diff --git a/y2024/control_loops/superstructure/BUILD b/y2024/control_loops/superstructure/BUILD
new file mode 100644
index 0000000..996d28b
--- /dev/null
+++ b/y2024/control_loops/superstructure/BUILD
@@ -0,0 +1,151 @@
+load("//tools/build_rules:js.bzl", "ts_project")
+load("//aos/flatbuffers:generate.bzl", "static_flatbuffer")
+load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
+
+package(default_visibility = ["//visibility:public"])
+
+static_flatbuffer(
+    name = "superstructure_goal_fbs",
+    srcs = [
+        "superstructure_goal.fbs",
+    ],
+    deps = [
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:profiled_subsystem_fbs",
+    ],
+)
+
+static_flatbuffer(
+    name = "superstructure_output_fbs",
+    srcs = [
+        "superstructure_output.fbs",
+    ],
+)
+
+static_flatbuffer(
+    name = "superstructure_status_fbs",
+    srcs = [
+        "superstructure_status.fbs",
+    ],
+    deps = [
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:profiled_subsystem_fbs",
+    ],
+)
+
+flatbuffer_ts_library(
+    name = "superstructure_status_ts_fbs",
+    srcs = [
+        "superstructure_status.fbs",
+    ],
+    deps = [
+        "//frc971/control_loops:control_loops_ts_fbs",
+        "//frc971/control_loops:profiled_subsystem_ts_fbs",
+    ],
+)
+
+static_flatbuffer(
+    name = "superstructure_position_fbs",
+    srcs = [
+        "superstructure_position.fbs",
+    ],
+    deps = [
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:profiled_subsystem_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
+    ],
+)
+
+cc_library(
+    name = "superstructure_lib",
+    srcs = [
+        "superstructure.cc",
+    ],
+    hdrs = [
+        "superstructure.h",
+    ],
+    data = [
+    ],
+    deps = [
+        ":superstructure_goal_fbs",
+        ":superstructure_output_fbs",
+        ":superstructure_position_fbs",
+        ":superstructure_status_fbs",
+        "//aos:flatbuffer_merge",
+        "//aos/events:event_loop",
+        "//frc971/constants:constants_sender_lib",
+        "//frc971/control_loops:control_loop",
+        "//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+        "//frc971/shooter_interpolation:interpolation",
+        "//frc971/zeroing:absolute_encoder",
+        "//frc971/zeroing:pot_and_absolute_encoder",
+        "//y2024:constants",
+        "//y2024/constants:constants_fbs",
+        "//y2024/constants:simulated_constants_sender",
+    ],
+)
+
+cc_binary(
+    name = "superstructure",
+    srcs = [
+        "superstructure_main.cc",
+    ],
+    deps = [
+        ":superstructure_lib",
+        "//aos:init",
+        "//aos/events:shm_event_loop",
+    ],
+)
+
+cc_test(
+    name = "superstructure_lib_test",
+    srcs = [
+        "superstructure_lib_test.cc",
+    ],
+    data = [
+        "//y2024:aos_config",
+    ],
+    deps = [
+        ":superstructure_goal_fbs",
+        ":superstructure_lib",
+        ":superstructure_output_fbs",
+        ":superstructure_position_fbs",
+        ":superstructure_status_fbs",
+        "//aos:json_to_flatbuffer",
+        "//aos:math",
+        "//aos/events/logging:log_writer",
+        "//aos/testing:googletest",
+        "//aos/time",
+        "//frc971/control_loops:capped_test_plant",
+        "//frc971/control_loops:control_loop_test",
+        "//frc971/control_loops:position_sensor_sim",
+        "//frc971/control_loops:subsystem_simulator",
+        "//frc971/control_loops:team_number_test_environment",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+    ],
+)
+
+cc_binary(
+    name = "superstructure_replay",
+    srcs = ["superstructure_replay.cc"],
+    deps = [
+        ":superstructure_lib",
+        "//aos:configuration",
+        "//aos:init",
+        "//aos/events:simulated_event_loop",
+        "//aos/events/logging:log_reader",
+        "//aos/network:team_number",
+    ],
+)
+
+ts_project(
+    name = "superstructure_plotter",
+    srcs = ["superstructure_plotter.ts"],
