diff --git a/y2024/constants/common.json b/y2024/constants/common.json
index 554f1e8..3fc95fe 100644
--- a/y2024/constants/common.json
+++ b/y2024/constants/common.json
@@ -5,7 +5,9 @@
         "distance_from_goal": 0.0,
         "shot_params": {
             "shot_velocity": 0.0,
-            "shot_angle": 0.0
+            "shot_altitude_angle": 0.0,
+            "shot_catapult_angle": 0.0,
+            "shot_speed_over_ground": 0.0
         }
     }
   ],
@@ -78,5 +80,7 @@
         "upper": 2.0
     },
     "loop": {% include 'y2024/control_loops/superstructure/climber/integral_climber_plant.json' %}
-  }
+  },
+  "turret_loading_position": 0.0,
+  "catapult_return_position": 0.0
 }
diff --git a/y2024/constants/constants.fbs b/y2024/constants/constants.fbs
index 40d609f..a3ddb0b 100644
--- a/y2024/constants/constants.fbs
+++ b/y2024/constants/constants.fbs
@@ -12,7 +12,15 @@
 
 table ShotParams {
     shot_velocity: double (id: 0);
-    shot_angle: double (id: 1);
+
+    // Angle of the altitude
+    shot_altitude_angle: double (id: 1);
+
+    // Angle of the catapult
+    shot_catapult_angle: double (id: 2);
+
+    // Speed over ground to use for shooting on the fly
+    shot_speed_over_ground: double (id: 3);
 }
 
 table InterpolationTablePoint {
@@ -88,6 +96,8 @@
   transfer_roller_voltages:TransferRollerVoltages (id: 7);
   climber:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 8);
   climber_set_points:ClimberSetPoints (id: 9);
+  turret_loading_position: double (id: 10);
+  catapult_return_position: double (id: 11);
 }
 
 table Constants {
diff --git a/y2024/control_loops/superstructure/superstructure_goal.fbs b/y2024/control_loops/superstructure/superstructure_goal.fbs
index bb7b706..6ec954f 100644
--- a/y2024/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2024/control_loops/superstructure/superstructure_goal.fbs
@@ -35,11 +35,25 @@
     RETRACT = 2,
 }
 
+table ShooterGoal {
+    catapult_goal:frc971.control_loops.catapult.CatapultGoal (id: 0);
+    fire: bool (id: 1);
+    // If true we ignore the other provided positions
+    auto_aim: bool (id: 2);
+
+    // Position for the turret when we aren't auto aiming
+    turret_position: frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 3);
+
+    // Position for the altitude when we aren't auto aiming
+    altitude_position: frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 4);
+}
+
 table Goal {
     intake_roller_goal:IntakeRollerGoal (id: 0);
     intake_pivot_goal:IntakePivotGoal (id: 1);
     catapult_goal:frc971.control_loops.catapult.CatapultGoal (id: 2);
     transfer_roller_goal:TransferRollerGoal (id: 3);
     climber_goal:ClimberGoal (id: 4);
+    shooter_goal:ShooterGoal (id: 5);
 }
 root_type Goal;
diff --git a/y2024/control_loops/superstructure/superstructure_position.fbs b/y2024/control_loops/superstructure/superstructure_position.fbs
index cd12da0..6f253b0 100644
--- a/y2024/control_loops/superstructure/superstructure_position.fbs
+++ b/y2024/control_loops/superstructure/superstructure_position.fbs
@@ -22,6 +22,9 @@
     // Values of the encoder and potentiometer at the climber.
     // Zero is fully retracted, positive is extended upward.
     climber:frc971.PotAndAbsolutePosition (id: 5);
+
+    // True if there is a game piece in the catapult
+    catapult_beam_break:bool (id: 6);
 }
 
 root_type Position;
diff --git a/y2024/control_loops/superstructure/superstructure_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index cd727ac..40b792f 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -10,6 +10,15 @@
   INTAKING = 2,
 }
 
+enum CatapultStatus: ubyte {
+    // Means we are waiting for a game piece
+    IDLE = 0,
+    // Means we have a game piece
+    LOADED = 1,
+    // Means we are firing a game piece
+    FIRING = 2,
+}
+
 table ShooterStatus {
   // Estimated angle and angular velocitiy of the turret.
   turret_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 0);
@@ -19,6 +28,8 @@
 
   // Estimated angle and angular velocitiy of the altitude.
   altitude_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 2);
+
+  catapult_status: CatapultStatus (id: 3);
 }
 
 // Contains status of transfer rollers