diff --git a/y2018/control_loops/superstructure/BUILD b/y2018/control_loops/superstructure/BUILD
index 1d52ab4..8fcba95 100644
--- a/y2018/control_loops/superstructure/BUILD
+++ b/y2018/control_loops/superstructure/BUILD
@@ -61,3 +61,24 @@
         "//aos/linux_code:init",
     ],
 )
+
+cc_library(
+    name = "debouncer",
+    hdrs = [
+        "debouncer.h",
+    ],
+    srcs = [
+        "debouncer.cc",
+    ],
+)
+
+cc_test(
+    name = "debouncer_test",
+    srcs = [
+        "debouncer_test.cc",
+    ],
+    deps = [
+        ":debouncer",
+        "//aos/testing:googletest",
+    ],
+)
diff --git a/y2018/control_loops/superstructure/debouncer.cc b/y2018/control_loops/superstructure/debouncer.cc
new file mode 100644
index 0000000..40b730d
--- /dev/null
+++ b/y2018/control_loops/superstructure/debouncer.cc
@@ -0,0 +1,25 @@
+#include "y2018/control_loops/superstructure/debouncer.h"
+
+namespace y2018 {
+namespace control_loops {
+namespace superstructure {
+
+void Debouncer::Update(bool new_state) {
+  // If the incoming state is different from the one we have stored, increment
+  // the counter.
+  if (new_state != current_state_) {
+    consistent_count_++;
+  } else {
+    consistent_count_ = 0;
+  }
+
+  // If we have reached the number required to change the state, change it.
+  if (consistent_count_ >= inputs_before_change_) {
+    current_state_ = new_state;
+    consistent_count_ = 0;
+  }
+}
+
+}  // namespace superstructure
+}  // namespace control_loops
+}  // namespace y2018
diff --git a/y2018/control_loops/superstructure/debouncer.h b/y2018/control_loops/superstructure/debouncer.h
new file mode 100644
index 0000000..ad46b51
--- /dev/null
+++ b/y2018/control_loops/superstructure/debouncer.h
@@ -0,0 +1,44 @@
+#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_DEBOUNCER_H_
+#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_DEBOUNCER_H_
+
+namespace y2018 {
+namespace control_loops {
+namespace superstructure {
+
+// Ensures that a certain number of states of a certain type are recieved before
+// the actual state is changed.
+class Debouncer {
+ public:
+  // Parameters:
+  //  - initial_state: the initial state of the debouncer. (assigned to
+  // current_state)
+  //  - inputs_before_change: the number of inputs of the same type (true or
+  // false) required before the debouncer state is changed.
+  Debouncer(bool initial_state, int inputs_before_change)
+      : current_state_(initial_state),
+        inputs_before_change_(inputs_before_change) {}
+
+  // Updates the debounder state with a new input value.
+  void Update(bool new_state);
+
+  // Retrieves the current debouncer state.
+  bool current_state() const { return current_state_; }
+
+ private:
+  // Stores the current debouncer state.
+  bool current_state_;
+
+  // Stores the number of inputs of the same type (true or false) required
+  // before the debouncer state changes.
+  const int inputs_before_change_;
+
+  // Stores the temporary count of inputs of the same type. When this number
+  // reaches inputs_before_change_, the debouncer state changes.
+  int consistent_count_ = 0;
+};
+
+}  // namespace superstructure
+}  // namespace control_loops
+}  // namespace y2018
+
+#endif  // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_DEBOUNCER_H_
diff --git a/y2018/control_loops/superstructure/debouncer_test.cc b/y2018/control_loops/superstructure/debouncer_test.cc
new file mode 100644
index 0000000..2f56d56
--- /dev/null
+++ b/y2018/control_loops/superstructure/debouncer_test.cc
@@ -0,0 +1,59 @@
+#include "y2018/control_loops/superstructure/debouncer.h"
+
+#include "gtest/gtest.h"
+
+namespace y2018 {
+namespace control_loops {
+namespace superstructure {
+namespace testing {
+
+// Tests that the debouncer behaves as it should. This tests the following:
+// - The debouncer changes its internal state after the desired number of
+// repeated inputs.
+// - The debouncer doesn't change its internal state before the desired number
+// of repeated inputs.
+TEST(DebouncerTest, Debouncer) {
+  Debouncer bouncer(false, 2);
+
+  bouncer.Update(true);
+  bouncer.Update(true);
+  EXPECT_EQ(true, bouncer.current_state());
+
+  bouncer.Update(false);
+
+  // Only one false, state shouldn't have changed.
+  EXPECT_EQ(true, bouncer.current_state());
+
+  bouncer.Update(false);
+  // Now there are two falses in a row, the state should've changed.
+  EXPECT_EQ(false, bouncer.current_state());
+}
+
+// Test that the debouncer will hold its state through a short-lived state
+// change.
+TEST(DebouncerTest, DebouncerLongSequence) {
+  Debouncer bouncer(false, 2);
+
+  bouncer.Update(true);
+
+  // Only one true, should still read false.
+  EXPECT_EQ(false, bouncer.current_state());
+
+  bouncer.Update(true);
+
+  // Two trues, should now read true.
+  EXPECT_EQ(true, bouncer.current_state());
+
+  bouncer.Update(false);
+
+  // Only one false, should still read true.
+  EXPECT_EQ(true, bouncer.current_state());
+
+  bouncer.Update(true);
+
+  EXPECT_EQ(true, bouncer.current_state());
+}
+}  // namespace testing
+}  // namespace superstructure
+}  // namespace control_loops
+}  // namespace y2018