diff --git a/documentation/tutorials/BUILD b/documentation/tutorials/BUILD
new file mode 100644
index 0000000..13516c1
--- /dev/null
+++ b/documentation/tutorials/BUILD
@@ -0,0 +1,19 @@
+load("//tools/build_rules:pandoc.bzl", "pandoc_html")
+
+articles = [
+    "create-a-new-autonomous",
+    "create-a-new-robot",
+    "create-a-simple-program-for-running-a-motor",
+    "download-code-to-the-robot",
+    "make-a-drivebase-move",
+    "send-and-receive-messages-on-queues",
+    "submitting-code-for-a-review",
+    "tune-an-autonomous",
+    "generated-queue-code",
+    "using-bazel",
+]
+
+[pandoc_html(
+    name = article_name,
+    src = article_name + ".md",
+) for article_name in articles]
diff --git a/documentation/tutorials/create-a-new-autonomous.md b/documentation/tutorials/create-a-new-autonomous.md
new file mode 100644
index 0000000..68ddb60
--- /dev/null
+++ b/documentation/tutorials/create-a-new-autonomous.md
@@ -0,0 +1,2 @@
+# How to create a new autonomous
+TODO
diff --git a/documentation/tutorials/create-a-new-robot.md b/documentation/tutorials/create-a-new-robot.md
new file mode 100644
index 0000000..e746975
--- /dev/null
+++ b/documentation/tutorials/create-a-new-robot.md
@@ -0,0 +1,2 @@
+# How to create a new robot folder
+TODO
diff --git a/documentation/tutorials/create-a-simple-program-for-running-a-motor.md b/documentation/tutorials/create-a-simple-program-for-running-a-motor.md
new file mode 100644
index 0000000..f19d85c
--- /dev/null
+++ b/documentation/tutorials/create-a-simple-program-for-running-a-motor.md
@@ -0,0 +1,2 @@
+# How to create a simple program for running a motor
+TODO
diff --git a/documentation/tutorials/download-code-to-the-robot.md b/documentation/tutorials/download-code-to-the-robot.md
new file mode 100644
index 0000000..4f667cc
--- /dev/null
+++ b/documentation/tutorials/download-code-to-the-robot.md
@@ -0,0 +1,30 @@
+# How to download the code to a robot if you have a working code computer
+
+## Prerequisites
+1. Have a computer that has already built the code. See //:README.md for
+   directions on how to do this.
+
+2. TODO: Physical setup instructions (ethernet cables, router, driver station).
+
+3. TODO: Networking instructions (static ip address on ethernet without losing
+   wireless networking, mDNS information).
+
+
+
+## Downloading the code
+
+1. Make sure that you can connect to the roboRIO.
+```console
+ssh admin@roboRIO-971-frc.local /bin/true
+```
+
+2. Download the code
+```console
+bazel run --cpu=roborio --compilation_mode=opt //y2018:download -- admin@roboRIO-971-frc.local
+```
+
+3. TODO: How to run the code using the driver station.
+
+## Troubleshooting
+* If step 1 fails, you probably are not connected properly to the roboRIO.
+  Double check prerequisites 1 and 2.
diff --git a/documentation/tutorials/generated-queue-code.md b/documentation/tutorials/generated-queue-code.md
new file mode 100644
index 0000000..8f00a31
--- /dev/null
+++ b/documentation/tutorials/generated-queue-code.md
@@ -0,0 +1,246 @@
+# Generated queue code
+
+This tutorial covers what the code that is generated from a .q file looks like.
+
+### The basics
+Each `.q` file generates a `.cc` and `.h` pair that can be #include'd in your c++
+code.
+
+We're going to use `//frc971/queues:gyro.q` as our example.
+
+## Package declaration
+`.q` files usually start with a `package` declaration. The `package` declaration
+directly converts to a set of namespace declarations. So
+
+```cpp
+package frc971.sensors;
+```
+
+generates the namespace definitions
+
+```cpp
+namespace frc971 {
+namespace sensors {
+
+// All of the code for the queue
+
+}  // namespace sensors
+}  // namespace frc971
+```
+
+## Message declarations
+Each message declared in the queue generates a class that can be instantiated in
+your code easily.
+
+For a simple example, lets use the `Uid` message in `//frc971/queues:gyro.q`:
+
+```cpp
+message Uid {
+  uint32_t uid;
+};
+```
+
+Let's take a look at the actual class definition that is created. If you ever
+want to inspect the code that is generated from a .q file, you can take a look
+in `bazel-genfiles` after you build your code. So after running `bazel build
+//frc971/queues:gyro` there will be a `bazel-genfiles/frc971/queues/gyro.q.h`
+and `bazel-genfiles/frc971/queues/gyro.q.cc`.
