Add superstructure control loop boiler plate
Change-Id: I50952a0869d423f3838eb94038714566b7b457be
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
new file mode 100644
index 0000000..f53629c
--- /dev/null
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -0,0 +1,35 @@
+#ifndef Y2016_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
+#define Y2016_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
+
+#include <memory>
+
+#include "aos/common/controls/control_loop.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+
+#include "y2016/control_loops/superstructure/superstructure.q.h"
+
+namespace y2016 {
+namespace control_loops {
+
+class Superstructure
+ : public ::aos::controls::ControlLoop<control_loops::SuperstructureQueue> {
+ public:
+ explicit Superstructure(
+ control_loops::SuperstructureQueue *my_superstructure =
+ &control_loops::superstructure_queue);
+
+ protected:
+ virtual void RunIteration(
+ const control_loops::SuperstructureQueue::Goal *goal,
+ const control_loops::SuperstructureQueue::Position *position,
+ ::aos::control_loops::Output *output,
+ control_loops::SuperstructureQueue::Status *status) override;
+
+ private:
+ DISALLOW_COPY_AND_ASSIGN(Superstructure);
+};
+
+} // namespace control_loops
+} // namespace y2016
+
+#endif // Y2016_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_