diff --git a/y2021_bot3/wpilib_interface.cc b/y2021_bot3/wpilib_interface.cc
new file mode 100644
index 0000000..3dfcfb7
--- /dev/null
+++ b/y2021_bot3/wpilib_interface.cc
@@ -0,0 +1,250 @@
+#include <inttypes.h>
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <array>
+#include <chrono>
+#include <cmath>
+#include <functional>
+#include <mutex>
+#include <thread>
+
+#include "ctre/phoenix/CANifier.h"
+#include "frc971/wpilib/ahal/AnalogInput.h"
+#include "frc971/wpilib/ahal/Counter.h"
+#include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
+#include "frc971/wpilib/ahal/DriverStation.h"
+#include "frc971/wpilib/ahal/Encoder.h"
+#include "frc971/wpilib/ahal/TalonFX.h"
+#include "frc971/wpilib/ahal/VictorSP.h"
+#undef ERROR
+
+#include "aos/commonmath.h"
+#include "aos/events/event_loop.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/logging/logging.h"
+#include "aos/make_unique.h"
+#include "aos/realtime.h"
+#include "aos/robot_state/robot_state_generated.h"
+#include "aos/time/time.h"
+#include "aos/util/log_interval.h"
+#include "aos/util/phased_loop.h"
+#include "aos/util/wrapping_counter.h"
+#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
+#include "frc971/autonomous/auto_mode_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
+#include "frc971/wpilib/ADIS16448.h"
+#include "frc971/wpilib/buffered_pcm.h"
+#include "frc971/wpilib/buffered_solenoid.h"
+#include "frc971/wpilib/dma.h"
+#include "frc971/wpilib/drivetrain_writer.h"
+#include "frc971/wpilib/encoder_and_potentiometer.h"
+#include "frc971/wpilib/joystick_sender.h"
+#include "frc971/wpilib/logging_generated.h"
+#include "frc971/wpilib/loop_output_handler.h"
+#include "frc971/wpilib/pdp_fetcher.h"
+#include "frc971/wpilib/sensor_reader.h"
+#include "frc971/wpilib/wpilib_robot_base.h"
+#include "y2021_bot3/constants.h"
+#include "y2021_bot3/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2021_bot3/control_loops/superstructure/superstructure_position_generated.h"
+
+using ::aos::monotonic_clock;
+using ::y2021_bot3::constants::Values;
+namespace superstructure = ::y2021_bot3::control_loops::superstructure;
+namespace chrono = ::std::chrono;
+using aos::make_unique;
+
+namespace y2021_bot3 {
+namespace wpilib {
+namespace {
+
+constexpr double kMaxBringupPower = 12.0;
+
+// TODO(Brian): Fix the interpretation of the result of GetRaw here and in the
+// DMA stuff and then removing the * 2.0 in *_translate.
+// The low bit is direction.
+
+// TODO(brian): Use ::std::max instead once we have C++14 so that can be
+// constexpr.
+template <typename T>
+constexpr T max(T a, T b) {
+  return (a > b) ? a : b;
+}
+
+template <typename T, typename... Rest>
+constexpr T max(T a, T b, T c, Rest... rest) {
+  return max(max(a, b), c, rest...);
+}
+
+double drivetrain_translate(int32_t in) {
+  return ((static_cast<double>(in) /
+           Values::kDrivetrainEncoderCountsPerRevolution()) *
+          (2.0 * M_PI)) *
+         Values::kDrivetrainEncoderRatio() *
+         control_loops::drivetrain::kWheelRadius;
+}
+
+double drivetrain_velocity_translate(double in) {
+  return (((1.0 / in) / Values::kDrivetrainCyclesPerRevolution()) *
+          (2.0 * M_PI)) *
+         Values::kDrivetrainEncoderRatio() *
+         control_loops::drivetrain::kWheelRadius;
+}
+
+constexpr double kMaxFastEncoderPulsesPerSecond =
+    Values::kMaxDrivetrainEncoderPulsesPerSecond();
+static_assert(kMaxFastEncoderPulsesPerSecond <= 1300000,
+              "fast encoders are too fast");
+constexpr double kMaxMediumEncoderPulsesPerSecond =
+    kMaxFastEncoderPulsesPerSecond;
+
+static_assert(kMaxMediumEncoderPulsesPerSecond <= 400000,
+              "medium encoders are too fast");
+
+}  // namespace
+
+// Class to send position messages with sensor readings to our loops.
