control_loops::superstructure::SuperstructureQueue::Goal>
-      superstructure_goal_sender_;
+  ::aos::Sender<superstructure::Goal> superstructure_goal_sender_;
 
-  ::aos::Fetcher<
-      ::y2019::control_loops::superstructure::SuperstructureQueue::Position>
-      superstructure_position_fetcher_;
-  ::aos::Fetcher<
-      ::y2019::control_loops::superstructure::SuperstructureQueue::Status>
-      superstructure_status_fetcher_;
-
+  ::aos::Fetcher<superstructure::Position> superstructure_position_fetcher_;
+  ::aos::Fetcher<superstructure::Status> superstructure_status_fetcher_;
 
   // Bool to track if we've been above the deploy position.  Once this bool is
   // set, don't let the stilts retract until we see the platform.
@@ -576,7 +657,10 @@
 int main() {
   ::aos::InitNRT(true);
 
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
   ::y2019::input::joysticks::Reader reader(&event_loop);
 
   event_loop.Run();
diff --git a/y2019/status_light.fbs b/y2019/status_light.fbs
new file mode 100644
index 0000000..633b030
--- /dev/null
+++ b/y2019/status_light.fbs
@@ -0,0 +1,15 @@
+namespace y2019;
+
+table StatusLight {
+  // How bright to make each one. 0 is off, 1 is full on.
+  red:float;
+  green:float;
+  blue:float;
+}
+
+table CameraLog {
+  log:bool;
+}
+
+root_type CameraLog;
+root_type StatusLight;
diff --git a/y2019/status_light.q b/y2019/status_light.q
deleted file mode 100644
index 66e8ad7..0000000
--- a/y2019/status_light.q
+++ /dev/null
@@ -1,14 +0,0 @@
-package y2019;
-
-// Published on ".y2019.status_light"
-message StatusLight {
-  // How bright to make each one. 0 is off, 1 is full on.
-  float red;
-  float green;
-  float blue;
-};
-
-// Published on ".y2019.camera_log"
-message CameraLog {
-  bool log;
-};
diff --git a/y2019/vision/BUILD b/y2019/vision/BUILD
index c7f0009..22b973a 100644
--- a/y2019/vision/BUILD
+++ b/y2019/vision/BUILD
@@ -1,4 +1,3 @@
-load("//aos/build:queues.bzl", "queue_library")
 load("//tools/build_rules:gtk_dependent.bzl", "gtk_dependent_cc_binary", "gtk_dependent_cc_library")
 load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
 load("//tools:environments.bzl", "mcu_cpus")
diff --git a/y2019/vision/global_calibration.cc b/y2019/vision/global_calibration.cc
index 304f4cb..ac559b0 100644
--- a/y2019/vision/global_calibration.cc
+++ b/y2019/vision/global_calibration.cc
@@ -11,9 +11,6 @@
 #include "aos/vision/image/reader.h"
 #include "y2019/vision/target_finder.h"
 
-#undef CHECK_NOTNULL
-#undef CHECK_OP
-#undef PCHECK
 // CERES Clashes with logging symbols...
 #include "ceres/ceres.h"
 
diff --git a/y2019/vision/server/BUILD b/y2019/vision/server/BUILD
index 3600194..a7126e4 100644
--- a/y2019/vision/server/BUILD
+++ b/y2019/vision/server/BUILD
@@ -1,6 +1,6 @@
 load("//aos/seasocks:gen_embedded.bzl", "gen_embedded")
 load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
-load("//aos/downloader:downloader.bzl", "aos_downloader_dir")
+load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
 load("@build_bazel_rules_typescript//:defs.bzl", "ts_library")
 load("@build_bazel_rules_nodejs//:defs.bzl", "rollup_bundle")
 
@@ -49,15 +49,15 @@
         ":server_data_proto",
         "//aos:init",
         "//aos/containers:ring_buffer",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
         "//aos/logging",
         "//aos/seasocks:seasocks_logger",
         "//aos/time",
         "//frc971/control_loops:pose",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//third_party/seasocks",
         "//y2019:constants",
-        "//y2019/control_loops/drivetrain:camera_queue",
-        "//y2019/control_loops/superstructure:superstructure_queue",
+        "//y2019/control_loops/drivetrain:camera_fbs",
+        "//y2019/control_loops/superstructure:superstructure_status_fbs",
     ],
 )
diff --git a/y2019/vision/server/server.cc b/y2019/vision/server/server.cc
index e66a70b..91dc61a 100644
--- a/y2019/vision/server/server.cc
+++ b/y2019/vision/server/server.cc
@@ -8,11 +8,12 @@
 #include <sstream>
 
