diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 366a8db..9a703e3 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -30,6 +30,7 @@
               "/drivetrain")),
       joystick_state_fetcher_(
           event_loop->MakeFetcher<aos::JoystickState>("/aos")),
+      transfer_goal_(TransferRollerGoal::NONE),
       intake_pivot_(
           robot_constants_->common()->intake_pivot(),
           robot_constants_->robot()->intake_constants()->intake_pivot_zero()) {
@@ -70,17 +71,44 @@
       output_struct.intake_roller_voltage = 0.0;
       break;
     case IntakeRollerGoal::SPIT:
+      transfer_goal_ = TransferRollerGoal::TRANSFER_OUT;
       intake_roller_state = IntakeRollerState::SPITTING;
       output_struct.intake_roller_voltage =
           robot_constants_->common()->intake_roller_voltages()->spitting();
       break;
     case IntakeRollerGoal::INTAKE:
+      transfer_goal_ = TransferRollerGoal::TRANSFER_IN;
       intake_roller_state = IntakeRollerState::INTAKING;
       output_struct.intake_roller_voltage =
           robot_constants_->common()->intake_roller_voltages()->intaking();
       break;
   }
 
+  TransferRollerState transfer_roller_state = TransferRollerState::NONE;
+
+  switch (unsafe_goal != nullptr ? transfer_goal_ : TransferRollerGoal::NONE) {
+    case TransferRollerGoal::NONE:
+      output_struct.transfer_roller_voltage = 0.0;
+      break;
+    case TransferRollerGoal::TRANSFER_IN:
+      if (position->transfer_beambreak()) {
+        transfer_goal_ = TransferRollerGoal::NONE;
+        transfer_roller_state = TransferRollerState::NONE;
+        output_struct.transfer_roller_voltage = 0.0;
+        break;
+      }
+      transfer_roller_state = TransferRollerState::TRANSFERING_IN;
+      output_struct.transfer_roller_voltage =
+          robot_constants_->common()->transfer_roller_voltages()->transfer_in();
+      break;
+    case TransferRollerGoal::TRANSFER_OUT:
+      transfer_roller_state = TransferRollerState::TRANSFERING_OUT;
+      output_struct.transfer_roller_voltage = robot_constants_->common()
+                                                  ->transfer_roller_voltages()
+                                                  ->transfer_out();
+      break;
+  }
+
   if (joystick_state_fetcher_.Fetch() &&
       joystick_state_fetcher_->has_alliance()) {
     alliance_ = joystick_state_fetcher_->alliance();
@@ -118,6 +146,7 @@
   status_builder.add_estopped(estopped);
   status_builder.add_intake_roller_state(intake_roller_state);
   status_builder.add_intake_pivot_state(intake_pivot_status_offset);
+  status_builder.add_transfer_roller_state(transfer_roller_state);
 
   (void)status->Send(status_builder.Finish());
 }
diff --git a/y2024/control_loops/superstructure/superstructure.h b/y2024/control_loops/superstructure/superstructure.h
index 277ba73..67a8328 100644
--- a/y2024/control_loops/superstructure/superstructure.h
+++ b/y2024/control_loops/superstructure/superstructure.h
@@ -51,6 +51,7 @@
 
   aos::Alliance alliance_ = aos::Alliance::kInvalid;
 
+  TransferRollerGoal transfer_goal_;
   PotAndAbsoluteEncoderSubsystem intake_pivot_;
 
   DISALLOW_COPY_AND_ASSIGN(Superstructure);
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index c253f62..26e75e4 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -51,6 +51,7 @@
             event_loop_->MakeFetcher<Status>("/superstructure")),
         superstructure_output_fetcher_(
             event_loop_->MakeFetcher<Output>("/superstructure")),
+        transfer_beambreak_(false),
         intake_pivot_(
             new CappedTestPlant(intake_pivot::MakeIntakePivotPlant()),
             PositionSensorSimulator(simulated_robot_constants->robot()
@@ -105,12 +106,17 @@
 
     Position::Builder position_builder = builder.MakeBuilder<Position>();
 
+    position_builder.add_transfer_beambreak(transfer_beambreak_);
     position_builder.add_intake_pivot(intake_pivot_offset);
 
     CHECK_EQ(builder.Send(position_builder.Finish()),
              aos::RawSender::Error::kOk);
   }
 
+  void set_transfer_beambreak(bool triggered) {
+    transfer_beambreak_ = triggered;
+  }
+
   PotAndAbsoluteEncoderSimulator *intake_pivot() { return &intake_pivot_; }
 
  private:
@@ -122,6 +128,8 @@
   ::aos::Fetcher<Status> superstructure_status_fetcher_;
   ::aos::Fetcher<Output> superstructure_output_fetcher_;
 
+  bool transfer_beambreak_;
+
   PotAndAbsoluteEncoderSimulator intake_pivot_;
   bool first_ = true;
 };
@@ -375,7 +383,7 @@
   CheckIfZeroed();
 }
 
-// Tests Intake in multiple scenarios
+// Tests intake and transfer in multiple scenarios
 TEST_F(SuperstructureTest, IntakeGoal) {
   SetEnabled(true);
   WaitUntilZeroed();
@@ -398,6 +406,8 @@
     ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
+  superstructure_plant_.set_transfer_beambreak(false);
+
   RunFor(chrono::seconds(5));
 
   VerifyNearGoal();
@@ -415,10 +425,17 @@
     ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
+  superstructure_plant_.set_transfer_beambreak(false);
+
   RunFor(chrono::seconds(5));
 
   VerifyNearGoal();
 
+  EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(),
+            simulated_robot_constants_->common()
+                ->transfer_roller_voltages()
+                ->transfer_out());
+
   {
     auto builder = superstructure_goal_sender_.MakeBuilder();
 
@@ -430,8 +447,39 @@
     ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
+  superstructure_plant_.set_transfer_beambreak(false);
+
   RunFor(chrono::seconds(5));
 
   VerifyNearGoal();
+
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_intake_roller_goal(IntakeRollerGoal::INTAKE);
+
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+  }
+
+  superstructure_plant_.set_transfer_beambreak(false);
+
+  RunFor(chrono::seconds(5));
+
+  VerifyNearGoal();
+
+  EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(),
+            simulated_robot_constants_->common()
+                ->transfer_roller_voltages()
+                ->transfer_in());
+
+  superstructure_plant_.set_transfer_beambreak(true);
+
+  RunFor(chrono::seconds(2));
+
+  VerifyNearGoal();
+
+  EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(), 0.0);
 }
 }  // namespace y2024::control_loops::superstructure::testing
\ No newline at end of file