diff --git a/bot3/wpilib/wpilib_interface.cc b/bot3/wpilib/wpilib_interface.cc
new file mode 100644
index 0000000..49be884
--- /dev/null
+++ b/bot3/wpilib/wpilib_interface.cc
@@ -0,0 +1,363 @@
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <inttypes.h>
+
+#include <thread>
+#include <mutex>
+#include <functional>
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
+#include "aos/common/time.h"
+#include "aos/common/util/log_interval.h"
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/util/wrapping_counter.h"
+#include "aos/common/stl_mutex.h"
+#include "aos/linux_code/init.h"
+#include "aos/common/messages/robot_state.q.h"
+
+#include "frc971/control_loops/control_loops.q.h"
+#include "bot3/control_loops/drivetrain/drivetrain.q.h"
+
+#include "frc971/wpilib/hall_effect.h"
+#include "frc971/wpilib/joystick_sender.h"
+#include "frc971/wpilib/loop_output_handler.h"
+#include "frc971/wpilib/buffered_solenoid.h"
+#include "frc971/wpilib/buffered_pcm.h"
+#include "frc971/wpilib/gyro_sender.h"
+#include "frc971/wpilib/dma_edge_counting.h"
+#include "frc971/wpilib/interrupt_edge_counting.h"
+#include "frc971/wpilib/encoder_and_potentiometer.h"
+#include "frc971/wpilib/logging.q.h"
+#include "bot3/control_loops/drivetrain/drivetrain.h"
+
+#include "Encoder.h"
+#include "Talon.h"
+#include "DriverStation.h"
+#include "AnalogInput.h"
+#include "Compressor.h"
+#include "Relay.h"
+#include "RobotBase.h"
+#include "dma.h"
+#include "ControllerPower.h"
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+using ::aos::util::SimpleLogInterval;
+using ::bot3::control_loops::drivetrain_queue;
+using ::frc971::wpilib::DMAEncoderAndPotentiometer;
+using ::frc971::PotAndIndexPosition;
+using ::frc971::wpilib::InterruptEncoderAndPotentiometer;
+using ::frc971::wpilib::DMASynchronizer;
+using ::frc971::wpilib::BufferedPcm;
+using ::frc971::wpilib::LoopOutputHandler;
+using ::frc971::wpilib::JoystickSender;
+using ::frc971::wpilib::GyroSender;
+
+namespace bot3 {
+namespace wpilib {
+
+double drivetrain_translate(int32_t in) {
+  return static_cast<double>(in) /
+         (256.0 /*cpr*/ * 4.0 /*4x*/) *
+         ::bot3::control_loops::kDrivetrainEncoderRatio *
+         (4 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
+}
+
+// TODO(comran): Check/update the values below for the bot3.
+static const double kMaximumEncoderPulsesPerSecond =
+    19500.0 /* free speed RPM */ * 12.0 / 56.0 /* belt reduction */ /
+    60.0 /* seconds / minute */ * 256.0 /* CPR */ *
+    4.0 /* index pulse = 1/4 cycle */;
+
+class SensorReader {
+ public:
+  SensorReader() {
+    // Set it to filter out anything shorter than 1/4 of the minimum pulse width
+    // we should ever see.
+    filter_.SetPeriodNanoSeconds(
+        static_cast<int>(1 / 4.0 / kMaximumEncoderPulsesPerSecond * 1e9 + 0.5));
+  }
+
+  void set_left_encoder(::std::unique_ptr<Encoder> left_encoder) {
+    left_encoder_ = ::std::move(left_encoder);
+  }
+
+  void set_right_encoder(::std::unique_ptr<Encoder> right_encoder) {
+    right_encoder_ = ::std::move(right_encoder);
+  }
+
+  // All of the DMA-related set_* calls must be made before this, and it doesn't
+  // hurt to do all of them.
+  // TODO(comran): Do we still need dma?