 #include "aos/containers/ring_buffer.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
 #include "aos/seasocks/seasocks_logger.h"
 #include "aos/time/time.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/pose.h"
 #include "google/protobuf/util/json_util.h"
 #include "internal/Embedded.h"
@@ -20,8 +21,8 @@
 #include "seasocks/StringUtil.h"
 #include "seasocks/WebSocket.h"
 #include "y2019/constants.h"
-#include "y2019/control_loops/drivetrain/camera.q.h"
-#include "y2019/control_loops/superstructure/superstructure.q.h"
+#include "y2019/control_loops/drivetrain/camera_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_status_generated.h"
 #include "y2019/vision/server/server_data.pb.h"
 
 namespace y2019 {
@@ -133,19 +134,21 @@
 }
 
 void DataThread(seasocks::Server *server, WebsocketHandler *websocket_handler) {
-  ::aos::ShmEventLoop event_loop;
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("config.json");
 
-  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Status>
+  ::aos::ShmEventLoop event_loop(&config.message());
+
+  ::aos::Fetcher<::frc971::control_loops::drivetrain::Status>
       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");
 
-  ::aos::Fetcher<
-      ::y2019::control_loops::superstructure::SuperstructureQueue::Status>
-      superstructure_status_fetcher = event_loop.MakeFetcher<
-          ::y2019::control_loops::superstructure::SuperstructureQueue::Status>(
-          ".y2019.control_loops.superstructure.superstructure_queue.status");
+  ::aos::Fetcher<::y2019::control_loops::superstructure::Status>
+      superstructure_status_fetcher =
+          event_loop
+              .MakeFetcher<::y2019::control_loops::superstructure::Status>(
+                  "/superstructure");
 
   ::std::array<LocalCameraFrame, 5> latest_frames;
   ::std::array<aos::monotonic_clock::time_point, 5> last_target_time;
@@ -155,7 +158,7 @@
   ::aos::RingBuffer<DrivetrainPosition, 200> drivetrain_log;
 
   event_loop.MakeWatcher(
-      ".y2019.control_loops.drivetrain.camera_frames",
+      "/drivetrain",
       [websocket_handler, server, &latest_frames, &last_target_time,
        &drivetrain_status_fetcher, &superstructure_status_fetcher,
        &last_send_time, &drivetrain_log,
@@ -163,9 +166,9 @@
                         &camera_frames) {
         while (drivetrain_status_fetcher.FetchNext()) {
           DrivetrainPosition drivetrain_position{
-              drivetrain_status_fetcher->sent_time,
-              drivetrain_status_fetcher->x, drivetrain_status_fetcher->y,
-              drivetrain_status_fetcher->theta};
+              drivetrain_status_fetcher.context().monotonic_sent_time,
+              drivetrain_status_fetcher->x(), drivetrain_status_fetcher->y(),
+              drivetrain_status_fetcher->theta()};
 
           drivetrain_log.Push(drivetrain_position);
         }
@@ -181,25 +184,26 @@
           const auto &new_frame = camera_frames;
           // TODO(james): Maybe we only want to fill out a new frame if it has
           // targets or the saved target is > 0.1 sec old? Not sure, but for now
-          if (new_frame.camera < latest_frames.size()) {
-            latest_frames[new_frame.camera].capture_time =
+          if (new_frame.camera() < latest_frames.size()) {
+            latest_frames[new_frame.camera()].capture_time =
                 aos::monotonic_clock::time_point(
-                    chrono::nanoseconds(new_frame.timestamp));
-            latest_frames[new_frame.camera].targets.clear();
-            if (new_frame.num_targets > 0) {
-              last_target_time[new_frame.camera] =
-                  latest_frames[new_frame.camera].capture_time;
+                    chrono::nanoseconds(new_frame.timestamp()));
+            latest_frames[new_frame.camera()].targets.clear();
+            if (new_frame.has_targets() && new_frame.targets()->size() > 0) {
+              last_target_time[new_frame.camera()] =
+                  latest_frames[new_frame.camera()].capture_time;
             }
-            for (int target = 0; target < new_frame.num_targets; ++target) {
-              latest_frames[new_frame.camera].targets.emplace_back();
-              const float heading = new_frame.targets[target].heading;
-              const float distance = new_frame.targets[target].distance;
-              latest_frames[new_frame.camera].targets.back().x =
+            for (const control_loops::drivetrain::CameraTarget *target :
+                 *new_frame.targets()) {
+              latest_frames[new_frame.camera()].targets.emplace_back();
+              const float heading = target->heading();
+              const float distance = target->distance();
+              latest_frames[new_frame.camera()].targets.back().x =
                   ::std::cos(heading) * distance;
-              latest_frames[new_frame.camera].targets.back().y =
+              latest_frames[new_frame.camera()].targets.back().y =
                   ::std::sin(heading) * distance;
-              latest_frames[new_frame.camera].targets.back().theta =
-                  new_frame.targets[target].skew;
+              latest_frames[new_frame.camera()].targets.back().theta =
+                  target->skew();
             }
           }
         }
@@ -235,32 +239,33 @@
 
