diff --git a/y2017/control_loops/intake/BUILD b/y2017/control_loops/intake/BUILD
new file mode 100644
index 0000000..b98cadd
--- /dev/null
+++ b/y2017/control_loops/intake/BUILD
@@ -0,0 +1,14 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+  name = 'intake_queue',
+  srcs = [
+    'intake.q',
+  ],
+  deps = [
+    '//aos/common/controls:control_loop_queues',
+    '//frc971/control_loops:queues',
+  ],
+)
diff --git a/y2017/control_loops/intake/intake.q b/y2017/control_loops/intake/intake.q
new file mode 100644
index 0000000..a8900b9
--- /dev/null
+++ b/y2017/control_loops/intake/intake.q
@@ -0,0 +1,81 @@
+package y2017.control_loops;
+
+import "aos/common/controls/control_loops.q";
+import "frc971/control_loops/control_loops.q";
+
+struct JointState {
+  // Distance of the joint, in m, from absolute zero.
+  float distance;
+  // Linear velocity of the joint in meters/second.
+  float linear_velocity;
+  // Profiled goal distance of the joint in meters.
+  float goal_distance;
+  // Profiled goal linear velocity of the joint in meters/second.
+  float goal_linear_velocity;
+  // Unprofiled goal distance from absoulte zero  of the joint in meters.
+  float unprofiled_goal_distance;
+  // Unprofiled goal linear velocity of the joint in meters/second.
+  float unprofiled_goal_linear_velocity;
+
+  // The estimated voltage error.
+  float voltage_error;
+
+  // The calculated velocity with delta x/delta t
+  float calculated_velocity;
+
+  // Components of the control loop output
+  float position_power;
+  float velocity_power;
+  float feedforwards_power;
+
+  // State of the estimator.
+  .frc971.EstimatorState estimator_state;
+};
+
+queue_group IntakeQueue {
+  implements aos.control_loops.ControlLoop;
+
+  message Goal {
+    // Zero on the intake is when the intake is retracted inside the robot,
+    // unable to intake. Positive is out.
+
+    // Goal distance of the intake.
+    double distance_intake;
+
+    // Caps on velocity/acceleration for profiling. 0 for the default.
+    .frc971.ProfileParameters profile_params_intake;
+
+    // Voltage to send to the rollers. Positive is sucking in.
+    float voltage_rollers;
+  };
+
+  message Status {
+    // Is the intake zeroed?
+    bool zeroed;
+
+    // If true, we have aborted.
+    bool estopped;
+
+    // Estimate angles and angular velocities.
+    JointState intake;
+  };
+
+  message Position {
+    // Position of the intake, zero when the intake is in, positive when it is
+    // out.
+    .frc971.PotAndAbsolutePosition intake;
+  };
+
+  message Output {
+    float voltage_intake;
+
+    float voltage_rollers;
+  };
+
+  queue Goal goal;
+  queue Position position;
+  queue Output output;
+  queue Status status;
+};
+
+queue_group IntakeQueue intake_queue;