diff --git a/frc971/wpilib/dma_edge_counting.cc b/frc971/wpilib/dma_edge_counting.cc
index 4cf4440..8ea3071 100644
--- a/frc971/wpilib/dma_edge_counting.cc
+++ b/frc971/wpilib/dma_edge_counting.cc
@@ -24,6 +24,14 @@
   }
 }
 
+void DMAPulseWidthReader::UpdateFromSample(const DMASample &sample) {
+  if (have_prev_sample_ && prev_sample_.Get(input_) && !sample.Get(input_)) {
+    last_width_ = sample.GetTimestamp() - prev_sample_.GetTimestamp();
+  }
+  have_prev_sample_ = true;
+  prev_sample_ = sample;
+}
+
 void DMASynchronizer::CheckDMA() {
   DMASample current_sample;
 
@@ -45,6 +53,7 @@
           }
           return;
         }
+        break;
       case DMA::STATUS_TIMEOUT:
         return;
       case DMA::STATUS_ERROR:
diff --git a/frc971/wpilib/dma_edge_counting.h b/frc971/wpilib/dma_edge_counting.h
index 813f59c..c8a00ea 100644
--- a/frc971/wpilib/dma_edge_counting.h
+++ b/frc971/wpilib/dma_edge_counting.h
@@ -37,6 +37,38 @@
   virtual void AddToDMA(DMA *dma) = 0;
 };
 
+// TODO(brian): Timeout old data.
+class DMAPulseWidthReader : public DMASampleHandlerInterface {
+ public:
+  DMAPulseWidthReader(DigitalInput *input) : input_(input) {}
+  DMAPulseWidthReader() = default;
+
+  void set_input(DigitalInput *input) { input_ = input; }
+
+  double last_width() const { return last_width_; }
+
+ private:
+  void UpdateFromSample(const DMASample & /*sample*/) override;
+  void UpdatePolledValue() override {}
+
+  void PollFromSample(const DMASample & /*sample*/) override {}
+  void AddToDMA(DMA *dma) override {
+    dma->Add(input_);
+    dma->SetExternalTrigger(input_, true, true);
+  }
+
+  DigitalInput *input_ = nullptr;
+
+  // The last DMA reading we got.
+  DMASample prev_sample_;
+  // Whether or not we actually have anything in prev_sample_.
+  bool have_prev_sample_ = false;
+
+  double last_width_ = ::std::numeric_limits<double>::quiet_NaN();
+
+  DISALLOW_COPY_AND_ASSIGN(DMAPulseWidthReader);
+};
+
 // Counts edges on a sensor using DMA data and latches encoder values
 // corresponding to those edges.
 class DMAEdgeCounter : public DMASampleHandlerInterface {
diff --git a/y2018/control_loops/superstructure/superstructure.q b/y2018/control_loops/superstructure/superstructure.q
index 0da9d17..9bdabed 100644
--- a/y2018/control_loops/superstructure/superstructure.q
+++ b/y2018/control_loops/superstructure/superstructure.q
@@ -171,6 +171,9 @@
     // Value of the beambreak sensor detecting when the box has hit the frame
     // cutout.
     bool box_back_beambreak_triggered;
+
+    // Distance to the box in meters.
+    double box_distance;
   };
 
   message Output {
diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index cf19b26..6fba1fe 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -287,11 +287,17 @@
     pwm_trigger_ = ::std::move(pwm_trigger);
   }
 
+  void set_lidar_lite_input(::std::unique_ptr<DigitalInput> lidar_lite_input) {
+    lidar_lite_input_ = ::std::move(lidar_lite_input);
+    lidar_lite_.set_input(lidar_lite_input_.get());
+  }
+
   // All of the DMA-related set_* calls must be made before this, and it
   // doesn't hurt to do all of them.
   void set_dma(::std::unique_ptr<DMA> dma) {
     dma_synchronizer_.reset(
         new ::frc971::wpilib::DMASynchronizer(::std::move(dma)));
+    dma_synchronizer_->Add(&lidar_lite_);
   }
 
   void RunPWMDetecter() {
@@ -479,6 +485,9 @@
       superstructure_message->box_back_beambreak_triggered =
           !box_back_beambreak_->Get();
 
+      superstructure_message->box_distance =
+          lidar_lite_.last_width() / 0.00001 / 100.0 / 2;
+
       superstructure_message.Send();
     }
 
@@ -562,6 +571,9 @@
 
   ::std::array<::std::unique_ptr<DigitalInput>, 4> autonomous_modes_;
 
+  ::std::unique_ptr<DigitalInput> lidar_lite_input_;
+  ::frc971::wpilib::DMAPulseWidthReader lidar_lite_;
+
   ::std::atomic<bool> run_{true};
 };
 
@@ -853,6 +865,8 @@
 
     reader.set_pwm_trigger(make_unique<DigitalInput>(25));
 
+    reader.set_lidar_lite_input(make_unique<DigitalInput>(22));
+
     reader.set_dma(make_unique<DMA>());
     ::std::thread reader_thread(::std::ref(reader));