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        "//aos/network/www:aos_plotter",
+        "//aos/network/www:colors",
+        "//aos/network/www:proxy",
+    ],
+)
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
new file mode 100644
index 0000000..abb5536
--- /dev/null
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -0,0 +1,78 @@
+#include "y2024/control_loops/superstructure/superstructure.h"
+
+#include "aos/events/event_loop.h"
+#include "aos/flatbuffer_merge.h"
+#include "aos/network/team_number.h"
+#include "frc971/shooter_interpolation/interpolation.h"
+#include "frc971/zeroing/wrap.h"
+
+DEFINE_bool(ignore_distance, false,
+            "If true, ignore distance when shooting and obay joystick_reader");
+
+namespace y2024 {
+namespace control_loops {
+namespace superstructure {
+
+using ::aos::monotonic_clock;
+
+using frc971::control_loops::AbsoluteEncoderProfiledJointStatus;
+using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
+using frc971::control_loops::RelativeEncoderProfiledJointStatus;
+
+Superstructure::Superstructure(::aos::EventLoop *event_loop,
+                               std::shared_ptr<const constants::Values> values,
+                               const ::std::string &name)
+    : frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                    name),
+      values_(values),
+      constants_fetcher_(event_loop),
+      drivetrain_status_fetcher_(
+          event_loop->MakeFetcher<frc971::control_loops::drivetrain::Status>(
+              "/drivetrain")),
+      joystick_state_fetcher_(
+          event_loop->MakeFetcher<aos::JoystickState>("/aos")) {
+  event_loop->SetRuntimeRealtimePriority(30);
+}
+
+void Superstructure::RunIteration(const Goal *unsafe_goal,
+                                  const Position *position,
+                                  aos::Sender<Output>::Builder *output,
+                                  aos::Sender<Status>::Builder *status) {
+  const monotonic_clock::time_point timestamp =
+      event_loop()->context().monotonic_event_time;
+
+  (void)timestamp;
+  (void)unsafe_goal;
+  (void)position;
+
+  if (WasReset()) {
+    AOS_LOG(ERROR, "WPILib reset, restarting\n");
+  }
+
+  OutputT output_struct;
+  if (joystick_state_fetcher_.Fetch() &&
+      joystick_state_fetcher_->has_alliance()) {
+    alliance_ = joystick_state_fetcher_->alliance();
+  }
+  drivetrain_status_fetcher_.Fetch();
+
+  if (output) {
+    output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
+  }
+
+  Status::Builder status_builder = status->MakeBuilder<Status>();
+  status_builder.add_zeroed(true);
+  status_builder.add_estopped(false);
+
+  (void)status->Send(status_builder.Finish());
+}
+
+double Superstructure::robot_velocity() const {
+  return (drivetrain_status_fetcher_.get() != nullptr
+              ? drivetrain_status_fetcher_->robot_speed()
+              : 0.0);
+}
+
+}  // namespace superstructure
+}  // namespace control_loops
+}  // namespace y2024
\ No newline at end of file
diff --git a/y2024/control_loops/superstructure/superstructure.h b/y2024/control_loops/superstructure/superstructure.h
new file mode 100644
index 0000000..1d7cdf5
--- /dev/null
+++ b/y2024/control_loops/superstructure/superstructure.h
@@ -0,0 +1,54 @@
+#ifndef Y2024_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
+#define Y2024_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
+
+#include "aos/events/event_loop.h"
+#include "aos/json_to_flatbuffer.h"
+#include "frc971/constants/constants_sender_lib.h"
+#include "frc971/control_loops/control_loop.h"
+#include "frc971/control_loops/drivetrain/drivetrain_can_position_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
+#include "y2024/constants.h"
+#include "y2024/constants/constants_generated.h"
+#include "y2024/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2024/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2024/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2024/control_loops/superstructure/superstructure_status_generated.h"
+
