diff --git a/y2019/control_loops/drivetrain/camera.fbs b/y2019/control_loops/drivetrain/camera.fbs
index 154dd2e..74117d9 100644
--- a/y2019/control_loops/drivetrain/camera.fbs
+++ b/y2019/control_loops/drivetrain/camera.fbs
@@ -2,23 +2,23 @@
 
 // See the Target structure in //y2019/jevois:structures.h for documentation.
 table CameraTarget {
-  distance:float;
-  height:float;
-  heading:float;
-  skew:float;
+  distance:float (id: 0);
+  height:float (id: 1);
+  heading:float (id: 2);
+  skew:float (id: 3);
 }
 
 // Frames from a camera.
 table CameraFrame {
   // Number of nanoseconds since the aos::monotonic_clock epoch at which this
   // frame was captured.
-  timestamp:long;
+  timestamp:long (id: 0);
 
   // Buffer for the 3 targets.
-  targets:[CameraTarget];
+  targets:[CameraTarget] (id: 1);
 
   // Index of the camera position (not serial number) which this frame is from.
-  camera:ubyte;
+  camera:ubyte (id: 2);
 }
 
 root_type CameraFrame;
diff --git a/y2019/control_loops/drivetrain/target_selector.fbs b/y2019/control_loops/drivetrain/target_selector.fbs
index f7a3291..b997bdb 100644
--- a/y2019/control_loops/drivetrain/target_selector.fbs
+++ b/y2019/control_loops/drivetrain/target_selector.fbs
@@ -17,7 +17,7 @@
 // The drivetrain listens on ".y2019.control_loops.drivetrain.target_selector_hint"
 table TargetSelectorHint {
   // Which target we should go for:
-  suggested_target:SelectionHint;
+  suggested_target:SelectionHint (id: 0);
 }
 
 root_type TargetSelectorHint;
diff --git a/y2019/control_loops/superstructure/superstructure_goal.fbs b/y2019/control_loops/superstructure/superstructure_goal.fbs
index 77e7c8d..93c31cd 100644
--- a/y2019/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2019/control_loops/superstructure/superstructure_goal.fbs
@@ -4,34 +4,34 @@
 
 table SuctionGoal {
   // True = apply suction
-  grab_piece:bool;
+  grab_piece:bool (id: 0);
 
   // 0 = ball mode
   // 1 = disk mode
 
-  gamepiece_mode:int;
+  gamepiece_mode:int (id: 1);
 }
 
 table Goal {
   // Meters, 0 = lowest position - mechanical hard stop,
   // positive = upward
-  elevator:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+  elevator:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 0);
   // 0 = linkage on the sprocket is pointing straight up,
   // positive = forward
-  intake:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+  intake:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 1);
   // 0 = Straight up parallel to elevator
   // Positive rotates toward intake from 0
-  wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+  wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2);
 
   // 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;
+  stilts:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 3);
 
   // Positive is rollers intaking inward.
-  roller_voltage:float;
+  roller_voltage:float (id: 4);
 
-  suction:SuctionGoal;
+  suction:SuctionGoal (id: 5);
 }
 
 root_type Goal;
diff --git a/y2019/control_loops/superstructure/superstructure_output.fbs b/y2019/control_loops/superstructure/superstructure_output.fbs
index b679347..42ba6b2 100644
--- a/y2019/control_loops/superstructure/superstructure_output.fbs
+++ b/y2019/control_loops/superstructure/superstructure_output.fbs
@@ -2,29 +2,29 @@
 
 table Output {
   // Voltage sent to motors moving elevator up/down. Positive is up.
-  elevator_voltage:double;
+  elevator_voltage:double (id: 0);
 
   // Voltage sent to wrist motors on elevator to rotate.
   // Positive rotates over the top towards the front of the robot.
-  wrist_voltage:double;
+  wrist_voltage:double (id: 1);
 
   // Voltage sent to motors on intake joint. Positive extends rollers.
-  intake_joint_voltage:double;
+  intake_joint_voltage:double (id: 2);
 
   // Voltage sent to rollers on intake. Positive rolls inward.
-  intake_roller_voltage:double;
+  intake_roller_voltage:double (id: 3);
 
   // Voltage sent to motors to move stilts height. Positive moves robot
   // upward.
-  stilts_voltage:double;
+  stilts_voltage:double (id: 4);
 
   // 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;
+  intake_suction_top:bool (id: 5);
+  intake_suction_bottom:bool (id: 6);
 
   // Voltage sent to the vacuum pump motors.
-  pump_voltage:double;
+  pump_voltage:double (id: 7);
 }
 
 root_type Output;
diff --git a/y2019/control_loops/superstructure/superstructure_position.fbs b/y2019/control_loops/superstructure/superstructure_position.fbs
index 80a851e..86a615d 100644
--- a/y2019/control_loops/superstructure/superstructure_position.fbs
+++ b/y2019/control_loops/superstructure/superstructure_position.fbs
@@ -5,26 +5,26 @@
 table Position {
   // Input from pressure sensor in bar
   // 1 = 1 atm, 0 = full vacuum
-  suction_pressure:float;
+  suction_pressure:float (id: 0);
 
   // Position of the elevator, 0 at lowest position, positive when up.
-  elevator:frc971.PotAndAbsolutePosition;
+  elevator:frc971.PotAndAbsolutePosition (id: 1);
 
   // Position of wrist, 0 when up, positive is rotating toward the front,
   // over the top.
-  wrist:frc971.PotAndAbsolutePosition;
+  wrist:frc971.PotAndAbsolutePosition (id: 2);
 
   // Position of the intake. 0 when rollers are retracted, positive extended.
-  intake_joint:frc971.AbsolutePosition;
+  intake_joint:frc971.AbsolutePosition (id: 3);
 
   // Position of the stilts, 0 when retracted (defualt), positive lifts robot.
-  stilts:frc971.PotAndAbsolutePosition;
+  stilts:frc971.PotAndAbsolutePosition (id: 4);
 
   // 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;
+  platform_left_detect:bool (id: 5);
+  platform_right_detect:bool (id: 6);
 }
 
 root_type Position;
diff --git a/y2019/control_loops/superstructure/superstructure_status.fbs b/y2019/control_loops/superstructure/superstructure_status.fbs
index 9d3f44e..98fe483 100644
--- a/y2019/control_loops/superstructure/superstructure_status.fbs
+++ b/y2019/control_loops/superstructure/superstructure_status.fbs
@@ -5,19 +5,19 @@
 
 table Status {
   // All subsystems know their location.
-  zeroed:bool;
+  zeroed:bool (id: 0);
 
   // If true, we have aborted. This is the or of all subsystem estops.
-  estopped:bool;
+  estopped:bool (id: 1);
 
   // Whether suction_pressure indicates cargo is held
-  has_piece:bool;
+  has_piece:bool (id: 2);
 
   // Status of each subsystem.
-  elevator:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;
-  wrist:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;
-  intake:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
-  stilts:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;
+  elevator:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 3);
+  wrist:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 4);
+  intake:frc971.control_loops.AbsoluteEncoderProfiledJointStatus (id: 5);
+  stilts:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 6);
 }
 
 root_type Status;