+
+Here's the definition of the `Uid` class from
+`bazel-genfiles/frc971/queues/gyro.q.h` (comments mine):
+
+```cpp
+struct Uid : public ::aos::Message {
+  // Used to identify queues uniquely even if they have the same name.
+  enum { kQueueLength = 100, kHash = 0x0837c541 };
+
+  // The actual data that we requested be part of the message.
+  uint32_t uid;
+
+  // Writes the message to a byte buffer.
+  size_t Serialize(char *buffer) const;
+  // Reads the message from a byte buffer.
+  size_t Deserialize(const char *buffer);
+  // Zeroes all of the fields in the message.
+  void Zero();
+  // Returns the size of message. Not used
+  static size_t Size() { return 4 + ::aos::Message::Size(); }
+  // Prints the contents of the message to a string that is human readable.
+  size_t Print(char *buffer, size_t length) const;
+
+  // Gets information about this message's type.
+  static const ::aos::MessageType *GetType();
+  static const ::aos::MessageType *DoGetType();
+
+  // Default constructor, zeroes the struct.
+  Uid();
+  // Value constructor, sets the data at construction.
+  Uid(uint32_t uid_in);
+  bool EqualsNoTime(const Uid &other) const;
+};
+```
+
+## Queue declarations
+Every `queue` declaration in the `.q` file creates an `aos::Queue` variable that
+uses the message type given. So the declaration
+
+```cpp
+queue Uid gyro_part_id;
+```
+
+will generate a variable in `gyro.q.h`
+
+```cpp
+static UNUSED_VARIABLE::aos::Queue<Uid> &gyro_part_id;
+```
+
+which can then be used in any file that includes the header file.
+
+
+## QueueGroup declarations
+
+`queue_group` declares a set of queues and some associated helpers for them.
+There are two kinds of `queue_groups`, declarations and aliases. Here's an
+example of a `queue_group` definition:
+
+```cpp
+queue_group SuperstructureQueue {
+  implements aos.control_loops.ControlLoop;
+
+  message Goal {
+    IntakeGoal intake;
+
+    // Used to identify a position in the planned set of positions on the arm.
+    uint32_t arm_goal_position;
+    // If true, start the grab box sequence.
+    bool grab_box;
+
+    bool open_claw;
+    bool close_claw;
+
+    bool deploy_fork;
+
+    bool hook_release;
+
+    double voltage_winch;
+
+    double open_threshold;
+
+    bool disable_box_correct;
+
+    bool trajectory_override;
+  };
+
+  message Status {
+    // Are all the subsystems zeroed?
+    bool zeroed;
+
+    // If true, any of the subsystems have aborted.
+    bool estopped;
+
+    // Status of both intake sides.
+    IntakeSideStatus left_intake;
+    IntakeSideStatus right_intake;
+
+    ArmStatus arm;
+
+    double filtered_box_velocity;
+    uint32_t rotation_state;
+  };
+
+  message Position {
+    // Values of the series elastic encoders on the left side of the robot from
+    // the rear perspective in radians.
+    IntakeElasticSensors left_intake;
+
+    // Values of the series elastic encoders on the right side of the robot from
+    // the rear perspective in radians.
+    IntakeElasticSensors right_intake;
+
+    ArmPosition arm;
+
+    // Value of the beam breaker sensor. This value is true if the beam is
+    // broken, false if the beam isn't broken.
+    bool claw_beambreak_triggered;
+    // Value of the beambreak sensor detecting when the box has hit the frame
+    // cutout.
+    bool box_back_beambreak_triggered;
+
+    // Distance to the box in meters.
+    double box_distance;
+  };
+
+  message Output {
+    // Voltage sent to the parts on the left side of the intake.
+    IntakeVoltage left_intake;
+
+    // Voltage sent to the parts on the right side of the intake.
+    IntakeVoltage right_intake;
+
+    // Voltage sent to the motors on the proximal joint of the arm.
+    double voltage_proximal;
+
+    // Voltage sent to the motors on the distal joint of the arm.
+    double voltage_distal;
+
+    // Voltage sent to the hanger.  Positive pulls the robot up.
+    double voltage_winch;
+
+    // Clamped (when true) or unclamped (when false) status sent to the
+    // pneumatic claw on the arm.
