diff --git a/frc971/wpilib/BUILD b/frc971/wpilib/BUILD
new file mode 100644
index 0000000..a7e8697
--- /dev/null
+++ b/frc971/wpilib/BUILD
@@ -0,0 +1,150 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+  name = 'logging_queue',
+  srcs = [
+    'logging.q',
+  ],
+)
+
+cc_library(
+  name = 'encoder_and_potentiometer',
+  srcs = [
+    'encoder_and_potentiometer.cc',
+  ],
+  hdrs = [
+    'encoder_and_potentiometer.h',
+  ],
+  deps = [
+    '//third_party/WPILib',
+    ':dma_edge_counting',
+    '//aos/linux_code:init',
+    '//aos/common/logging',
+    '//aos/linux_code/ipc_lib:mutex',
+  ],
+)
+
+cc_library(
+  name = 'dma_edge_counting',
+  srcs = [
+    'dma_edge_counting.cc',
+  ],
+  hdrs = [
+    'dma_edge_counting.h',
+  ],
+  deps = [
+    '//third_party/WPILib',
+    '//aos/common/logging',
+    ':hall_effect',
+  ],
+)
+
+cc_library(
+  name = 'interrupt_edge_counting',
+  srcs = [
+    'interrupt_edge_counting.cc',
+  ],
+  hdrs = [
+    'interrupt_edge_counting.h',
+  ],
+  deps = [
+    '//third_party/WPILib',
+    '//aos/common/logging',
+    '//aos/common:stl_mutex',
+    '//aos/common:time',
+    '//aos/linux_code:init',
+  ],
+)
+
+cc_library(
+  name = 'buffered_pcm',
+  srcs = [
+    'buffered_solenoid.cc',
+    'buffered_pcm.cc',
+  ],
+  hdrs = [
+    'buffered_solenoid.h',
+    'buffered_pcm.h',
+  ],
+  deps = [
+    '//third_party/WPILib',
+    '//aos/common/logging',
+  ],
+)
+
+cc_library(
+  name = 'gyro_interface',
+  srcs = [
+    'gyro_interface.cc',
+  ],
+  hdrs = [
+    'gyro_interface.h',
+  ],
+  deps = [
+    '//third_party/WPILib',
+    '//aos/common/logging',
+  ],
+)
+
+cc_library(
+  name = 'gyro_sender',
+  srcs = [
+    'gyro_sender.cc',
+  ],
+  hdrs = [
+    'gyro_sender.h',
+  ],
+  deps = [
+    '//frc971/queues:gyro',
+    ':gyro_interface',
+    '//aos/common/logging',
+    '//aos/common/logging:queue_logging',
+    '//aos/common/util:phased_loop',
+    '//aos/common/messages:robot_state',
+    '//aos/linux_code:init',
+    '//aos/common:time',
+  ],
+)
+
+cc_library(
+  name = 'loop_output_handler',
+  srcs = [
+    'loop_output_handler.cc',
+  ],
+  hdrs = [
+    'loop_output_handler.h',
+  ],
+  deps = [
+    '//aos/common:scoped_fd',
+    '//aos/linux_code:init',
+    '//aos/common:time',
+    '//aos/common/util:log_interval',
+    '//aos/common/messages:robot_state',
+  ],
+)
+
+cc_library(
+  name = 'joystick_sender',
+  srcs = [
+    'joystick_sender.cc',
+  ],
+  hdrs = [
+    'joystick_sender.h',
+  ],
+  deps = [
+    '//third_party/WPILib',
+    '//aos/common/messages:robot_state',
+    '//aos/linux_code:init',
+    '//aos/common/network:team_number',
+    '//aos/common/logging:queue_logging',
+  ],
+)
+
+cc_library(
+  name = 'hall_effect',
+  deps = [
+    '//third_party/WPILib',
+  ],
+)