diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 70ea319..4d446ee 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -209,26 +209,30 @@
   status->Send(status_builder.Finish());
 
   if (output != nullptr) {
+    output_struct.washing_machine_spinner_voltage = 0.0;
+    output_struct.feeder_voltage = 0.0;
+    output_struct.intake_roller_voltage = 0.0;
     if (unsafe_goal) {
-      output_struct.washing_machine_spinner_voltage = 0.0;
+      if ((unsafe_goal->shooting() || unsafe_goal->intake_preloading()) &&
+          !position->intake_beambreak_triggered()) {
+        output_struct.washing_machine_spinner_voltage = 5.0;
+        output_struct.feeder_voltage = 12.0;
+      }
+
       if (unsafe_goal->shooting()) {
         if (shooter_.ready() && shooter_.finisher_goal() > 10.0 &&
             shooter_.accelerator_goal() > 10.0) {
           output_struct.feeder_voltage = 12.0;
-        } else {
-          output_struct.feeder_voltage = 0.0;
         }
         output_struct.washing_machine_spinner_voltage = 5.0;
         output_struct.intake_roller_voltage = 3.0;
       } else {
-        output_struct.feeder_voltage = 0.0;
         output_struct.intake_roller_voltage =
             unsafe_goal->roller_voltage() +
             std::max(velocity * unsafe_goal->roller_speed_compensation(), 0.0f);
       }
-    } else {
-      output_struct.intake_roller_voltage = 0.0;
     }
+
     output->Send(Output::Pack(*output->fbb(), &output_struct));
   }
 }
diff --git a/y2020/control_loops/superstructure/superstructure_goal.fbs b/y2020/control_loops/superstructure/superstructure_goal.fbs
index 792b6b4..990234a 100644
--- a/y2020/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2020/control_loops/superstructure/superstructure_goal.fbs
@@ -49,6 +49,10 @@
   // Whether the kicker and flywheel should choose a velocity automatically.
   shooter_tracking:bool (id: 9);
 
+  // Whether to serialize a ball under the accelerator tower
+  // so it is ready to shoot.
+  intake_preloading:bool (id: 12);
+
   // Positive is deploying climber and to climb; cannot run in reverse
   climber_voltage:float (id: 10);
 }
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index 029475a..4fa49fc 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -204,6 +204,8 @@
     position_builder.add_intake_joint(intake_offset);
     position_builder.add_turret(turret_offset);
     position_builder.add_shooter(shooter_offset);
+    position_builder.add_intake_beambreak_triggered(
+        intake_beambreak_triggered_);
 
     builder.Send(position_builder.Finish());
   }
@@ -384,6 +386,10 @@
     finisher_plant_->set_voltage_offset(value);
   }
 
+  void set_intake_beambreak_triggered(bool triggered) {
+    intake_beambreak_triggered_ = triggered;
+  }
+
  private:
   ::aos::EventLoop *event_loop_;
   const chrono::nanoseconds dt_;
@@ -419,6 +425,8 @@
   double peak_turret_velocity_ = 1e10;
 
   float climber_voltage_ = 0.0f;
+
+  bool intake_beambreak_triggered_ = false;
 };
 
 class SuperstructureTest : public ::frc971::testing::ControlLoopTest {
@@ -936,6 +944,51 @@
   VerifyNearGoal();
 }
 
+// Tests that preserializing balls works.
+TEST_F(SuperstructureTest, Preserializing) {
+  SetEnabled(true);
+  // Set a reasonable goal.
+
+  WaitUntilZeroed();
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    goal_builder.add_intake_preloading(true);
+
+    ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+  }
+
+  superstructure_plant_.set_intake_beambreak_triggered(false);
+
+  // Give it time to stabilize.
+  RunFor(chrono::seconds(1));
+
+  // Preloads balls.
+  superstructure_output_fetcher_.Fetch();
+  ASSERT_TRUE(superstructure_output_fetcher_.get() != nullptr);
+  EXPECT_EQ(superstructure_output_fetcher_->feeder_voltage(), 12.0);
+  EXPECT_EQ(superstructure_output_fetcher_->washing_machine_spinner_voltage(),
+            5.0);
+
+  VerifyNearGoal();
+
+  superstructure_plant_.set_intake_beambreak_triggered(true);
+
+  // Give it time to stabilize.
+  RunFor(chrono::seconds(1));
+
+  // Stops preloading balls once one ball is in place
+  superstructure_output_fetcher_.Fetch();
+  ASSERT_TRUE(superstructure_output_fetcher_.get() != nullptr);
+  EXPECT_EQ(superstructure_output_fetcher_->feeder_voltage(), 0.0);
+  EXPECT_EQ(superstructure_output_fetcher_->washing_machine_spinner_voltage(),
+            0.0);
+
+  VerifyNearGoal();
+}
+
 // Makes sure that a negative number is not added to the to the
 // roller_voltage
 TEST_F(SuperstructureTest, NegativeRollerSpeedCompensation) {
diff --git a/y2020/control_loops/superstructure/superstructure_position.fbs b/y2020/control_loops/superstructure/superstructure_position.fbs
index 1e9f81a..b1576ea 100644
--- a/y2020/control_loops/superstructure/superstructure_position.fbs
+++ b/y2020/control_loops/superstructure/superstructure_position.fbs
@@ -27,6 +27,10 @@
 
    // Position of the control panel, relative to start, positive counterclockwise from above.
   control_panel:frc971.RelativePosition (id: 4);
+
+  // Value of the beambreak sensor detecting when
+  // a ball is just below the accelerator tower; true is a ball.
+  intake_beambreak_triggered:bool (id: 5);
 }
 
 root_type Position;