+namespace y2024 {
+namespace control_loops {
+namespace superstructure {
+
+class Superstructure
+    : public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
+ public:
+  explicit Superstructure(::aos::EventLoop *event_loop,
+                          std::shared_ptr<const constants::Values> values,
+                          const ::std::string &name = "/superstructure");
+
+  double robot_velocity() const;
+
+ protected:
+  virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
+                            aos::Sender<Output>::Builder *output,
+                            aos::Sender<Status>::Builder *status) override;
+
+ private:
+  std::shared_ptr<const constants::Values> values_;
+  frc971::constants::ConstantsFetcher<Constants> constants_fetcher_;
+
+  aos::Fetcher<frc971::control_loops::drivetrain::Status>
+      drivetrain_status_fetcher_;
+  aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
+
+  aos::Alliance alliance_ = aos::Alliance::kInvalid;
+
+  DISALLOW_COPY_AND_ASSIGN(Superstructure);
+};
+
+}  // namespace superstructure
+}  // namespace control_loops
+}  // namespace y2024
+
+#endif  // Y2024_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
diff --git a/y2024/control_loops/superstructure/superstructure_goal.fbs b/y2024/control_loops/superstructure/superstructure_goal.fbs
new file mode 100644
index 0000000..1c4b3dd
--- /dev/null
+++ b/y2024/control_loops/superstructure/superstructure_goal.fbs
@@ -0,0 +1,9 @@
+include "frc971/control_loops/profiled_subsystem.fbs";
+
+namespace y2024.control_loops.superstructure;
+
+table Goal {
+}
+
+
+root_type Goal;
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
new file mode 100644
index 0000000..85e16b2
--- /dev/null
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -0,0 +1,287 @@
+#include <chrono>
+#include <memory>
+
+#include "gtest/gtest.h"
+
+#include "aos/events/logging/log_writer.h"
+#include "frc971/control_loops/capped_test_plant.h"
+#include "frc971/control_loops/control_loop_test.h"
+#include "frc971/control_loops/position_sensor_sim.h"
+#include "frc971/control_loops/subsystem_simulator.h"
+#include "frc971/control_loops/team_number_test_environment.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "y2024/constants/simulated_constants_sender.h"
+#include "y2024/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2024/control_loops/superstructure/superstructure.h"
+
+DEFINE_string(output_folder, "",
+              "If set, logs all channels to the provided logfile.");
+
+namespace y2024 {
+namespace control_loops {
+namespace superstructure {
+namespace testing {
+
+namespace chrono = std::chrono;
+
+using ::aos::monotonic_clock;
+using ::frc971::CreateProfileParameters;
+using ::frc971::control_loops::CappedTestPlant;
+using ::frc971::control_loops::
+    CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
+using ::frc971::control_loops::PositionSensorSimulator;
+using ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
+using DrivetrainStatus = ::frc971::control_loops::drivetrain::Status;
+
+class SuperstructureSimulation {
+ public:
+  SuperstructureSimulation(::aos::EventLoop *event_loop, chrono::nanoseconds dt)
+      : event_loop_(event_loop),
+        dt_(dt),
+        superstructure_position_sender_(
+            event_loop_->MakeSender<Position>("/superstructure")),
+        superstructure_status_fetcher_(
+            event_loop_->MakeFetcher<Status>("/superstructure")),
+        superstructure_output_fetcher_(
+            event_loop_->MakeFetcher<Output>("/superstructure")) {
+    (void)dt_;
+    phased_loop_handle_ = event_loop_->AddPhasedLoop(
+        [this](int) {
+          // Skip this the first time.
+          if (!first_) {
+            EXPECT_TRUE(superstructure_output_fetcher_.Fetch());
+            EXPECT_TRUE(superstructure_status_fetcher_.Fetch());
+          }
+          first_ = false;
+          SendPositionMessage();
+        },
+        dt);
+  }
+
+  // Sends a queue message with the position of the superstructure.