         if (now > last_send_time + chrono::milliseconds(100)) {
           last_send_time = now;
-          debug_data.mutable_robot_pose()->set_x(drivetrain_status_fetcher->x);
-          debug_data.mutable_robot_pose()->set_y(drivetrain_status_fetcher->y);
+          debug_data.mutable_robot_pose()->set_x(drivetrain_status_fetcher->x());
+          debug_data.mutable_robot_pose()->set_y(drivetrain_status_fetcher->y());
           debug_data.mutable_robot_pose()->set_theta(
-              drivetrain_status_fetcher->theta);
+              drivetrain_status_fetcher->theta());
           {
             LineFollowDebug *line_debug =
                 debug_data.mutable_line_follow_debug();
             line_debug->set_frozen(
-                drivetrain_status_fetcher->line_follow_logging.frozen);
+                drivetrain_status_fetcher->line_follow_logging()->frozen());
             line_debug->set_have_target(
-                drivetrain_status_fetcher->line_follow_logging.have_target);
+                drivetrain_status_fetcher->line_follow_logging()->have_target());
             line_debug->mutable_goal_target()->set_x(
-                drivetrain_status_fetcher->line_follow_logging.x);
+                drivetrain_status_fetcher->line_follow_logging()->x());
             line_debug->mutable_goal_target()->set_y(
-                drivetrain_status_fetcher->line_follow_logging.y);
+                drivetrain_status_fetcher->line_follow_logging()->y());
             line_debug->mutable_goal_target()->set_theta(
-                drivetrain_status_fetcher->line_follow_logging.theta);
+                drivetrain_status_fetcher->line_follow_logging()->theta());
           }
 
           Sensors *sensors = debug_data.mutable_sensors();
-          sensors->set_wrist(superstructure_status_fetcher->wrist.position);
+          sensors->set_wrist(
+              superstructure_status_fetcher->wrist()->position());
           sensors->set_elevator(
-              superstructure_status_fetcher->elevator.position);
-          sensors->set_intake(superstructure_status_fetcher->intake.position);
-          sensors->set_stilts(superstructure_status_fetcher->stilts.position);
-          sensors->set_has_piece(superstructure_status_fetcher->has_piece);
+              superstructure_status_fetcher->elevator()->position());
+          sensors->set_intake(superstructure_status_fetcher->intake()->position());
+          sensors->set_stilts(superstructure_status_fetcher->stilts()->position());
+          sensors->set_has_piece(superstructure_status_fetcher->has_piece());
 
           ::std::string json;
           google::protobuf::util::MessageToJsonString(debug_data, &json);
diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index 4f09da1..227d3ca 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -20,20 +20,20 @@
 #undef ERROR
 
 #include "aos/commonmath.h"
-#include "aos/events/event-loop.h"
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/event_loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
 #include "aos/make_unique.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/realtime.h"
+#include "aos/robot_state/robot_state_generated.h"
 #include "aos/time/time.h"
 #include "aos/util/log_interval.h"
 #include "aos/util/phased_loop.h"
 #include "aos/util/wrapping_counter.h"
 #include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
-#include "frc971/autonomous/auto.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/autonomous/auto_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
 #include "frc971/wpilib/ADIS16448.h"
 #include "frc971/wpilib/buffered_pcm.h"
 #include "frc971/wpilib/buffered_solenoid.h"
@@ -41,24 +41,25 @@
 #include "frc971/wpilib/drivetrain_writer.h"
 #include "frc971/wpilib/encoder_and_potentiometer.h"
 #include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/logging_generated.h"
 #include "frc971/wpilib/loop_output_handler.h"
 #include "frc971/wpilib/pdp_fetcher.h"
 #include "frc971/wpilib/sensor_reader.h"
 #include "frc971/wpilib/wpilib_robot_base.h"
 #include "y2019/constants.h"
-#include "y2019/control_loops/drivetrain/camera.q.h"
-#include "y2019/control_loops/superstructure/superstructure.q.h"
+#include "y2019/control_loops/drivetrain/camera_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_position_generated.h"
 #include "y2019/jevois/spi.h"
-#include "y2019/status_light.q.h"
+#include "y2019/status_light_generated.h"
 
