diff --git a/y2018/control_loops/superstructure/arm/arm.cc b/y2018/control_loops/superstructure/arm/arm.cc
index d3cb262..2ae1996 100644
--- a/y2018/control_loops/superstructure/arm/arm.cc
+++ b/y2018/control_loops/superstructure/arm/arm.cc
@@ -36,8 +36,8 @@
       points_(PointList()) {
   int i = 0;
   for (const auto &trajectory : trajectories_) {
-    LOG(INFO, "trajectory length for edge node %d: %f\n", i,
-        trajectory.trajectory.path().length());
+    AOS_LOG(INFO, "trajectory length for edge node %d: %f\n", i,
+            trajectory.trajectory.path().length());
     ++i;
   }
 }
@@ -113,7 +113,7 @@
   switch (state_) {
     case State::UNINITIALIZED:
       // Wait in the uninitialized state until the intake is initialized.
-      LOG(DEBUG, "Uninitialized, waiting for intake\n");
+      AOS_LOG(DEBUG, "Uninitialized, waiting for intake\n");
       state_ = State::ZEROING;
       proximal_zeroing_estimator_.Reset();
       distal_zeroing_estimator_.Reset();
@@ -188,7 +188,7 @@
       // TODO(austin): Pick some sane limits.
       if (proximal_zeroing_estimator_.error() ||
           distal_zeroing_estimator_.error()) {
-        LOG(ERROR, "Zeroing error ESTOP\n");
+        AOS_LOG(ERROR, "Zeroing error ESTOP\n");
         state_ = State::ESTOP;
       } else if (outputs_disabled && brownout_count_ > kMaxBrownoutCount) {
         state_ = State::DISABLED;
@@ -213,7 +213,7 @@
       break;
 
     case State::ESTOP:
-      LOG(ERROR, "Estop\n");
+      AOS_LOG(ERROR, "Estop\n");
       break;
   }
 
@@ -338,9 +338,9 @@
 
   if (state_ == State::RUNNING && unsafe_goal != nullptr) {
     if (current_node_ != filtered_goal) {
-      LOG(INFO, "Goal is different\n");
+      AOS_LOG(INFO, "Goal is different\n");
       if (filtered_goal >= search_graph_.num_vertexes()) {
-        LOG(ERROR, "goal node out of range ESTOP\n");
+        AOS_LOG(ERROR, "goal node out of range ESTOP\n");
         state_ = State::ESTOP;
       } else if (follower_.path_distance_to_go() > 1e-3) {
         // Still on the old path segment.  Can't change yet.
@@ -360,9 +360,9 @@
         // Ok, now we know which edge we are on.  Figure out the path and
         // trajectory.
         const SearchGraph::Edge &next_edge = search_graph_.edges()[min_edge];
-        LOG(INFO, "Switching from node %d to %d along edge %d\n",
-            static_cast<int>(current_node_), static_cast<int>(next_edge.end),
-            static_cast<int>(min_edge));
+        AOS_LOG(INFO, "Switching from node %d to %d along edge %d\n",
+                static_cast<int>(current_node_),
+                static_cast<int>(next_edge.end), static_cast<int>(min_edge));
         vmax_ = trajectories_[min_edge].vmax;
         follower_.SwitchTrajectory(&trajectories_[min_edge].trajectory);
         current_node_ = next_edge.end;
@@ -376,7 +376,7 @@
           : (state_ == State::GOTO_PATH ? kGotoPathVMax() : kPathlessVMax());
   follower_.Update(arm_ekf_.X_hat(), disable, kDt(), vmax_,
                    max_operating_voltage);
-  LOG(INFO, "Max voltage: %f\n", max_operating_voltage);
+  AOS_LOG(INFO, "Max voltage: %f\n", max_operating_voltage);
   status->goal_theta0 = follower_.theta(0);
   status->goal_theta1 = follower_.theta(1);
   status->goal_omega0 = follower_.omega(0);
diff --git a/y2018/control_loops/superstructure/arm/trajectory.cc b/y2018/control_loops/superstructure/arm/trajectory.cc
index 2157ca7..bd67ce3 100644
--- a/y2018/control_loops/superstructure/arm/trajectory.cc
+++ b/y2018/control_loops/superstructure/arm/trajectory.cc
@@ -492,7 +492,6 @@
       U_ff_.setZero();
       U_.setZero();
       U_unsaturated_.setZero();
-      LOG(INFO, "Disabled\n");
     } else {
       const ::Eigen::Matrix<double, 6, 1> R =
           trajectory_->R(theta_, ::Eigen::Matrix<double, 2, 1>::Zero());
diff --git a/y2018/control_loops/superstructure/intake/intake.cc b/y2018/control_loops/superstructure/intake/intake.cc
index 6707356..6c07a49 100644
--- a/y2018/control_loops/superstructure/intake/intake.cc
+++ b/y2018/control_loops/superstructure/intake/intake.cc
@@ -107,7 +107,7 @@
   switch (state_) {
     case State::UNINITIALIZED:
       // Wait in the uninitialized state until the intake is initialized.
-      LOG(DEBUG, "Uninitialized, waiting for intake\n");
+      AOS_LOG(DEBUG, "Uninitialized, waiting for intake\n");
       zeroing_estimator_.Reset();
       controller_.Reset();
       state_ = State::ZEROING;
@@ -116,7 +116,7 @@
     case State::ZEROING:
       // Zero by not moving.
       if (zeroing_estimator_.zeroed()) {
-        LOG(INFO, "Now zeroed\n");
+        AOS_LOG(INFO, "Now zeroed\n");
         controller_.UpdateOffset(zeroing_estimator_.offset());
         state_ = State::RUNNING;
       }
@@ -124,23 +124,23 @@
 