+  void SendPositionMessage() {
+    ::aos::Sender<Position>::Builder builder =
+        superstructure_position_sender_.MakeBuilder();
+
+    Position::Builder position_builder = builder.MakeBuilder<Position>();
+    CHECK_EQ(builder.Send(position_builder.Finish()),
+             aos::RawSender::Error::kOk);
+  }
+
+ private:
+  ::aos::EventLoop *event_loop_;
+  const chrono::nanoseconds dt_;
+  ::aos::PhasedLoopHandler *phased_loop_handle_ = nullptr;
+
+  ::aos::Sender<Position> superstructure_position_sender_;
+  ::aos::Fetcher<Status> superstructure_status_fetcher_;
+  ::aos::Fetcher<Output> superstructure_output_fetcher_;
+
+  bool first_ = true;
+};
+
+class SuperstructureTest : public ::frc971::testing::ControlLoopTest {
+ public:
+  SuperstructureTest()
+      : ::frc971::testing::ControlLoopTest(
+            aos::configuration::ReadConfig("y2024/aos_config.json"),
+            std::chrono::microseconds(5050)),
+        values_(std::make_shared<constants::Values>(constants::MakeValues())),
+        simulated_constants_dummy_(SendSimulationConstants(
+            event_loop_factory(), 7971, "y2024/constants/test_constants.json")),
+        roborio_(aos::configuration::GetNode(configuration(), "roborio")),
+        logger_pi_(aos::configuration::GetNode(configuration(), "logger")),
+        superstructure_event_loop(MakeEventLoop("Superstructure", roborio_)),
+        superstructure_(superstructure_event_loop.get(), (values_)),
+        test_event_loop_(MakeEventLoop("test", roborio_)),
+        superstructure_goal_fetcher_(
+            test_event_loop_->MakeFetcher<Goal>("/superstructure")),
+        superstructure_goal_sender_(
+            test_event_loop_->MakeSender<Goal>("/superstructure")),
+        superstructure_status_fetcher_(
+            test_event_loop_->MakeFetcher<Status>("/superstructure")),
+        superstructure_output_fetcher_(
+            test_event_loop_->MakeFetcher<Output>("/superstructure")),
+        superstructure_position_fetcher_(
+            test_event_loop_->MakeFetcher<Position>("/superstructure")),
+        superstructure_position_sender_(
+            test_event_loop_->MakeSender<Position>("/superstructure")),
+        drivetrain_status_sender_(
+            test_event_loop_->MakeSender<DrivetrainStatus>("/drivetrain")),
+        superstructure_plant_event_loop_(MakeEventLoop("plant", roborio_)),
+        superstructure_plant_(superstructure_plant_event_loop_.get(), dt()) {
+    (void)values_;
+    set_team_id(frc971::control_loops::testing::kTeamNumber);
+
+    SetEnabled(true);
+
+    if (!FLAGS_output_folder.empty()) {
+      unlink(FLAGS_output_folder.c_str());
+      logger_event_loop_ = MakeEventLoop("logger", roborio_);
+      logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
+      logger_->StartLoggingOnRun(FLAGS_output_folder);
+    }
+  }
+
+  void VerifyNearGoal() {
+    superstructure_goal_fetcher_.Fetch();
+    superstructure_status_fetcher_.Fetch();
+
+    ASSERT_TRUE(superstructure_goal_fetcher_.get() != nullptr) << ": No goal";
+    ASSERT_TRUE(superstructure_status_fetcher_.get() != nullptr)
+        << ": No status";
+  }
+
+  void CheckIfZeroed() {
+    superstructure_status_fetcher_.Fetch();
+    ASSERT_TRUE(superstructure_status_fetcher_.get()->zeroed());
+  }
+
+  void WaitUntilZeroed() {
+    int i = 0;
+    do {
+      i++;
+      RunFor(dt());
+      superstructure_status_fetcher_.Fetch();
+      // 2 Seconds
+
+      ASSERT_LE(i, 2.0 / ::aos::time::DurationInSeconds(dt()));
+
+      // Since there is a delay when sending running, make sure we have a
+      // status before checking it.
