Create y2022 directory
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I3a57026587204e084276c7e338c397467f776a70
diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
new file mode 100644
index 0000000..95e24d3
--- /dev/null
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -0,0 +1,35 @@
+#ifndef Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
+#define Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
+
+#include "frc971/control_loops/control_loop.h"
+#include "aos/events/event_loop.h"
+#include "y2022/constants.h"
+#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2022/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2022/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+
+namespace y2022 {
+namespace control_loops {
+namespace superstructure {
+
+class Superstructure
+ : public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
+ public:
+ explicit Superstructure(::aos::EventLoop *event_loop,
+ const ::std::string &name = "/superstructure");
+
+ protected:
+ virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
+ aos::Sender<Output>::Builder *output,
+ aos::Sender<Status>::Builder *status) override;
+
+ private:
+ DISALLOW_COPY_AND_ASSIGN(Superstructure);
+};
+
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2022
+
+#endif // Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_