diff --git a/y2016/control_loops/superstructure/superstructure_goal.fbs b/y2016/control_loops/superstructure/superstructure_goal.fbs
index 4274bd8..efba4a7 100644
--- a/y2016/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2016/control_loops/superstructure/superstructure_goal.fbs
@@ -15,36 +15,36 @@
   // to the big frame supporting the shooter.
 
   // Goal angles and angular velocities of the superstructure subsystems.
-  angle_intake:double;
-  angle_shoulder:double;
+  angle_intake:double (id: 0);
+  angle_shoulder:double (id: 1);
   // In relation to the ground plane.
-  angle_wrist:double;
+  angle_wrist:double (id: 2);
 
   // Caps on velocity/acceleration for profiling. 0 for the default.
-  max_angular_velocity_intake:float;
-  max_angular_velocity_shoulder:float;
-  max_angular_velocity_wrist:float;
+  max_angular_velocity_intake:float (id: 3);
+  max_angular_velocity_shoulder:float (id: 4);
+  max_angular_velocity_wrist:float (id: 5);
 
-  max_angular_acceleration_intake:float;
-  max_angular_acceleration_shoulder:float;
-  max_angular_acceleration_wrist:float;
+  max_angular_acceleration_intake:float (id: 6);
+  max_angular_acceleration_shoulder:float (id: 7);
+  max_angular_acceleration_wrist:float (id: 8);
 
   // Voltage to send to the rollers. Positive is sucking in.
-  voltage_top_rollers:float;
-  voltage_bottom_rollers:float;
+  voltage_top_rollers:float (id: 9);
+  voltage_bottom_rollers:float (id: 10);
 
   // Voltage to sent to the climber. Positive is pulling the robot up.
-  voltage_climber:float;
+  voltage_climber:float (id: 11);
   // If true, unlatch the climber and allow it to unfold.
-  unfold_climber:bool;
+  unfold_climber:bool (id: 12);
 
-  force_intake:bool;
+  force_intake:bool (id: 13);
 
   // If true, release the latch which holds the traverse mechanism in the
   // middle.
-  traverse_unlatched:bool;
+  traverse_unlatched:bool (id: 14);
   // If true, fire the traverse mechanism down.
-  traverse_down:bool;
+  traverse_down:bool (id: 15);
 }
 
 root_type Goal;
diff --git a/y2016/control_loops/superstructure/superstructure_output.fbs b/y2016/control_loops/superstructure/superstructure_output.fbs
index 40a0091..7e790cd 100644
--- a/y2016/control_loops/superstructure/superstructure_output.fbs
+++ b/y2016/control_loops/superstructure/superstructure_output.fbs
@@ -1,22 +1,22 @@
 namespace y2016.control_loops.superstructure;
 
 table Output {
-  voltage_intake:float;
-  voltage_shoulder:float;
-  voltage_wrist:float;
+  voltage_intake:float (id: 0);
+  voltage_shoulder:float (id: 1);
+  voltage_wrist:float (id: 2);
 
-  voltage_top_rollers:float;
-  voltage_bottom_rollers:float;
+  voltage_top_rollers:float (id: 3);
+  voltage_bottom_rollers:float (id: 4);
 
   // Voltage to sent to the climber. Positive is pulling the robot up.
-  voltage_climber:float;
+  voltage_climber:float (id: 5);
   // If true, release the latch to trigger the climber to unfold.
-  unfold_climber:bool;
+  unfold_climber:bool (id: 6);
 
   // If true, release the latch to hold the traverse mechanism in the middle.
-  traverse_unlatched:bool;
+  traverse_unlatched:bool (id: 7);
   // If true, fire the traverse mechanism down.
-  traverse_down:bool;
+  traverse_down:bool (id: 8);
 }
 
 root_type Output;
diff --git a/y2016/control_loops/superstructure/superstructure_position.fbs b/y2016/control_loops/superstructure/superstructure_position.fbs
index fb356e0..3660e43 100644
--- a/y2016/control_loops/superstructure/superstructure_position.fbs
+++ b/y2016/control_loops/superstructure/superstructure_position.fbs
@@ -11,9 +11,9 @@
   // the shooter wheels pointed towards the shoulder joint.  This is measured
   // relative to the arm, not the ground, not like the world we actually
   // present to users.
-  intake:frc971.PotAndIndexPosition;
-  shoulder:frc971.PotAndIndexPosition;
-  wrist:frc971.PotAndIndexPosition;
+  intake:frc971.PotAndIndexPosition (id: 0);
+  shoulder:frc971.PotAndIndexPosition (id: 1);
+  wrist:frc971.PotAndIndexPosition (id: 2);
 }
 
 root_type Position;
diff --git a/y2016/control_loops/superstructure/superstructure_status.fbs b/y2016/control_loops/superstructure/superstructure_status.fbs
index 373bfe2..84648ac 100644
--- a/y2016/control_loops/superstructure/superstructure_status.fbs
+++ b/y2016/control_loops/superstructure/superstructure_status.fbs
@@ -4,53 +4,53 @@
 
 table JointState {
   // Angle of the joint in radians.
-  angle:float;
+  angle:float (id: 0);
   // Angular velocity of the joint in radians/second.
-  angular_velocity:float;
+  angular_velocity:float (id: 1);
   // Profiled goal angle of the joint in radians.
-  goal_angle:float;
+  goal_angle:float (id: 2);
   // Profiled goal angular velocity of the joint in radians/second.
-  goal_angular_velocity:float;
+  goal_angular_velocity:float (id: 3);
   // Unprofiled goal angle of the joint in radians.
-  unprofiled_goal_angle:float;
+  unprofiled_goal_angle:float (id: 4);
   // Unprofiled goal angular velocity of the joint in radians/second.
-  unprofiled_goal_angular_velocity:float;
+  unprofiled_goal_angular_velocity:float (id: 5);
 
   // The estimated voltage error.
-  voltage_error:float;
+  voltage_error:float (id: 6);
 
   // The calculated velocity with delta x/delta t
-  calculated_velocity:float;
+  calculated_velocity:float (id: 7);
 
   // Components of the control loop output
-  position_power:float;
-  velocity_power:float;
-  feedforwards_power:float;
+  position_power:float (id: 8);
+  velocity_power:float (id: 9);
+  feedforwards_power:float (id: 10);
 
   // State of the estimator.
-  estimator_state:frc971.EstimatorState;
+  estimator_state:frc971.EstimatorState (id: 11);
 }
 
 table Status {
   // Are the superstructure subsystems zeroed?
-  zeroed:bool;
+  zeroed:bool (id: 0);
 
   // If true, we have aborted.
-  estopped:bool;
+  estopped:bool (id: 1);
 
   // The internal state of the state machine.
-  state:int;
+  state:int (id: 2);
 
 
   // Estimated angles and angular velocities of the superstructure subsystems.
-  intake:JointState;
-  shoulder:JointState;
-  wrist:JointState;
+  intake:JointState (id: 3);
+  shoulder:JointState (id: 4);
+  wrist:JointState (id: 5);
 
-  shoulder_controller_index:int;
+  shoulder_controller_index:int (id: 6);
 
   // Is the superstructure collided?
-  is_collided:bool;
+  is_collided:bool (id: 7);
 }
 
 root_type Status;