+    } while (superstructure_status_fetcher_.get() == nullptr ||
+             !superstructure_status_fetcher_.get()->zeroed());
+  }
+
+  void SendRobotVelocity(double robot_velocity) {
+    SendDrivetrainStatus(robot_velocity, {0.0, 0.0}, 0.0);
+  }
+
+  void SendDrivetrainStatus(double robot_velocity, Eigen::Vector2d pos,
+                            double theta) {
+    // Send a robot velocity to test compensation
+    auto builder = drivetrain_status_sender_.MakeBuilder();
+    auto drivetrain_status_builder = builder.MakeBuilder<DrivetrainStatus>();
+    drivetrain_status_builder.add_robot_speed(robot_velocity);
+    drivetrain_status_builder.add_estimated_left_velocity(robot_velocity);
+    drivetrain_status_builder.add_estimated_right_velocity(robot_velocity);
+    drivetrain_status_builder.add_x(pos.x());
+    drivetrain_status_builder.add_y(pos.y());
+    drivetrain_status_builder.add_theta(theta);
+    builder.CheckOk(builder.Send(drivetrain_status_builder.Finish()));
+  }
+
+  std::shared_ptr<const constants::Values> values_;
+  const bool simulated_constants_dummy_;
+
+  const aos::Node *const roborio_;
+  const aos::Node *const logger_pi_;
+
+  ::std::unique_ptr<::aos::EventLoop> superstructure_event_loop;
+  ::y2024::control_loops::superstructure::Superstructure superstructure_;
+  ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
+  ::aos::PhasedLoopHandler *phased_loop_handle_ = nullptr;
+
+  ::aos::Fetcher<Goal> superstructure_goal_fetcher_;
+  ::aos::Sender<Goal> superstructure_goal_sender_;
+  ::aos::Fetcher<Status> superstructure_status_fetcher_;
+  ::aos::Fetcher<Output> superstructure_output_fetcher_;
+  ::aos::Fetcher<Position> superstructure_position_fetcher_;
+  ::aos::Sender<Position> superstructure_position_sender_;
+  ::aos::Sender<DrivetrainStatus> drivetrain_status_sender_;
+
+  ::std::unique_ptr<::aos::EventLoop> superstructure_plant_event_loop_;
+  SuperstructureSimulation superstructure_plant_;
+
+  std::unique_ptr<aos::EventLoop> logger_event_loop_;
+  std::unique_ptr<aos::logger::Logger> logger_;
+
+  const ::std::vector<::Eigen::Matrix<double, 3, 1>> points_;
+};
+
+// Tests that the superstructure does nothing when the goal is to remain
+// still.
+
+TEST_F(SuperstructureTest, DoesNothing) {
+  SetEnabled(true);
+  WaitUntilZeroed();
+
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+  }
+  RunFor(chrono::seconds(10));
+  VerifyNearGoal();
+
+  EXPECT_TRUE(superstructure_output_fetcher_.Fetch());
+}
+
+// Tests that loops can reach a goal.
+TEST_F(SuperstructureTest, ReachesGoal) {
+  SetEnabled(true);
+  WaitUntilZeroed();
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+  }
+
+  // Give it a lot of time to get there.
+  RunFor(chrono::seconds(15));
+
+  VerifyNearGoal();
+}
+
+// Makes sure that the voltage on a motor is properly pulled back after
+// saturation such that we don't get weird or bad (e.g. oscillating)
+// behaviour.
+TEST_F(SuperstructureTest, SaturationTest) {
+  SetEnabled(true);
+
+  // Zero it before we move.
+  WaitUntilZeroed();
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+  }
+  RunFor(chrono::seconds(20));
+  VerifyNearGoal();
+
+  // Try a low acceleration move with a high max velocity and verify the
+  // acceleration is capped like expected.
