Index loop is in a seperate file now.
diff --git a/frc971/control_loops/index/index.gyp b/frc971/control_loops/index/index.gyp
new file mode 100644
index 0000000..04b043f
--- /dev/null
+++ b/frc971/control_loops/index/index.gyp
@@ -0,0 +1,71 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'index_loop',
+ 'type': 'static_library',
+ 'sources': ['index_motor.q'],
+ 'variables': {
+ 'header_path': 'frc971/control_loops/index',
+ },
+ 'dependencies': [
+ '<(AOS)/build/aos.gyp:libaos',
+ '<(AOS)/common/common.gyp:control_loop_queues',
+ '<(AOS)/common/common.gyp:queues',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/build/aos.gyp:libaos',
+ '<(AOS)/common/common.gyp:control_loop_queues',
+ '<(AOS)/common/common.gyp:queues',
+ ],
+ 'includes': ['../../../aos/build/queues.gypi'],
+ },
+ {
+ 'target_name': 'index_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'index.cc',
+ 'index_motor_plant.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/build/aos.gyp:libaos',
+ 'index_loop',
+ '<(AOS)/common/common.gyp:controls',
+ '<(DEPTH)/frc971/frc971.gyp:common',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ ],
+ 'export_dependent_settings': [
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ '<(AOS)/common/common.gyp:controls',
+ 'index_loop',
+ ],
+ },
+ {
+ 'target_name': 'index_lib_test',
+ 'type': 'executable',
+ 'sources': [
+ 'index_lib_test.cc',
+ 'transfer_motor_plant.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):gtest',
+ '<(AOS)/build/aos.gyp:libaos',
+ 'index_loop',
+ 'index_lib',
+ '<(AOS)/common/common.gyp:queue_testutils',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ ],
+ },
+ {
+ 'target_name': 'index',
+ 'type': 'executable',
+ 'sources': [
+ 'index_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/build/aos.gyp:libaos',
+ 'index_lib',
+ 'index_loop',
+ ],
+ },
+ ],
+}