diff --git a/y2017/control_loops/superstructure/BUILD b/y2017/control_loops/superstructure/BUILD
new file mode 100644
index 0000000..61fb001
--- /dev/null
+++ b/y2017/control_loops/superstructure/BUILD
@@ -0,0 +1,14 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+  name = 'superstructure_queue',
+  srcs = [
+    'superstructure.q',
+  ],
+  deps = [
+    '//aos/common/controls:control_loop_queues',
+    '//frc971/control_loops:queues',
+  ],
+)
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
new file mode 100644
index 0000000..a3b2715
--- /dev/null
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -0,0 +1,207 @@
+package y2017.control_loops;
+
+import "aos/common/controls/control_loops.q";
+import "frc971/control_loops/control_loops.q";
+
+struct JointState {
+  // Position of the joint.
+  float position;
+  // Velocity of the joint in units/second.
+  float velocity;
+  // Profiled goal position of the joint.
+  float goal_position;
+  // Profiled goal velocity of the joint in units/second.
+  float goal_velocity;
+  // Unprofiled goal position from absoulte zero  of the joint.
+  float unprofiled_goal_position;
+  // Unprofiled goal velocity of the joint in units/second.
+  float unprofiled_goal_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;
+};
+
+struct IntakeGoal {
+  // 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;
+
+  // Caps on velocity/acceleration for profiling. 0 for the default.
+  .frc971.ProfileParameters profile_params;
+
+  // Voltage to send to the rollers. Positive is sucking in.
+  float voltage_rollers;
+};
+
+struct SerializerGoal {
+  // Serializer angular velocity goals in radians/second.
+  double angular_velocity;
+};
+
+struct TurretGoal {
+  // An azimuth angle of zero means the turrent faces toward the front of the
+  // robot where the intake is located. The angle increases when the turret
+  // turns clockwise, and decreases when the turrent turns counter-clockwise.
+  // These are from a top view above the robot.
+  double angle_azimuth;
+
+  // Caps on velocity/acceleration for profiling. 0 for the default.
+  .frc971.ProfileParameters profile_params;
+};
+
+struct HoodGoal {
+  // Angle the hood is currently at
+  double angle_hood;
+
+  // Caps on velocity/acceleration for profiling. 0 for the default.
+  .frc971.ProfileParameters profile_params;
+};
+
+struct ShooterGoal {
+  // Angular velocity goals in radians/second.
+  double angular_velocity;
+};
+
+struct IntakeStatus {
+  // Is it zeroed?
+  bool zeroed;
+
+  // Estimated position and velocities.
+  JointState joint_state;
+
+  // If true, we have aborted.
+  bool estopped;
+};
+
+struct SerializerStatus {
+  // The current average velocity in radians/second.
+  double avg_angular_velocity;
+
+  // The current instantaneous filtered velocity in radians/second.
+  double angular_velocity;
+
+  // True if the serializer is ready.  It is better to compare the velocities
+  // directly so there isn't confusion on if the goal is up to date.
+  bool ready;
+
+  // If true, we have aborted.
+  bool estopped;
+};
+
+struct TurretStatus {
+  // Is the turret zeroed?
+  bool zeroed;
+
+  // If true, we have aborted.
+  bool estopped;
+
+  // Estimate angles and angular velocities.
+  JointState azimuth;
+};
+
+struct HoodStatus {
+  // Is the turret zeroed?
+  bool zeroed;
+
+  // If true, we have aborted.
+  bool estopped;
+
+  // Estimate angles and angular velocities.
+  JointState hood;
+};
+
+struct ShooterStatus {
+  // The current average velocity in radians/second.
+  double avg_angular_velocity;
+
+  // The current instantaneous filtered velocity in radians/second.
+  double angular_velocity;
+
+  // True if the shooter is ready.  It is better to compare the velocities
+  // directly so there isn't confusion on if the goal is up to date.
+  bool ready;
+
+  // If true, we have aborted.
+  bool estopped;
+};
+
+queue_group SuperstructureQueue {
+  implements aos.control_loops.ControlLoop;
+
+  message Goal {
+    IntakeGoal intake;
+    SerializerGoal serializer;
+    TurretGoal turret;
+    HoodGoal hood;
+    ShooterGoal shooter;
+  };
+
+  message Status {
+    // Are all the subsystems zeroed?
+    bool zeroed;
+
+    // If true, we have aborted. This is the or of all subsystem estops.
+    bool estopped;
+
+    // Each subsystems status.
+    IntakeStatus intake;
+    SerializerStatus serializer;
+    TurretStatus turret;
+    HoodStatus hood;
+    ShooterStatus shooter;
+  };
+
+  message Position {
+    // Position of the intake, zero when the intake is in, positive when it is
+    // out.
+    .frc971.PotAndAbsolutePosition intake;
+
+    // Serializer angle in radians.
+    double theta_serializer;
+
+    // The sensor readings for the azimuth. The units and sign are defined the
+    // same as what's in the Goal message.
+    .frc971.PotAndAbsolutePosition azimuth_turret;
+
+    // Position of the hood in radians
+    double theta_hood;
+
+    // Shooter wheel angle in radians.
+    double theta_shooter;
+  };
+
+  message Output {
+    // Voltages for some of the subsystems.
+    float voltage_intake;
+    float voltage_serializer;
+    float voltage_shooter;
+
+    // Rollers on the intake.
+    float voltage_intake_rollers;
+    // Roller on the serializer
+    float voltage_serializer_rollers;
+
+    float voltage_azimuth_turret;
+    float voltage_hood;
+  };
+
+  queue Goal goal;
+  queue Position position;
+  queue Output output;
+  queue Status status;
+};
+
+queue_group SuperstructureQueue superstructure_queue;