diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index a3978a4..91a7586 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -12,32 +12,50 @@
 Superstructure::Superstructure(::aos::EventLoop *event_loop,
                                const ::std::string &name)
     : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
-                                                                 name) {
-      event_loop->SetRuntimeRealtimePriority(30);
+                                                                 name),
+      hood_(constants::GetValues().hood) {
+  event_loop->SetRuntimeRealtimePriority(30);
 }
 
-void Superstructure::RunIteration(const Goal * /*unsafe_goal*/,
-                                  const Position * /*position*/,
+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");
+    hood_.Reset();
   }
 
+  OutputT output_struct;
+
+  flatbuffers::Offset<AbsoluteEncoderProfiledJointStatus> hood_status_offset =
+      hood_.Iterate(unsafe_goal != nullptr ? unsafe_goal->hood() : nullptr,
+                    position->hood(),
+                    output != nullptr ? &(output_struct.hood_voltage) : nullptr,
+                    status->fbb());
+
+  bool zeroed;
+  bool estopped;
+
+  const AbsoluteEncoderProfiledJointStatus *hood_status =
+      GetMutableTemporaryPointer(*status->fbb(), hood_status_offset);
+  zeroed = hood_status->zeroed();
+  estopped = hood_status->estopped();
 
   if (output != nullptr) {
-    OutputT output_struct;
     output->Send(Output::Pack(*output->fbb(), &output_struct));
   }
 
   Status::Builder status_builder = status->MakeBuilder<Status>();
 
-  status_builder.add_zeroed(true);
-  status_builder.add_estopped(false);
+  status_builder.add_zeroed(zeroed);
+  status_builder.add_estopped(estopped);
+
+  status_builder.add_hood(hood_status_offset);
 
   status->Send(status_builder.Finish());
 }
 
+}  // namespace superstructure
 }  // namespace control_loops
 }  // namespace y2020
-}  // namespace y2020
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index 9aaca8e..dbc1ccd 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -19,12 +19,21 @@
   explicit Superstructure(::aos::EventLoop *event_loop,
                           const ::std::string &name = "/superstructure");
 
+  using AbsoluteEncoderSubsystem =
+      ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
+          ::frc971::zeroing::AbsoluteEncoderZeroingEstimator,
+          ::frc971::control_loops::AbsoluteEncoderProfiledJointStatus>;
+
+  const AbsoluteEncoderSubsystem &hood() const { return hood_; }
+
  protected:
   virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
                             aos::Sender<Output>::Builder *output,
                             aos::Sender<Status>::Builder *status) override;
 
  private:
+  AbsoluteEncoderSubsystem hood_;
+
   DISALLOW_COPY_AND_ASSIGN(Superstructure);
 };