diff --git a/bot3/control_loops/elevator/elevator.cc b/bot3/control_loops/elevator/elevator.cc
index 49433a7..a28dd7d 100644
--- a/bot3/control_loops/elevator/elevator.cc
+++ b/bot3/control_loops/elevator/elevator.cc
@@ -237,6 +237,10 @@
 
   if (output) {
     output->elevator = loop_->U(0, 0);
+    if(unsafe_goal) {
+      output->passive_support = unsafe_goal->passive_support;
+      output->can_support = unsafe_goal->can_support;
+    }
   }
 
   status->zeroed = state_ == RUNNING;
diff --git a/bot3/control_loops/elevator/elevator.q b/bot3/control_loops/elevator/elevator.q
index 35d56f9..6b2ba26 100644
--- a/bot3/control_loops/elevator/elevator.q
+++ b/bot3/control_loops/elevator/elevator.q
@@ -20,6 +20,13 @@
 
     // Maximum elevator profile acceleration or 0 for the default.
     float max_acceleration;
+
+    // Whether the passive elevator is supporting the stack/can; true means it
+    // is supporting; false means it is not.
+    bool passive_support;
+    // Whether the can support is restraining the can; true means it
+    // is supporting; false means it is not.
+    bool can_support;
   };
 
   message Position {
@@ -58,6 +65,9 @@
     // True means support the stack, false means release the support from the
     // stack.
     bool passive_support;
+    // Toggle for the that supports the can in the robot.
+    // True means support the can, false means release the can.
+    bool can_support;
   };
 
   queue Goal goal;
diff --git a/bot3/control_loops/intake/intake.cc b/bot3/control_loops/intake/intake.cc
index 935730b..4788a7a 100644
--- a/bot3/control_loops/intake/intake.cc
+++ b/bot3/control_loops/intake/intake.cc
@@ -19,16 +19,18 @@
 
     const int16_t intake_movement = goal->movement;
 
-    if (intake_movement > 0) {
+    if (intake_movement > 0.0) {
       // Suck.
       output->intake = kIntakeVoltageFullPower;
-    } else if (intake_movement < 0) {
+    } else if (intake_movement < 0.0) {
       // Spit.
       output->intake = -kIntakeVoltageFullPower;
     } else {
       // Stationary.
       output->intake = 0.0;
     }
+
+    output->claw_closed = goal->claw_closed;
   }
 }
 
diff --git a/bot3/control_loops/intake/intake.q b/bot3/control_loops/intake/intake.q
index 3047f6b..c09bf87 100644
--- a/bot3/control_loops/intake/intake.q
+++ b/bot3/control_loops/intake/intake.q
@@ -7,13 +7,18 @@
 
   message Goal {
     // Positive = suck, negative = spit, zero = stationary.
-    int16_t movement;
+    double movement;
+
+    bool claw_closed;
   };
 
   message Position {};
 
   message Output {
+    // Positive or negative, depending on whether we're sucking or spitting.
     double intake;
+
+    bool claw_closed;
   };
 
   message Status {};