 #ifndef M_PI
 #define M_PI 3.14159265358979323846
 #endif
 
-using ::y2019::control_loops::superstructure::SuperstructureQueue;
 using ::y2019::constants::Values;
 using ::aos::monotonic_clock;
+namespace superstructure = ::y2019::control_loops::superstructure;
 namespace chrono = ::std::chrono;
 using aos::make_unique;
 
@@ -133,15 +134,14 @@
       : ::frc971::wpilib::SensorReader(event_loop),
         auto_mode_sender_(
             event_loop->MakeSender<::frc971::autonomous::AutonomousMode>(
-                ".frc971.autonomous.auto_mode")),
+                "/aos")),
         superstructure_position_sender_(
-            event_loop->MakeSender<SuperstructureQueue::Position>(
-                ".y2019.control_loops.superstructure.superstructure_queue."
-                "position")),
+            event_loop->MakeSender<superstructure::Position>(
+                "/superstructure")),
         drivetrain_position_sender_(
-            event_loop->MakeSender<
-                ::frc971::control_loops::DrivetrainQueue::Position>(
-                ".frc971.control_loops.drivetrain_queue.position")) {
+            event_loop
+                ->MakeSender<::frc971::control_loops::drivetrain::Position>(
+                    "/drivetrain")) {
     // Set to filter out anything shorter than 1/4 of the minimum pulse width
     // we should ever see.
     UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
@@ -233,79 +233,106 @@
 
   void RunIteration() override {
     {
-      auto drivetrain_message = drivetrain_position_sender_.MakeMessage();
-      drivetrain_message->left_encoder =
-          drivetrain_translate(drivetrain_left_encoder_->GetRaw());
-      drivetrain_message->left_speed =
-          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod());
+      auto builder = drivetrain_position_sender_.MakeBuilder();
+      frc971::control_loops::drivetrain::Position::Builder drivetrain_builder =
+          builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
+      drivetrain_builder.add_left_encoder(
+          drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
+      drivetrain_builder.add_left_speed(
+          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
 
-      drivetrain_message->right_encoder =
-          -drivetrain_translate(drivetrain_right_encoder_->GetRaw());
-      drivetrain_message->right_speed = -drivetrain_velocity_translate(
-          drivetrain_right_encoder_->GetPeriod());
+      drivetrain_builder.add_right_encoder(
+          -drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
+      drivetrain_builder.add_right_speed(-drivetrain_velocity_translate(
+          drivetrain_right_encoder_->GetPeriod()));
 
-      drivetrain_message.Send();
+      builder.Send(drivetrain_builder.Finish());
     }
     const auto values = constants::GetValues();
 
     {
-      auto superstructure_message =
-          superstructure_position_sender_.MakeMessage();
+      auto builder = superstructure_position_sender_.MakeBuilder();
 
       // Elevator
-      CopyPosition(elevator_encoder_, &superstructure_message->elevator,
+      frc971::PotAndAbsolutePositionT elevator;
+      CopyPosition(elevator_encoder_, &elevator,
                    Values::kElevatorEncoderCountsPerRevolution(),
                    Values::kElevatorEncoderRatio(), elevator_pot_translate,
                    false, values.elevator.potentiometer_offset);
+      flatbuffers::Offset<frc971::PotAndAbsolutePosition> elevator_offset =
+          frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &elevator);
+
       // Intake
-      CopyPosition(intake_encoder_, &superstructure_message->intake_joint,
+      frc971::AbsolutePositionT intake_joint;
+      CopyPosition(intake_encoder_, &intake_joint,
                    Values::kIntakeEncoderCountsPerRevolution(),
                    Values::kIntakeEncoderRatio(), false);
+      flatbuffers::Offset<frc971::AbsolutePosition> intake_joint_offset =
+          frc971::AbsolutePosition::Pack(*builder.fbb(), &intake_joint);
 
       // Wrist
-      CopyPosition(wrist_encoder_, &superstructure_message->wrist,
+      frc971::PotAndAbsolutePositionT wrist;
+      CopyPosition(wrist_encoder_, &wrist,
                    Values::kWristEncoderCountsPerRevolution(),
                    Values::kWristEncoderRatio(), wrist_pot_translate, false,
                    values.wrist.potentiometer_offset);
+      flatbuffers::Offset<frc971::PotAndAbsolutePosition> wrist_offset =
+          frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &wrist);
 
