diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index 1c5a4e5..2cddf83 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -37,15 +37,15 @@
   intake_left_.Iterate(unsafe_goal != nullptr
                            ? &(unsafe_goal->intake.left_intake_angle)
                            : nullptr,
-                       &(position->intake.left),
-                       output != nullptr ? &(output->intake.left) : nullptr,
+                       &(position->left_intake),
+                       output != nullptr ? &(output->left_intake) : nullptr,
                        &(status->left_intake));
 
   intake_right_.Iterate(unsafe_goal != nullptr
                             ? &(unsafe_goal->intake.right_intake_angle)
                             : nullptr,
-                        &(position->intake.right),
-                        output != nullptr ? &(output->intake.right) : nullptr,
+                        &(position->right_intake),
+                        output != nullptr ? &(output->right_intake) : nullptr,
                         &(status->right_intake));
 
   arm_.Iterate(
@@ -68,18 +68,18 @@
                                              kMaxIntakeRollerVoltage));
     constexpr int kReverseTime = 15;
     if (unsafe_goal->intake.roller_voltage < 0.0) {
-      output->intake.left.voltage_rollers = roller_voltage;
-      output->intake.right.voltage_rollers = roller_voltage;
+      output->left_intake.voltage_rollers = roller_voltage;
+      output->right_intake.voltage_rollers = roller_voltage;
       rotation_state_ = RotationState::NOT_ROTATING;
       rotation_count_ = 0;
     } else {
       switch (rotation_state_) {
         case RotationState::NOT_ROTATING:
-          if (position->intake.left.beam_break) {
+          if (position->left_intake.beam_break) {
             rotation_state_ = RotationState::ROTATING_RIGHT;
             rotation_count_ = kReverseTime;
             break;
-          } else if (position->intake.right.beam_break) {
+          } else if (position->right_intake.beam_break) {
             rotation_state_ = RotationState::ROTATING_LEFT;
             rotation_count_ = kReverseTime;
             break;
@@ -87,7 +87,7 @@
             break;
           }
         case RotationState::ROTATING_LEFT:
-          if (position->intake.right.beam_break) {
+          if (position->right_intake.beam_break) {
             rotation_count_ = kReverseTime;
           } else {
             --rotation_count_;
@@ -97,7 +97,7 @@
           }
           break;
         case RotationState::ROTATING_RIGHT:
-          if (position->intake.left.beam_break) {
+          if (position->left_intake.beam_break) {
             rotation_count_ = kReverseTime;
           } else {
             --rotation_count_;
@@ -110,16 +110,16 @@
 
       switch (rotation_state_) {
         case RotationState::NOT_ROTATING:
-          output->intake.left.voltage_rollers = roller_voltage;
-          output->intake.right.voltage_rollers = roller_voltage;
+          output->left_intake.voltage_rollers = roller_voltage;
+          output->right_intake.voltage_rollers = roller_voltage;
           break;
         case RotationState::ROTATING_LEFT:
-          output->intake.left.voltage_rollers = roller_voltage;
-          output->intake.right.voltage_rollers = -roller_voltage;
+          output->left_intake.voltage_rollers = roller_voltage;
+          output->right_intake.voltage_rollers = -roller_voltage;
           break;
         case RotationState::ROTATING_RIGHT:
-          output->intake.left.voltage_rollers = -roller_voltage;
-          output->intake.right.voltage_rollers = roller_voltage;
+          output->left_intake.voltage_rollers = -roller_voltage;
+          output->right_intake.voltage_rollers = roller_voltage;
           break;
       }
     }
diff --git a/y2018/control_loops/superstructure/superstructure.q b/y2018/control_loops/superstructure/superstructure.q
index 93d5935..75198fa 100644
--- a/y2018/control_loops/superstructure/superstructure.q
+++ b/y2018/control_loops/superstructure/superstructure.q
@@ -60,16 +60,6 @@
   bool beam_break;
 };
 
-struct IntakePosition {
-  // Values of the series elastic encoders on the left side of the robot from
-  // the rear perspective in radians.
-  IntakeElasticSensors left;
-
-  // Values of the series elastic encoders on the right side of the robot from
-  // the rear perspective in radians.
-  IntakeElasticSensors right;
-};
-
 struct ArmStatus {
   // State of the estimators.
   .frc971.AbsoluteEstimatorState proximal_estimator_state;
@@ -128,15 +118,6 @@
   double voltage_rollers;
 };
 
-struct IntakeOutput {
-  // Voltage sent to the parts on the left side of the intake.
-  IntakeVoltage left;
-
-  // Voltage sent to the parts on the right side of the intake.
-  IntakeVoltage right;
-};
-
-
 queue_group SuperstructureQueue {
   implements aos.control_loops.ControlLoop;
 
@@ -166,7 +147,14 @@
   };
 
   message Position {
-    IntakePosition intake;
+    // 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
@@ -175,7 +163,11 @@
   };
 
   message Output {
-    IntakeOutput intake;
+    // 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;
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 601cec3..e0df3f6 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -216,10 +216,9 @@
     ::aos::ScopedMessagePtr<SuperstructureQueue::Position> position =
         superstructure_queue_.position.MakeMessage();
 
-    left_intake_.GetSensorValues(&position->intake.left);
-    right_intake_.GetSensorValues(&position->intake.right);
+    left_intake_.GetSensorValues(&position->left_intake);
+    right_intake_.GetSensorValues(&position->right_intake);
     arm_.GetSensorValues(&position->arm);
-
     LOG_STRUCT(INFO, "sim position", *position);
     position.Send();
   }
@@ -243,8 +242,8 @@
     EXPECT_TRUE(superstructure_queue_.output.FetchLatest());
     EXPECT_TRUE(superstructure_queue_.status.FetchLatest());
 
-    left_intake_.Simulate(superstructure_queue_.output->intake.left);
-    right_intake_.Simulate(superstructure_queue_.output->intake.right);
+    left_intake_.Simulate(superstructure_queue_.output->left_intake);
+    right_intake_.Simulate(superstructure_queue_.output->right_intake);
     arm_.Simulate((::Eigen::Matrix<double, 2, 1>()
                        << superstructure_queue_.output->voltage_proximal,
                    superstructure_queue_.output->voltage_distal)
@@ -333,8 +332,8 @@
             superstructure_.intake_left().state());
   EXPECT_EQ(intake::IntakeSide::State::RUNNING,
             superstructure_.intake_right().state());
-  EXPECT_EQ(superstructure_queue_.output->intake.left.voltage_elastic, 0.0);
-  EXPECT_EQ(superstructure_queue_.output->intake.right.voltage_elastic, 0.0);
+  EXPECT_EQ(superstructure_queue_.output->left_intake.voltage_elastic, 0.0);
+  EXPECT_EQ(superstructure_queue_.output->right_intake.voltage_elastic, 0.0);
 }
 
 // Tests that the intake loop can reach a goal.