+  {
+    auto builder = superstructure_goal_sender_.MakeBuilder();
+
+    Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+    ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+  }
+
+  // TODO(Milo): Make this a sane time
+  RunFor(chrono::seconds(20));
+  VerifyNearGoal();
+}
+
+// Tests that the loop zeroes when run for a while without a goal.
+TEST_F(SuperstructureTest, ZeroNoGoal) {
+  SetEnabled(true);
+  WaitUntilZeroed();
+  RunFor(chrono::seconds(2));
+}
+
+// Tests that running disabled works
+TEST_F(SuperstructureTest, DisableTest) {
+  RunFor(chrono::seconds(2));
+  CheckIfZeroed();
+}
+}  // namespace testing
+}  // namespace superstructure
+}  // namespace control_loops
+}  // namespace y2024
diff --git a/y2024/control_loops/superstructure/superstructure_main.cc b/y2024/control_loops/superstructure/superstructure_main.cc
new file mode 100644
index 0000000..58932c7
--- /dev/null
+++ b/y2024/control_loops/superstructure/superstructure_main.cc
@@ -0,0 +1,28 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "y2024/control_loops/superstructure/superstructure.h"
+
+DEFINE_string(arm_trajectories, "arm_trajectories_generated.bfbs",
+              "The path to the generated arm trajectories bfbs file.");
+
+using y2024::control_loops::superstructure::Superstructure;
+
+int main(int argc, char **argv) {
+  ::aos::InitGoogle(&argc, &argv);
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig("aos_config.json");
+
+  ::aos::ShmEventLoop event_loop(&config.message());
+
+  frc971::constants::WaitForConstants<y2024::Constants>(&config.message());
+
+  std::shared_ptr<const y2024::constants::Values> values =
+      std::make_shared<const y2024::constants::Values>(
+          y2024::constants::MakeValues());
+  Superstructure superstructure(&event_loop, values);
+
+  event_loop.Run();
+
+  return 0;
+}
diff --git a/y2024/control_loops/superstructure/superstructure_output.fbs b/y2024/control_loops/superstructure/superstructure_output.fbs
new file mode 100644
index 0000000..6f0df4a
--- /dev/null
+++ b/y2024/control_loops/superstructure/superstructure_output.fbs
@@ -0,0 +1,6 @@
+namespace y2024.control_loops.superstructure;
+
+table Output {
+}
+
+root_type Output;
diff --git a/y2024/control_loops/superstructure/superstructure_plotter.ts b/y2024/control_loops/superstructure/superstructure_plotter.ts
new file mode 100644
index 0000000..3498f77
--- /dev/null
+++ b/y2024/control_loops/superstructure/superstructure_plotter.ts
@@ -0,0 +1,30 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
+import * as proxy from '../../../aos/network/www/proxy';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 2;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+
+export function plotSuperstructure(conn: Connection, element: Element): void {
+  const aosPlotter = new AosPlotter(conn);
+  //const goal = aosPlotter.addMessageSource(
+  //    '/superstructure', 'y2024.control_loops.superstructure.Goal');
+  //const output = aosPlotter.addMessageSource(
+  //    '/superstructure', 'y2024.control_loops.superstructure.Output');
+  //const status = aosPlotter.addMessageSource(
+  //    '/superstructure', 'y2024.control_loops.superstructure.Status');
+  const position = aosPlotter.addMessageSource(
+      '/superstructure', 'y2024.control_loops.superstructure.Position');
+  //const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+  const positionPlot =
+      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+  positionPlot.plot.getAxisLabels().setTitle('States');
+  positionPlot.plot.getAxisLabels().setXLabel(TIME);
+  positionPlot.plot.getAxisLabels().setYLabel('wonky state units');
+  positionPlot.plot.setDefaultYRange([-1.0, 2.0]);
+}
diff --git a/y2024/control_loops/superstructure/superstructure_position.fbs b/y2024/control_loops/superstructure/superstructure_position.fbs
new file mode 100644
index 0000000..83d3d23
--- /dev/null
+++ b/y2024/control_loops/superstructure/superstructure_position.fbs
@@ -0,0 +1,8 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2024.control_loops.superstructure;
+
+table Position {
+}
+
+root_type Position;
diff --git a/y2024/control_loops/superstructure/superstructure_replay.cc b/y2024/control_loops/superstructure/superstructure_replay.cc
new file mode 100644
index 0000000..bd7f9fd
--- /dev/null
+++ b/y2024/control_loops/superstructure/superstructure_replay.cc
@@ -0,0 +1,75 @@
+// This binary allows us to replay the superstructure code over existing
+// logfile. When you run this code, it generates a new logfile with the data all
+// replayed, so that it can then be run through the plotting tool or analyzed
+// in some other way. The original superstructure status data will be on the
+// /original/superstructure channel.