+    bool claw_grabbed;
+
+    // If true, release the arm brakes.
+    bool release_arm_brake;
+    // If true, release the hook
+    bool hook_release;
+    // If true, release the forks
+    bool forks_release;
+  };
+
+  queue Goal goal;
+  queue Output output;
+  queue Status status;
+  queue Position position;
+};
+```
+
+and aliases look like:
+
+```cpp
+queue_group SuperstructureQueue superstructure_queue;
+```
+
+The declaration type creates the definition of the queue group and what messages
+and queues it contains. The alias type creates a variable with the given name.
+
+This queue group results in the following code in
+`bazel-genfiles/y2018/control_loops/superstructure/superstructure.q.h`
+
+```cpp
+
+struct SuperstructureQueue_Goal : public ::aos::Message { /* ... */ }
+struct SuperstructureQueue_Output : public ::aos::Message { /* ... */ }
+struct SuperstructureQueue_Status : public ::aos::Message { /* ... */ }
+struct SuperstructureQueue_Position : public ::aos::Message { /* ... */ }
+class SuperstructureQueue : public ::aos::QueueGroup {
+ public:
+  typedef SuperstructureQueue_Goal Goal;
+  ::aos::Queue<SuperstructureQueue_Goal> goal;
+  typedef SuperstructureQueue_Output Output;
+  ::aos::Queue<SuperstructureQueue_Output> output;
+  typedef SuperstructureQueue_Status Status;
+  ::aos::Queue<SuperstructureQueue_Status> status;
+  typedef SuperstructureQueue_Position Position;
+  ::aos::Queue<SuperstructureQueue_Position> position;
+  SuperstructureQueue(const char *name, uint32_t hash, const char *goal_name,
+                      const char *output_name, const char *status_name,
+                      const char *position_name);
+};
+```
+
+and a definition of a variable:
+
+```cpp
+static UNUSED_VARIABLE SuperstructureQueue &superstructure_queue;
+```
diff --git a/documentation/tutorials/make-a-drivebase-move.md b/documentation/tutorials/make-a-drivebase-move.md
new file mode 100644
index 0000000..716a12b
--- /dev/null
+++ b/documentation/tutorials/make-a-drivebase-move.md
@@ -0,0 +1,2 @@
+# How to make a drivebase move
+TODO
diff --git a/documentation/tutorials/send-and-receive-messages-on-queues.md b/documentation/tutorials/send-and-receive-messages-on-queues.md
new file mode 100644
index 0000000..bcdaac1
--- /dev/null
+++ b/documentation/tutorials/send-and-receive-messages-on-queues.md
@@ -0,0 +1,74 @@
+# How to send and receive messages on a Queue
+
+Let's say we have a `//y2018:basic_queue.q` file that has the following
+contents:
+
+```cpp
+package y2018;
+
+message BasicMessage {
+  float value;
+};
+
+queue BasicMessage basic_queue;
+```
+
+and the corresponding entry in `//y2018/BUILD`
+
+```python
+queue_library(
+    name = "basic_queue",
+    srcs = [
+        "basic_queue.q",
+    ],
+    visibility = ["//visibility:public"],
+)
+```
+
+The following examples assume that you've declared a dependency on
+`//y2018:basic_queue` in the relevant `BUILD` file.
+
+## Sending a message
+First, include the queue definition that is created from the `.q` file. This
+will make the `basic_queue` variable available.
+
+```cpp
+#include "y2018/basic_queue.q.h"
+```
+
+```cpp
+
+// Allocate a new message pointer to use. basic_queue is from the include
+// statement.
+auto new_basic_message = basic_queue.MakeMessage();
+new_goal.value = 0.5;
+
+// Send the message on the queue
+if (!new_basic_message.Send()) {
+  LOG(ERROR, "Failed to send.\n");
+}
+```
+
+## Receiving a message
+
+Once again, we must include the queue header file to get access to the queue.
+
+
+```cpp
+#include "y2018/basic_queue.q.h"
+```
+
+Then we can receive a message.
+
+
+```cpp
+basic_queue.FetchLatest();
+if (basic_queue.get()) {
+  // We have a valid message ready to be used
+  LOG(INFO, "Got a BasicMessage from basic_queue with value %f\n",
+      basic_queue->value);
+} else {
+  // No new message was available
+  LOG(ERROR, "No message was received\n");
+}
+```
diff --git a/documentation/tutorials/submitting-code-for-a-review.md b/documentation/tutorials/submitting-code-for-a-review.md
new file mode 100644
index 0000000..414345c
--- /dev/null
+++ b/documentation/tutorials/submitting-code-for-a-review.md
@@ -0,0 +1,91 @@
+# How to submit code to gerrit for review
+
+## Prerequisites
+1. Generate an ssh key and add it to Gerrit.