     case State::RUNNING:
       if (!(zeroing_estimator_.zeroed())) {
-        LOG(ERROR, "Zeroing estimator is no longer zeroed\n");
+        AOS_LOG(ERROR, "Zeroing estimator is no longer zeroed\n");
         state_ = State::UNINITIALIZED;
       }
       if (zeroing_estimator_.error()) {
-        LOG(ERROR, "Zeroing estimator error\n");
+        AOS_LOG(ERROR, "Zeroing estimator error\n");
         state_ = State::UNINITIALIZED;
       }
       // ESTOP if we hit the hard limits.
       if ((status->motor_position) > controller_.intake_range_.upper ||
           (status->motor_position) < controller_.intake_range_.lower) {
-        LOG(ERROR, "Hit hard limits\n");
+        AOS_LOG(ERROR, "Hit hard limits\n");
         state_ = State::ESTOP;
       }
       break;
 
     case State::ESTOP:
-      LOG(ERROR, "Estop\n");
+      AOS_LOG(ERROR, "Estop\n");
       break;
   }
 
diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index 572a7b0..a2dcaf6 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -48,7 +48,7 @@
   const monotonic_clock::time_point monotonic_now =
       event_loop()->monotonic_now();
   if (WasReset()) {
-    LOG(ERROR, "WPILib reset, restarting\n");
+    AOS_LOG(ERROR, "WPILib reset, restarting\n");
     intake_left_.Reset();
     intake_right_.Reset();
     arm_.Reset();
@@ -299,7 +299,7 @@
   new_status_light->blue = blue;
 
   if (!new_status_light.Send()) {
-    LOG(ERROR, "Failed to send lights.\n");
+    AOS_LOG(ERROR, "Failed to send lights.\n");
   }
 }
 
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 1d4cf5d..162db33 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -89,7 +89,7 @@
     const double voltage_check =
         superstructure::intake::IntakeSide::kOperatingVoltage();
 
-    CHECK_LE(::std::abs(intake_voltage.voltage_elastic), voltage_check);
+    AOS_CHECK_LE(::std::abs(intake_voltage.voltage_elastic), voltage_check);
 
     ::Eigen::Matrix<double, 1, 1> U;
     U << intake_voltage.voltage_elastic + plant_.voltage_offset();
@@ -155,8 +155,8 @@
     constexpr double voltage_check =
         superstructure::arm::Arm::kOperatingVoltage();
 
-    CHECK_LE(::std::abs(U(0)), voltage_check);
-    CHECK_LE(::std::abs(U(1)), voltage_check);
+    AOS_CHECK_LE(::std::abs(U(0)), voltage_check);
+    AOS_CHECK_LE(::std::abs(U(1)), voltage_check);
 
     if (release_arm_brake) {
       X_ = arm::Dynamics::UnboundedDiscreteDynamics(X_, U, 0.00505);
@@ -240,7 +240,7 @@
     left_intake_.GetSensorValues(&position->left_intake);
     right_intake_.GetSensorValues(&position->right_intake);
     arm_.GetSensorValues(&position->arm);
-    LOG_STRUCT(INFO, "sim position", *position);
+    AOS_LOG_STRUCT(INFO, "sim position", *position);
     position.Send();
   }