+class SensorReader : public ::frc971::wpilib::SensorReader {
+ public:
+  SensorReader(::aos::ShmEventLoop *event_loop)
+      : ::frc971::wpilib::SensorReader(event_loop),
+        auto_mode_sender_(
+            event_loop->MakeSender<::frc971::autonomous::AutonomousMode>(
+                "/autonomous")),
+        superstructure_position_sender_(
+            event_loop->MakeSender<superstructure::Position>(
+                "/superstructure")),
+        drivetrain_position_sender_(
+            event_loop
+                ->MakeSender<::frc971::control_loops::drivetrain::Position>(
+                    "/drivetrain")) {
+    // Set to filter out anything shorter than 1/4 of the minimum pulse width
+    // we should ever see.
+    UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
+    UpdateMediumEncoderFilterHz(kMaxMediumEncoderPulsesPerSecond);
+  }
+
+  // Auto mode switches.
+  void set_autonomous_mode(int i, ::std::unique_ptr<frc::DigitalInput> sensor) {
+    autonomous_modes_.at(i) = ::std::move(sensor);
+  }
+
+  void RunIteration() override {
+    {
+      auto builder = drivetrain_position_sender_.MakeBuilder();
+      frc971::control_loops::drivetrain::Position::Builder drivetrain_builder =
+          builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
+      drivetrain_builder.add_left_encoder(
+          drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
+      drivetrain_builder.add_left_speed(
+          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
+
+      drivetrain_builder.add_right_encoder(
+          -drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
+      drivetrain_builder.add_right_speed(-drivetrain_velocity_translate(
+          drivetrain_right_encoder_->GetPeriod()));
+
+      builder.Send(drivetrain_builder.Finish());
+    }
+
+    {
+      auto builder = superstructure_position_sender_.MakeBuilder();
+      superstructure::Position::Builder position_builder =
+          builder.MakeBuilder<superstructure::Position>();
+      builder.Send(position_builder.Finish());
+    }
+
+    {
+      auto builder = auto_mode_sender_.MakeBuilder();
+
+      uint32_t mode = 0;
+      for (size_t i = 0; i < autonomous_modes_.size(); ++i) {
+        if (autonomous_modes_[i] && autonomous_modes_[i]->Get()) {
+          mode |= 1 << i;
+        }
+      }
+
+      auto auto_mode_builder =
+          builder.MakeBuilder<frc971::autonomous::AutonomousMode>();
+
+      auto_mode_builder.add_mode(mode);
+
+      builder.Send(auto_mode_builder.Finish());
+    }
+  }
+
+ private:
+  ::aos::Sender<::frc971::autonomous::AutonomousMode> auto_mode_sender_;
+  ::aos::Sender<superstructure::Position> superstructure_position_sender_;
+  ::aos::Sender<::frc971::control_loops::drivetrain::Position>
+      drivetrain_position_sender_;
+
+  ::std::array<::std::unique_ptr<frc::DigitalInput>, 2> autonomous_modes_;
+};
+
+class SuperstructureWriter
+    : public ::frc971::wpilib::LoopOutputHandler<superstructure::Output> {
+ public:
+  SuperstructureWriter(::aos::EventLoop *event_loop)
+      : ::frc971::wpilib::LoopOutputHandler<superstructure::Output>(
+            event_loop, "/superstructure") {}
+
+ private:
+  void Write(const superstructure::Output & /*output*/) override {}
+
+  void Stop() override { AOS_LOG(WARNING, "Superstructure output too old.\n"); }
+};
+
+class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
+ public:
+  ::std::unique_ptr<frc::Encoder> make_encoder(int index) {
+    return make_unique<frc::Encoder>(10 + index * 2, 11 + index * 2, false,
+                                     frc::Encoder::k4X);
+  }
+
+  void Run() override {
+    aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+        aos::configuration::ReadConfig("config.json");
+
+    // Thread 1.
+    ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
+    ::frc971::wpilib::JoystickSender joystick_sender(
+        &joystick_sender_event_loop);
+    AddLoop(&joystick_sender_event_loop);
+
+    // Thread 2.
+    ::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
+    ::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
+    AddLoop(&pdp_fetcher_event_loop);
+
+    // Thread 3.
+    ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
+    SensorReader sensor_reader(&sensor_reader_event_loop);
+    sensor_reader.set_drivetrain_left_encoder(make_encoder(0));
+    sensor_reader.set_drivetrain_right_encoder(make_encoder(1));
+
+    AddLoop(&sensor_reader_event_loop);
+
+    // Thread 4.
+    ::aos::ShmEventLoop output_event_loop(&config.message());
+    ::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
+    drivetrain_writer.set_left_controller0(
+        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(0)), true);
+    drivetrain_writer.set_right_controller0(
+        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(1)), false);
+
+    SuperstructureWriter superstructure_writer(&output_event_loop);
+
+    AddLoop(&output_event_loop);
+
+    RunLoops();
+  }
+};
+
+}  // namespace wpilib
+}  // namespace y2021_bot3
+
+AOS_ROBOT_CLASS(::y2021_bot3::wpilib::WPILibRobot);