       // Stilts
-      CopyPosition(stilts_encoder_, &superstructure_message->stilts,
+      frc971::PotAndAbsolutePositionT stilts;
+      CopyPosition(stilts_encoder_, &stilts,
                    Values::kStiltsEncoderCountsPerRevolution(),
                    Values::kStiltsEncoderRatio(), stilts_pot_translate, false,
                    values.stilts.potentiometer_offset);
+      flatbuffers::Offset<frc971::PotAndAbsolutePosition> stilts_offset =
+          frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &stilts);
+
+      superstructure::Position::Builder position_builder =
+          builder.MakeBuilder<superstructure::Position>();
+
+      position_builder.add_elevator(elevator_offset);
+      position_builder.add_intake_joint(intake_joint_offset);
+      position_builder.add_wrist(wrist_offset);
+      position_builder.add_stilts(stilts_offset);
 
       // Suction
       constexpr float kMinVoltage = 0.5;
       constexpr float kMaxVoltage = 2.1;
-      superstructure_message->suction_pressure =
+      position_builder.add_suction_pressure(
           (vacuum_sensor_->GetVoltage() - kMinVoltage) /
-          (kMaxVoltage - kMinVoltage);
+          (kMaxVoltage - kMinVoltage));
 
-      superstructure_message->platform_left_detect =
-          !platform_left_detect_->Get();
-      superstructure_message->platform_right_detect =
-          !platform_right_detect_->Get();
+      position_builder.add_platform_left_detect(!platform_left_detect_->Get());
+      position_builder.add_platform_right_detect(
+          !platform_right_detect_->Get());
 
-      superstructure_message.Send();
+      builder.Send(position_builder.Finish());
     }
 
     {
-      auto auto_mode_message = auto_mode_sender_.MakeMessage();
-      auto_mode_message->mode = 0;
+      auto builder = auto_mode_sender_.MakeBuilder();
+
+      uint32_t mode = 0;
       for (size_t i = 0; i < autonomous_modes_.size(); ++i) {
         if (autonomous_modes_[i] && autonomous_modes_[i]->Get()) {
-          auto_mode_message->mode |= 1 << i;
+          mode |= 1 << i;
         }
       }
-      AOS_LOG_STRUCT(DEBUG, "auto mode", *auto_mode_message);
-      auto_mode_message.Send();
+
+      auto auto_mode_builder =
+          builder.MakeBuilder<frc971::autonomous::AutonomousMode>();
+
+      auto_mode_builder.add_mode(mode);
+
+      builder.Send(auto_mode_builder.Finish());
     }
   }
 
  private:
   ::aos::Sender<::frc971::autonomous::AutonomousMode> auto_mode_sender_;
-  ::aos::Sender<SuperstructureQueue::Position> superstructure_position_sender_;
-  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Position>
+  ::aos::Sender<superstructure::Position> superstructure_position_sender_;
+  ::aos::Sender<::frc971::control_loops::drivetrain::Position>
       drivetrain_position_sender_;
 
   ::frc971::wpilib::AbsoluteEncoderAndPotentiometer elevator_encoder_,
@@ -319,7 +346,6 @@
   ::std::array<::std::unique_ptr<frc::DigitalInput>, 2> autonomous_modes_;
 
   ::frc971::wpilib::AbsoluteEncoder intake_encoder_;
-  // TODO(sabina): Add wrist and elevator hall effects.
 };
 
 class CameraReader {
@@ -363,7 +389,7 @@
       to_teensy.camera_command = CameraCommand::kUsb;
     } else if (activate_passthrough_ && !activate_passthrough_->Get()) {
       to_teensy.camera_command = CameraCommand::kCameraPassthrough;
-    } else if (camera_log_fetcher_.get() && camera_log_fetcher_->log) {
+    } else if (camera_log_fetcher_.get() && camera_log_fetcher_->log()) {
       to_teensy.camera_command = CameraCommand::kLog;
     } else {
       to_teensy.camera_command = CameraCommand::kNormal;
@@ -388,25 +414,49 @@
       return;
     }
 
