diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index a2b7a9e..096ed58 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -14,14 +14,14 @@
 namespace superstructure {
 
 namespace {
+constexpr double kZeroingVoltage = 4.0;
+
 constexpr double kIntakeEncoderIndexDifference =
     constants::Values::kIntakeEncoderIndexDifference;
 constexpr double kWristEncoderIndexDifference =
     constants::Values::kWristEncoderIndexDifference;
 constexpr double kShoulderEncoderIndexDifference =
     constants::Values::kShoulderEncoderIndexDifference;
-
-constexpr double kZeroingVoltage = 4.0;
 }  // namespace
 
 // ///// CollisionAvoidance /////
@@ -454,6 +454,13 @@
     output->voltage_intake = intake_.intake_voltage();
     output->voltage_shoulder = arm_.shoulder_voltage();
     output->voltage_wrist = arm_.wrist_voltage();
+
+    // Logic to run our rollers on the intake.
+    output->voltage_rollers = 0.0;
+    if (unsafe_goal) {
+      output->voltage_rollers =
+          ::std::max(-8.0, ::std::min(8.0, unsafe_goal->voltage_rollers));
+    }
   }
 
   // Save debug/internal state.
diff --git a/y2016/control_loops/superstructure/superstructure.q b/y2016/control_loops/superstructure/superstructure.q
index 63fdcf0..1422dde 100644
--- a/y2016/control_loops/superstructure/superstructure.q
+++ b/y2016/control_loops/superstructure/superstructure.q
@@ -49,6 +49,9 @@
     float max_angular_acceleration_intake;
     float max_angular_acceleration_shoulder;
     float max_angular_acceleration_wrist;
+
+    // Voltage to send to the rollers. Positive is sucking in.
+    float voltage_rollers;
   };
 
   message Status {
@@ -86,6 +89,8 @@
     float voltage_intake;
     float voltage_shoulder;
     float voltage_wrist;
+
+    float voltage_rollers;
   };
 
   queue Goal goal;