+#include "gflags/gflags.h"
+
+#include "aos/events/logging/log_reader.h"
+#include "aos/events/logging/log_writer.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "aos/logging/log_message_generated.h"
+#include "aos/network/team_number.h"
+#include "y2024/constants.h"
+#include "y2024/control_loops/superstructure/superstructure.h"
+
+DEFINE_int32(team, 971, "Team number to use for logfile replay.");
+DEFINE_string(output_folder, "/tmp/superstructure_replay/",
+              "Logs all channels to the provided logfile.");
+
+int main(int argc, char **argv) {
+  aos::InitGoogle(&argc, &argv);
+
+  aos::network::OverrideTeamNumber(FLAGS_team);
+
+  // open logfiles
+  aos::logger::LogReader reader(
+      aos::logger::SortParts(aos::logger::FindLogs(argc, argv)));
+  // TODO(james): Actually enforce not sending on the same buses as the logfile
+  // spews out.
+  reader.RemapLoggedChannel("/superstructure",
+                            "y2024.control_loops.superstructure.Status");
+  reader.RemapLoggedChannel("/superstructure",
+                            "y2024.control_loops.superstructure.Output");
+
+  aos::SimulatedEventLoopFactory factory(reader.configuration());
+  reader.Register(&factory);
+
+  aos::NodeEventLoopFactory *roborio =
+      factory.GetNodeEventLoopFactory("roborio");
+
+  unlink(FLAGS_output_folder.c_str());
+  std::unique_ptr<aos::EventLoop> logger_event_loop =
+      roborio->MakeEventLoop("logger");
+  auto logger = std::make_unique<aos::logger::Logger>(logger_event_loop.get());
+  logger->StartLoggingOnRun(FLAGS_output_folder);
+
+  roborio->OnStartup([roborio]() {
+    roborio->AlwaysStart<y2024::control_loops::superstructure::Superstructure>(
+        "superstructure", std::make_shared<y2024::constants::Values>(
+                              y2024::constants::MakeValues()));
+  });
+
+  std::unique_ptr<aos::EventLoop> print_loop = roborio->MakeEventLoop("print");
+  print_loop->SkipAosLog();
+  print_loop->MakeWatcher(
+      "/aos", [&print_loop](const aos::logging::LogMessageFbs &msg) {
+        LOG(INFO) << print_loop->context().monotonic_event_time << " "
+                  << aos::FlatbufferToJson(&msg);
+      });
+  print_loop->MakeWatcher(
+      "/superstructure",
+      [&](const y2024::control_loops::superstructure::Status &status) {
+        if (status.estopped()) {
+          LOG(ERROR) << "Estopped";
+        }
+      });
+
+  factory.Run();
+
+  reader.Deregister();
+
+  return 0;
+}
diff --git a/y2024/control_loops/superstructure/superstructure_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
new file mode 100644
index 0000000..7e8cc27
--- /dev/null
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -0,0 +1,14 @@
+include "frc971/control_loops/control_loops.fbs";
+include "frc971/control_loops/profiled_subsystem.fbs";
+
+namespace y2024.control_loops.superstructure;
+
+table Status {
+  // All subsystems know their location.
+  zeroed:bool (id: 0);
+
+  // If true, we have aborted. This is the or of all subsystem estops.
+  estopped:bool (id: 1);
+}
+
+root_type Status;