-    const auto now = aos::monotonic_clock::now();
+    const aos::monotonic_clock::time_point now = aos::monotonic_clock::now();
     for (const auto &received : unpacked->frames) {
-      auto to_send = camera_frame_sender_.MakeMessage();
+      auto builder = camera_frame_sender_.MakeBuilder();
+
+      std::array<
+          flatbuffers::Offset<y2019::control_loops::drivetrain::CameraTarget>,
+          3>
+          targets;
+
+      for (size_t i = 0; i < received.targets.size(); ++i) {
+        y2019::control_loops::drivetrain::CameraTarget::Builder
+            camera_target_builder = builder.MakeBuilder<
+                y2019::control_loops::drivetrain::CameraTarget>();
+
+        camera_target_builder.add_distance(received.targets[i].distance);
+        camera_target_builder.add_height(received.targets[i].height);
+        camera_target_builder.add_heading(received.targets[i].heading);
+        camera_target_builder.add_skew(received.targets[i].skew);
+
+        targets[i] = camera_target_builder.Finish();
+      }
+
+      flatbuffers::Offset<flatbuffers::Vector<
+          flatbuffers::Offset<y2019::control_loops::drivetrain::CameraTarget>>>
+          targets_offset = builder.fbb()->CreateVector(targets.begin(),
+                                                       received.targets.size());
+
+      y2019::control_loops::drivetrain::CameraFrame::Builder
+          camera_frame_builder =
+              builder
+                  .MakeBuilder<y2019::control_loops::drivetrain::CameraFrame>();
+
+      camera_frame_builder.add_targets(targets_offset);
+
       // Add an extra 10ms delay to account for unmodeled delays that Austin
       // thinks exists.
-      to_send->timestamp =
+      camera_frame_builder.add_timestamp(
           std::chrono::nanoseconds(
               (now - received.age - ::std::chrono::milliseconds(10))
-                  .time_since_epoch()).count();
-      to_send->num_targets = received.targets.size();
-      for (size_t i = 0; i < received.targets.size(); ++i) {
-        to_send->targets[i].distance = received.targets[i].distance;
-        to_send->targets[i].height = received.targets[i].height;
-        to_send->targets[i].heading = received.targets[i].heading;
-        to_send->targets[i].skew = received.targets[i].skew;
-      }
-      to_send->camera = received.camera_index;
-      AOS_LOG_STRUCT(DEBUG, "camera_frames", *to_send);
-      to_send.Send();
+                  .time_since_epoch())
+              .count());
+      camera_frame_builder.add_camera(received.camera_index);
+      builder.Send(camera_frame_builder.Finish());
     }
 
     if (dummy_spi_) {
@@ -458,14 +508,13 @@
 };
 
 class SuperstructureWriter
-    : public ::frc971::wpilib::LoopOutputHandler<SuperstructureQueue::Output> {
+    : public ::frc971::wpilib::LoopOutputHandler<superstructure::Output> {
  public:
   SuperstructureWriter(::aos::EventLoop *event_loop)
-      : ::frc971::wpilib::LoopOutputHandler<SuperstructureQueue::Output>(
-            event_loop,
-            ".y2019.control_loops.superstructure.superstructure_queue.output"),
+      : ::frc971::wpilib::LoopOutputHandler<superstructure::Output>(
+            event_loop, "/superstructure"),
         robot_state_fetcher_(
-            event_loop->MakeFetcher<::aos::RobotState>(".aos.robot_state")) {}
+            event_loop->MakeFetcher<::aos::RobotState>("/aos")) {}
 
   void set_elevator_victor(::std::unique_ptr<::frc::VictorSP> t) {
     elevator_victor_ = ::std::move(t);
@@ -488,28 +537,27 @@
   }
 
  private:
-  void Write(const SuperstructureQueue::Output &output) override {
-    AOS_LOG_STRUCT(DEBUG, "will output", output);
-    elevator_victor_->SetSpeed(::aos::Clip(output.elevator_voltage,
+  void Write(const superstructure::Output &output) override {
+    elevator_victor_->SetSpeed(::aos::Clip(output.elevator_voltage(),
                                            -kMaxBringupPower,
                                            kMaxBringupPower) /
                                12.0);
 
-    intake_victor_->SetSpeed(::aos::Clip(output.intake_joint_voltage,
+    intake_victor_->SetSpeed(::aos::Clip(output.intake_joint_voltage(),
                                          -kMaxBringupPower, kMaxBringupPower) /
                              12.0);
 
-    wrist_victor_->SetSpeed(::aos::Clip(-output.wrist_voltage,
+    wrist_victor_->SetSpeed(::aos::Clip(-output.wrist_voltage(),
                                         -kMaxBringupPower, kMaxBringupPower) /
                             12.0);
 
