diff --git a/y2016/control_loops/superstructure/BUILD b/y2016/control_loops/superstructure/BUILD
new file mode 100644
index 0000000..720319b
--- /dev/null
+++ b/y2016/control_loops/superstructure/BUILD
@@ -0,0 +1,55 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+  name = 'superstructure_queue',
+  srcs = [
+    'superstructure.q',
+  ],
+  deps = [
+    '//aos/common/controls:control_loop_queues',
+    '//frc971/control_loops:queues',
+  ],
+)
+
+cc_library(
+  name = 'superstructure_lib',
+  srcs = [
+    'superstructure.cc',
+  ],
+  hdrs = [
+    'superstructure.h',
+  ],
+  deps = [
+    ':superstructure_queue',
+    '//aos/common/controls:control_loop',
+    '//frc971/control_loops:state_feedback_loop',
+  ],
+)
+
+cc_test(
+  name = 'superstructure_lib_test',
+  srcs = [
+    'superstructure_lib_test.cc',
+  ],
+  deps = [
+    ':superstructure_queue',
+    ':superstructure_lib',
+    '//aos/testing:googletest',
+    '//aos/common:queues',
+    '//aos/common/controls:control_loop_test',
+  ],
+)
+
+cc_binary(
+  name = 'superstructure',
+  srcs = [
+    'superstructure_main.cc',
+  ],
+  deps = [
+    '//aos/linux_code:init',
+    ':superstructure_lib',
+    ':superstructure_queue',
+  ],
+)
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
new file mode 100644
index 0000000..db31ffc
--- /dev/null
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -0,0 +1,26 @@
+#include "y2016/control_loops/superstructure/superstructure.h"
+
+#include "aos/common/controls/control_loops.q.h"
+#include "aos/common/logging/logging.h"
+
+namespace y2016 {
+namespace control_loops {
+
+Superstructure::Superstructure(
+    control_loops::SuperstructureQueue *my_superstructure)
+    : aos::controls::ControlLoop<control_loops::SuperstructureQueue>(
+          my_superstructure) {}
+
+void Superstructure::RunIteration(
+    const control_loops::SuperstructureQueue::Goal *goal,
+    const control_loops::SuperstructureQueue::Position *position,
+    ::aos::control_loops::Output *output,
+    control_loops::SuperstructureQueue::Status *status) {
+  (void)goal;
+  (void)position;
+  (void)output;
+  (void)status;
+}
+
+}  // namespace control_loops
+}  // namespace y2016
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_
diff --git a/y2016/control_loops/superstructure/superstructure.q b/y2016/control_loops/superstructure/superstructure.q
new file mode 100644
index 0000000..f7a93f8
--- /dev/null
+++ b/y2016/control_loops/superstructure/superstructure.q
@@ -0,0 +1,27 @@
+package y2016.control_loops;
+
+import "aos/common/controls/control_loops.q";
+import "frc971/control_loops/control_loops.q";
+
+queue_group SuperstructureQueue {
+  implements aos.control_loops.ControlLoop;
+
+  message Goal {
+    double value;
+  };
+
+  message Status {
+    double value;
+  };
+
+  message Position {
+    double value;
+  };
+
+  queue Goal goal;
+  queue Position position;
+  queue aos.control_loops.Output output;
+  queue Status status;
+};
+
+queue_group SuperstructureQueue superstructure_queue;
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
new file mode 100644
index 0000000..3a843cd
--- /dev/null
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -0,0 +1,86 @@
+#include "y2016/control_loops/superstructure/superstructure.h"
+
+#include <unistd.h>
+
+#include <memory>
+
+#include "gtest/gtest.h"
+#include "aos/common/queue.h"
+#include "aos/common/controls/control_loop_test.h"
+#include "y2016/control_loops/superstructure/superstructure.q.h"
+
+using ::aos::time::Time;
+
+namespace y2016 {
+namespace control_loops {
+namespace testing {
+
+// Class which simulates the superstructure and sends out queue messages with
+// the position.
+class SuperstructureSimulation {
+ public:
+  SuperstructureSimulation()
+      : superstructure_queue_(".y2016.control_loops.superstructure", 0x0,
+                               ".y2016.control_loops.superstructure.goal",
+                               ".y2016.control_loops.superstructure.status",
+                               ".y2016.control_loops.superstructure.output",
+                               ".y2016.control_loops.superstructure.status") {
+  }
+
+  // Simulates superstructure for a single timestep.
+  void Simulate() { EXPECT_TRUE(superstructure_queue_.output.FetchLatest()); }
+
+ private:
+  SuperstructureQueue superstructure_queue_;
+};
+
+class SuperstructureTest : public ::aos::testing::ControlLoopTest {
+ protected:
+  SuperstructureTest()
+      : superstructure_queue_(".y2016.control_loops.superstructure", 0x0,
+                               ".y2016.control_loops.superstructure.goal",
+                               ".y2016.control_loops.superstructure.status",
+                               ".y2016.control_loops.superstructure.output",
+                               ".y2016.control_loops.superstructure.status"),
+        superstructure_(&superstructure_queue_),
+        superstructure_plant_() {}
+
+  void VerifyNearGoal() {
+    // TODO(phil): Implement a check here.
+  }
+
+  // Runs one iteration of the whole simulation and checks that separation
+  // remains reasonable.
+  void RunIteration(bool enabled = true) {
+    SendMessages(enabled);
+    TickTime();
+  }
+
+  // Runs iterations until the specified amount of simulated time has elapsed.
+  void RunForTime(const Time &run_for, bool enabled = true) {
+    const auto start_time = Time::Now();
+    while (Time::Now() < start_time + run_for) {
+      RunIteration(enabled);
+    }
+  }
+
+  // Create a new instance of the test queue so that it invalidates the queue
+  // that it points to.  Otherwise, we will have a pointed to
+  // shared memory that is no longer valid.
+  SuperstructureQueue superstructure_queue_;
+
+  // Create a control loop and simulation.
+  Superstructure superstructure_;
+  SuperstructureSimulation superstructure_plant_;
+};
+
+// Tests that the superstructure does nothing when the goal is zero.
+TEST_F(SuperstructureTest, DoesNothing) {
+  // TODO(phil): Send a goal of some sort.
+  RunIteration();
+  VerifyNearGoal();
+}
+
+}  // namespace testing
+}  // namespace control_loops
+}  // namespace frc971
diff --git a/y2016/control_loops/superstructure/superstructure_main.cc b/y2016/control_loops/superstructure/superstructure_main.cc
new file mode 100644
index 0000000..d825eeb
--- /dev/null
+++ b/y2016/control_loops/superstructure/superstructure_main.cc
@@ -0,0 +1,11 @@
+#include "y2016/control_loops/superstructure/superstructure.h"
+
+#include "aos/linux_code/init.h"
+
+int main() {
+  ::aos::Init();
+  ::y2016::control_loops::Superstructure superstructure;
+  superstructure.Run();
+  ::aos::Cleanup();
+  return 0;
+}