+  void set_dma(::std::unique_ptr<DMA> dma) {
+    dma_synchronizer_.reset(new DMASynchronizer(::std::move(dma)));
+  }
+
+  void operator()() {
+    LOG(INFO, "In sensor reader thread\n");
+    ::aos::SetCurrentThreadName("SensorReader");
+
+    my_pid_ = getpid();
+    ds_ = DriverStation::GetInstance();
+
+    dma_synchronizer_->Start();
+    LOG(INFO, "Things are now started\n");
+
+    ::aos::SetCurrentThreadRealtimePriority(kPriority);
+    while (run_) {
+      ::aos::time::PhasedLoopXMS(5, 4000);
+      RunIteration();
+    }
+  }
+
+  void RunIteration() {
+    {
+      auto new_state = ::aos::robot_state.MakeMessage();
+
+      new_state->reader_pid = my_pid_;
+      new_state->outputs_enabled = ds_->IsSysActive();
+      new_state->browned_out = ds_->IsSysBrownedOut();
+
+      new_state->is_3v3_active = ControllerPower::GetEnabled3V3();
+      new_state->is_5v_active = ControllerPower::GetEnabled5V();
+      new_state->voltage_3v3 = ControllerPower::GetVoltage3V3();
+      new_state->voltage_5v = ControllerPower::GetVoltage5V();
+
+      new_state->voltage_roborio_in = ControllerPower::GetInputVoltage();
+      new_state->voltage_battery = ds_->GetBatteryVoltage();
+
+      LOG_STRUCT(DEBUG, "robot_state", *new_state);
+
+      new_state.Send();
+    }
+
+    {
+      auto drivetrain_message = drivetrain_queue.position.MakeMessage();
+      drivetrain_message->right_encoder =
+          -drivetrain_translate(right_encoder_->GetRaw());
+      drivetrain_message->left_encoder =
+          drivetrain_translate(left_encoder_->GetRaw());
+
+      drivetrain_message.Send();
+    }
+
+    dma_synchronizer_->RunIteration();
+  }
+
+  void Quit() { run_ = false; }
+
+ private:
+  static const int kPriority = 30;
+  static const int kInterruptPriority = 55;
+
+  int32_t my_pid_;
+  DriverStation *ds_;
+
+  void CopyPotAndIndexPosition(
+      const DMAEncoderAndPotentiometer &encoder, PotAndIndexPosition *position,
+      ::std::function<double(int32_t)> encoder_translate,
+      ::std::function<double(double)> potentiometer_translate, bool reverse,
+      double potentiometer_offset) {
+    const double multiplier = reverse ? -1.0 : 1.0;
+    position->encoder =
+        multiplier * encoder_translate(encoder.polled_encoder_value());
+    position->pot = multiplier * potentiometer_translate(
+                                     encoder.polled_potentiometer_voltage()) +
+                    potentiometer_offset;
+    position->latched_encoder =
+        multiplier * encoder_translate(encoder.last_encoder_value());
+    position->latched_pot =
+        multiplier *
+            potentiometer_translate(encoder.last_potentiometer_voltage()) +
+        potentiometer_offset;
+    position->index_pulses = encoder.index_posedge_count();
+  }
+
+  void CopyPotAndIndexPosition(
+      const InterruptEncoderAndPotentiometer &encoder,
+      PotAndIndexPosition *position,
+      ::std::function<double(int32_t)> encoder_translate,
+      ::std::function<double(double)> potentiometer_translate, bool reverse,
+      double potentiometer_offset) {
+    const double multiplier = reverse ? -1.0 : 1.0;
+    position->encoder =
+        multiplier * encoder_translate(encoder.encoder()->GetRaw());
+    position->pot = multiplier * potentiometer_translate(
+                                     encoder.potentiometer()->GetVoltage()) +
+                    potentiometer_offset;
+    position->latched_encoder =
+        multiplier * encoder_translate(encoder.last_encoder_value());
+    position->latched_pot =
+        multiplier *
+            potentiometer_translate(encoder.last_potentiometer_voltage()) +
+        potentiometer_offset;
+    position->index_pulses = encoder.index_posedge_count();
+  }
+
+  ::std::unique_ptr<DMASynchronizer> dma_synchronizer_;
+
+  ::std::unique_ptr<Encoder> left_encoder_;
+  ::std::unique_ptr<Encoder> right_encoder_;
+
+  ::std::atomic<bool> run_{true};
+  DigitalGlitchFilter filter_;
+};
+
+class SolenoidWriter {
+ public:
+  SolenoidWriter(const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm)
+      : pcm_(pcm) {}
+
+  void set_pressure_switch(::std::unique_ptr<DigitalSource> pressure_switch) {
+    pressure_switch_ = ::std::move(pressure_switch);
+  }
+
+  void set_compressor_relay(::std::unique_ptr<Relay> compressor_relay) {