-    stilts_victor_->SetSpeed(::aos::Clip(output.stilts_voltage,
+    stilts_victor_->SetSpeed(::aos::Clip(output.stilts_voltage(),
                                          -kMaxBringupPower, kMaxBringupPower) /
                              12.0);
 
     robot_state_fetcher_.Fetch();
     const double battery_voltage = robot_state_fetcher_.get()
-                                       ? robot_state_fetcher_->voltage_battery
+                                       ? robot_state_fetcher_->voltage_battery()
                                        : 12.0;
 
     // Throw a fast low pass filter on the battery voltage so we don't respond
@@ -518,7 +566,7 @@
         0.5 * filtered_battery_voltage_ + 0.5 * battery_voltage;
 
     suction_victor_->SetSpeed(::aos::Clip(
-        output.pump_voltage / filtered_battery_voltage_, -1.0, 1.0));
+        output.pump_voltage() / filtered_battery_voltage_, -1.0, 1.0));
   }
 
   void Stop() override {
@@ -543,11 +591,12 @@
  public:
   SolenoidWriter(::aos::EventLoop *event_loop)
       : event_loop_(event_loop),
-        superstructure_fetcher_(event_loop->MakeFetcher<
-                                SuperstructureQueue::Output>(
-            ".y2019.control_loops.superstructure.superstructure_queue.output")),
-        status_light_fetcher_(event_loop->MakeFetcher<::y2019::StatusLight>(
-            ".y2019.status_light")) {
+        superstructure_fetcher_(
+            event_loop->MakeFetcher<superstructure::Output>("/superstructure")),
+        status_light_fetcher_(
+            event_loop->MakeFetcher<::y2019::StatusLight>("/superstructure")),
+        pneumatics_to_log_sender_(
+            event_loop->MakeSender<::frc971::wpilib::PneumaticsToLog>("/aos")) {
     ::aos::SetCurrentThreadName("Solenoids");
     ::aos::SetCurrentThreadRealtimePriority(27);
 
@@ -580,36 +629,40 @@
     {
       superstructure_fetcher_.Fetch();
       if (superstructure_fetcher_.get()) {
-        AOS_LOG_STRUCT(DEBUG, "solenoids", *superstructure_fetcher_);
-
-        big_suction_cup0_->Set(!superstructure_fetcher_->intake_suction_bottom);
-        big_suction_cup1_->Set(!superstructure_fetcher_->intake_suction_bottom);
-        small_suction_cup0_->Set(superstructure_fetcher_->intake_suction_top);
-        small_suction_cup1_->Set(superstructure_fetcher_->intake_suction_top);
+        big_suction_cup0_->Set(
+            !superstructure_fetcher_->intake_suction_bottom());
+        big_suction_cup1_->Set(
+            !superstructure_fetcher_->intake_suction_bottom());
+        small_suction_cup0_->Set(superstructure_fetcher_->intake_suction_top());
+        small_suction_cup1_->Set(superstructure_fetcher_->intake_suction_top());
 
         intake_rollers_talon_->Set(
             ctre::phoenix::motorcontrol::ControlMode::PercentOutput,
-            ::aos::Clip(superstructure_fetcher_->intake_roller_voltage,
+            ::aos::Clip(superstructure_fetcher_->intake_roller_voltage(),
                         -kMaxBringupPower, kMaxBringupPower) /
                 12.0);
       }
     }
 
     {
-      ::frc971::wpilib::PneumaticsToLog to_log;
+      auto builder = pneumatics_to_log_sender_.MakeBuilder();
+
+      ::frc971::wpilib::PneumaticsToLog::Builder to_log_builder =
+          builder.MakeBuilder<frc971::wpilib::PneumaticsToLog>();
 
       pcm_.Flush();
-      to_log.read_solenoids = pcm_.GetAll();
-      AOS_LOG_STRUCT(DEBUG, "pneumatics info", to_log);
+      to_log_builder.add_read_solenoids(pcm_.GetAll());
+      builder.Send(to_log_builder.Finish());
     }
 
     status_light_fetcher_.Fetch();
     // If we don't have a light request (or it's an old one), we are borked.
     // Flash the red light slowly.
+    StatusLightT color;
     if (!status_light_fetcher_.get() ||
-        status_light_fetcher_.get()->sent_time + chrono::milliseconds(100) <
+        status_light_fetcher_.context().monotonic_sent_time +
+                chrono::milliseconds(100) <
             event_loop_->monotonic_now()) {
-      StatusLight color;
       color.red = 0.0;
       color.green = 0.0;
       color.blue = 0.0;
@@ -623,15 +676,13 @@
         light_flash_ = 0;
       }
 