+
+First, run `ssh-keygen` in your terminal, and accept all of the default
+parameters by hitting enter. Then go to Gerrit, click on your name in the top
+right corner and click settings. Choose `SSH Public Keys` on the side bar and
+click `Add Key`. Copy paste the contents of `~/.ssh/id_rsa.pub` into the box and
+hit okay.
+
+2. Add the gerrit change-id git hook to your local repository
+
+If you used the `clone with commit-msg hook` command when you first
+cloned the code, you can skip this step. If you did not, run the following
+commands from the 971-Robot-Code directory, replacing `<username>` with your
+gerrit username.
+
+```console
+scp -p -P 29418 <username>@robotics.mvla.net:hooks/commit-msg .git/hooks/
+```
+
+## Submitting code for review
+
+1. Choose what changes you want to commit
+  - You can see what files you've changed using `git status`
+  - You can use `git diff` to see exactly what you changed. Note that this will
+    not show you new files that you've created locally.
+
+2. Once you know what you want to commit, use `git add <file>` to "stage" them
+   for the commit. You should only add the changes that you want, so if your
+   files contain things you don't want to commit, you'll have to cut out the
+   stuff you don't want before using `git add`.
+
+3. After you've used `git add` to add all the changes you want to commit, run
+   `git commit` and write an informative commit message in the editor that pops
+   up. Save and quit in the editor that opens to actually commit your changes.
+   If you change your mind about committing, you can quit without saving to
+   cancel the commit.
+   - You can use `git commit -v` to see what changes `git` thinks you want to
+     commit in the commit message editor.
+   - If your commit message is short, you can use `git commit -m "<message>"` to
+     specify it on the command line.
+
+4. Send your changes to Gerrit by running
+   `git push origin HEAD:refs/for/master`.
+   - A link to the Gerrit web interface will be printed for you to copy paste
+     into your browser.
+
+5. Add reviewers to your change request so that your code can be reviewed and
+   approved after feedback.
+
+## Editing your submitted change
+
+Gerrit allows you to edit your change and resubmit it.
+
+1. Make sure that the commit you want to edit is the latest in your commit
+   history by running `git show` and making sure that the commit is the one you
+   want to edit.
+
+2. Make the changes you want to make.
+
+3. Add the changes using `git add <file1> <file2> ...`.
+
+4. Add the changes you made to the previous commit by running
+   `git commit --amend`. This will allow you to edit the previous commit
+   message. MAKE SURE YOU DON'T EDIT THE GERRIT Change-Id. This is what Gerrit
+   uses to know that you're updating an existing change instead of pushing a new
+   one.
+
+## Troubleshooting
+* If your commit is missing a Change-Id, you'll get a reasonably understandable
+  error that looks like the following:
+```console
+Counting objects: 5, done.
+Delta compression using up to 4 threads.
+Compressing objects: 100% (5/5), done.
+Writing objects: 100% (5/5), 2.83 KiB | 0 bytes/s, done.
+Total 5 (delta 1), reused 0 (delta 0)
+remote: Resolving deltas: 100% (1/1)
+remote: Processing changes: refs: 1, done
+remote: ERROR: [bf965b4] missing Change-Id in commit message footer
+remote:
+remote: Hint: To automatically insert Change-Id, install the hook:
+remote:   gitdir=$(git rev-parse --git-dir); scp -p -P 29418 adrian@robotics.mvla.net:hooks/commit-msg ${gitdir}/hooks/
+remote: And then amend the commit:
+remote:   git commit --amend
+remote:
+```
+  If you see this, run the commands that they suggest in the error message and
+  push it again
diff --git a/documentation/tutorials/tune-an-autonomous.md b/documentation/tutorials/tune-an-autonomous.md
new file mode 100644
index 0000000..751cfff
--- /dev/null
+++ b/documentation/tutorials/tune-an-autonomous.md
@@ -0,0 +1,2 @@
+# How to tune an existing autonomous
+TODO
diff --git a/documentation/tutorials/using-bazel.md b/documentation/tutorials/using-bazel.md
new file mode 100644
index 0000000..28e7eb9
--- /dev/null
+++ b/documentation/tutorials/using-bazel.md
@@ -0,0 +1,2 @@
+# Using bazel
+TODO