diff --git a/frc971/control_loops/swerve/BUILD b/frc971/control_loops/swerve/BUILD
index 50130e8..6be2604 100644
--- a/frc971/control_loops/swerve/BUILD
+++ b/frc971/control_loops/swerve/BUILD
@@ -14,8 +14,17 @@
 )
 
 static_flatbuffer(
+    name = "swerve_drivetrain_joystick_goal_fbs",
+    srcs = ["swerve_drivetrain_joystick_goal.fbs"],
+)
+
+static_flatbuffer(
     name = "swerve_drivetrain_goal_fbs",
     srcs = ["swerve_drivetrain_goal.fbs"],
+    deps = [
+        ":swerve_drivetrain_joystick_goal_fbs",
+        "//frc971/math:matrix_fbs",
+    ],
 )
 
 static_flatbuffer(
diff --git a/frc971/control_loops/swerve/swerve_drivetrain_goal.fbs b/frc971/control_loops/swerve/swerve_drivetrain_goal.fbs
index eab0d0d..7cbb11c 100644
--- a/frc971/control_loops/swerve/swerve_drivetrain_goal.fbs
+++ b/frc971/control_loops/swerve/swerve_drivetrain_goal.fbs
@@ -1,3 +1,6 @@
+include "frc971/math/matrix.fbs";
+include "frc971/control_loops/swerve/swerve_drivetrain_joystick_goal.fbs";
+
 namespace frc971.control_loops.swerve;
 
 // States what translation control type goal we will care about
@@ -22,11 +25,20 @@
   translation_speed:double (id: 3);
 }
 
+attribute "static_length";
+
+table LinearVelocityGoal {
+  state:frc971.fbs.Matrix (id: 0);
+  input:frc971.fbs.Matrix (id: 1);
+}
+
 table Goal {
     front_left_goal:SwerveModuleGoal (id: 0);
     front_right_goal:SwerveModuleGoal (id: 1);
     back_left_goal:SwerveModuleGoal (id: 2);
     back_right_goal:SwerveModuleGoal (id: 3);
+    linear_velocity_goal:LinearVelocityGoal (id: 4);
+    joystick_goal:JoystickGoal (id: 5);
 }
 
 root_type Goal;
diff --git a/frc971/control_loops/swerve/swerve_drivetrain_joystick_goal.fbs b/frc971/control_loops/swerve/swerve_drivetrain_joystick_goal.fbs
new file mode 100644
index 0000000..bf44cdd
--- /dev/null
+++ b/frc971/control_loops/swerve/swerve_drivetrain_joystick_goal.fbs
@@ -0,0 +1,9 @@
+namespace frc971.control_loops.swerve;
+
+table JoystickGoal {
+  vx:float (id: 0);
+  vy:float (id: 1);
+  omega:float (id: 2);
+}
+
+root_type JoystickGoal;