-      AOS_LOG_STRUCT(DEBUG, "color", color);
-      SetColor(color);
     } else {
-      AOS_LOG_STRUCT(DEBUG, "color", *status_light_fetcher_.get());
-      SetColor(*status_light_fetcher_.get());
+      status_light_fetcher_->UnPackTo(&color);
     }
+    SetColor(color);
   }
 
-  void SetColor(const StatusLight &status_light) {
+  void SetColor(const StatusLightT status_light) {
     // Save CAN bandwidth and CPU at the cost of RT.  Only change the light when
     // it actually changes.  This is pretty low priority anyways.
     static int time_since_last_send = 0;
@@ -669,11 +720,12 @@
   ::std::unique_ptr<::ctre::phoenix::motorcontrol::can::TalonSRX>
       intake_rollers_talon_;
 
-  ::aos::Fetcher<
-      ::y2019::control_loops::superstructure::SuperstructureQueue::Output>
+  ::aos::Fetcher<::y2019::control_loops::superstructure::Output>
       superstructure_fetcher_;
   ::aos::Fetcher<::y2019::StatusLight> status_light_fetcher_;
 
+  aos::Sender<::frc971::wpilib::PneumaticsToLog> pneumatics_to_log_sender_;
+
   ::ctre::phoenix::CANifier canifier_{0};
 
   double last_red_ = -1.0;
@@ -691,19 +743,22 @@
   }
 
   void Run() override {
+    aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+        aos::configuration::ReadConfig("config.json");
+
     // Thread 1.
-    ::aos::ShmEventLoop joystick_sender_event_loop;
+    ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
     ::frc971::wpilib::JoystickSender joystick_sender(
         &joystick_sender_event_loop);
     AddLoop(&joystick_sender_event_loop);
 
     // Thread 2.
-    ::aos::ShmEventLoop pdp_fetcher_event_loop;
+    ::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
     ::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
     AddLoop(&pdp_fetcher_event_loop);
 
     // Thread 3.
-    ::aos::ShmEventLoop sensor_reader_event_loop;
+    ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
     SensorReader sensor_reader(&sensor_reader_event_loop);
     sensor_reader.set_drivetrain_left_encoder(make_encoder(0));
     sensor_reader.set_drivetrain_right_encoder(make_encoder(1));
@@ -734,7 +789,7 @@
     AddLoop(&sensor_reader_event_loop);
 
     // Thread 4.
-    ::aos::ShmEventLoop imu_event_loop;
+    ::aos::ShmEventLoop imu_event_loop(&config.message());
     CameraReader camera_reader(&imu_event_loop);
     frc::SPI camera_spi(frc::SPI::Port::kOnboardCS3);
     camera_reader.set_spi(&camera_spi);
@@ -757,7 +812,7 @@
     // variety so all the Victors are written as SPs.
 
     // Thread 5.
-    ::aos::ShmEventLoop output_event_loop;
+    ::aos::ShmEventLoop output_event_loop(&config.message());
     ::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
     drivetrain_writer.set_left_controller0(
         ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(0)), true);
@@ -779,7 +834,7 @@
     AddLoop(&output_event_loop);
 
     // Thread 6.
-    ::aos::ShmEventLoop solenoid_writer_event_loop;
+    ::aos::ShmEventLoop solenoid_writer_event_loop(&config.message());
     SolenoidWriter solenoid_writer(&solenoid_writer_event_loop);
     solenoid_writer.set_intake_roller_talon(
         make_unique<::ctre::phoenix::motorcontrol::can::TalonSRX>(10));
diff --git a/y2019/y2019.json b/y2019/y2019.json
new file mode 100644
index 0000000..c32db3f
--- /dev/null
+++ b/y2019/y2019.json
@@ -0,0 +1,49 @@
+{
+  "channels":
+  [
+    {
+      "name": "/superstructure",
+      "type": "y2019.control_loops.superstructure.Goal",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2019.control_loops.superstructure.Status",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2019.control_loops.superstructure.Output",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2019.control_loops.superstructure.Position",
+      "frequency": 200
+    },
+    {
+      "name": "/superstructure",
+      "type": "y2019.StatusLight",
+      "frequency": 200
+    },
+    {
+      "name": "/drivetrain",
+      "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
+      "frequency": 200
+    },
+    {
+      "name": "/drivetrain",
+      "type": "y2019.control_loops.drivetrain.CameraFrame",
+      "frequency": 200
+    }
+  ],
+  "applications": [
+    {
+      "name": "drivetrain"
+    }
+  ],
+  "imports": [
+    "../aos/robot_state/robot_state_config.json",
+    "../frc971/control_loops/drivetrain/drivetrain_config.json"
+  ]
+}