+    compressor_relay_ = ::std::move(compressor_relay);
+  }
+
+  void operator()() {
+    ::aos::SetCurrentThreadName("Solenoids");
+    ::aos::SetCurrentThreadRealtimePriority(30);
+
+    while (run_) {
+      ::aos::time::PhasedLoopXMS(20, 1000);
+
+      ::aos::joystick_state.FetchLatest();
+
+      {
+        ::frc971::wpilib::PneumaticsToLog to_log;
+        {
+          const bool compressor_on = !pressure_switch_->Get();
+          to_log.compressor_on = compressor_on;
+          if (compressor_on) {
+            compressor_relay_->Set(Relay::kForward);
+          } else {
+            compressor_relay_->Set(Relay::kOff);
+          }
+        }
+
+        pcm_->Flush();
+        to_log.read_solenoids = pcm_->GetAll();
+        LOG_STRUCT(DEBUG, "pneumatics info", to_log);
+      }
+    }
+  }
+
+  void Quit() { run_ = false; }
+
+ private:
+  const ::std::unique_ptr<BufferedPcm> &pcm_;
+  ::std::unique_ptr<DigitalSource> pressure_switch_;
+  ::std::unique_ptr<Relay> compressor_relay_;
+
+  ::std::atomic<bool> run_{true};
+};
+
+class DrivetrainWriter : public LoopOutputHandler {
+ public:
+  void set_left_drivetrain_talon(::std::unique_ptr<Talon> t) {
+    left_drivetrain_talon_ = ::std::move(t);
+  }
+
+  void set_right_drivetrain_talon(::std::unique_ptr<Talon> t) {
+    right_drivetrain_talon_ = ::std::move(t);
+  }
+
+ private:
+  virtual void Read() override {
+    ::bot3::control_loops::drivetrain_queue.output.FetchAnother();
+  }
+
+  virtual void Write() override {
+    auto &queue = ::bot3::control_loops::drivetrain_queue.output;
+    LOG_STRUCT(DEBUG, "will output", *queue);
+    left_drivetrain_talon_->Set(queue->left_voltage / 12.0);
+    right_drivetrain_talon_->Set(-queue->right_voltage / 12.0);
+  }
+
+  virtual void Stop() override {
+    LOG(WARNING, "drivetrain output too old\n");
+    left_drivetrain_talon_->Disable();
+    right_drivetrain_talon_->Disable();
+  }
+
+  ::std::unique_ptr<Talon> left_drivetrain_talon_;
+  ::std::unique_ptr<Talon> right_drivetrain_talon_;
+};
+
+// TODO(brian): Replace this with ::std::make_unique once all our toolchains
+// have support.
+template <class T, class... U>
+std::unique_ptr<T> make_unique(U &&... u) {
+  return std::unique_ptr<T>(new T(std::forward<U>(u)...));
+}
+
+class WPILibRobot : public RobotBase {
+ public:
+  ::std::unique_ptr<Encoder> encoder(int index) {
+    return make_unique<Encoder>(10 + index * 2, 11 + index * 2, false,
+                                Encoder::k4X);
+  }
+  virtual void StartCompetition() {
+    ::aos::InitNRT();
+    ::aos::SetCurrentThreadName("StartCompetition");
+
+    JoystickSender joystick_sender;
+    ::std::thread joystick_thread(::std::ref(joystick_sender));
+
+    SensorReader reader;
+    LOG(INFO, "Creating the reader\n");
+
+    // TODO(comran): Find talon/encoder numbers.
+    reader.set_left_encoder(encoder(2));
+    reader.set_right_encoder(encoder(3));
+    reader.set_dma(make_unique<DMA>());
+    ::std::thread reader_thread(::std::ref(reader));
+    GyroSender gyro_sender;
+    ::std::thread gyro_thread(::std::ref(gyro_sender));
+
+    DrivetrainWriter drivetrain_writer;
+    drivetrain_writer.set_left_drivetrain_talon(
+        ::std::unique_ptr<Talon>(new Talon(8)));
+    drivetrain_writer.set_right_drivetrain_talon(
+        ::std::unique_ptr<Talon>(new Talon(0)));
+    ::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));
+
+    ::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
+        new ::frc971::wpilib::BufferedPcm());
+    SolenoidWriter solenoid_writer(pcm);
+    solenoid_writer.set_pressure_switch(make_unique<DigitalInput>(9));
+    solenoid_writer.set_compressor_relay(make_unique<Relay>(0));
+    ::std::thread solenoid_thread(::std::ref(solenoid_writer));
+
+    // Wait forever. Not much else to do...
+    PCHECK(select(0, nullptr, nullptr, nullptr, nullptr));
+
+    LOG(ERROR, "Exiting WPILibRobot\n");
+
+    joystick_sender.Quit();
+    joystick_thread.join();
+    reader.Quit();
+    reader_thread.join();
+    gyro_sender.Quit();
+    gyro_thread.join();
+
+    drivetrain_writer.Quit();
+    drivetrain_writer_thread.join();
+    solenoid_writer.Quit();
+    solenoid_thread.join();
+
+    ::aos::Cleanup();
+  }
+};
+
+}  // namespace wpilib
+}  // namespace bot3
+
+
+START_ROBOT_CLASS(::bot3::wpilib::WPILibRobot);