diff --git a/y2017/control_loops/serializer/BUILD b/y2017/control_loops/serializer/BUILD
new file mode 100644
index 0000000..5960fdd
--- /dev/null
+++ b/y2017/control_loops/serializer/BUILD
@@ -0,0 +1,13 @@
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+  name = 'serializer_queue',
+  srcs = [
+    'serializer.q',
+  ],
+  deps = [
+    '//aos/common/controls:control_loop_queues',
+    '//frc971/control_loops:queues',
+  ],
+  visibility = ['//visibility:public'],
+)
diff --git a/y2017/control_loops/serializer/serializer.q b/y2017/control_loops/serializer/serializer.q
new file mode 100644
index 0000000..7e3620a
--- /dev/null
+++ b/y2017/control_loops/serializer/serializer.q
@@ -0,0 +1,46 @@
+package y2017.control_loops.serializer;
+
+import "aos/common/controls/control_loops.q";
+import "frc971/control_loops/control_loops.q";
+
+queue_group SerializerQueue {
+  implements aos.control_loops.ControlLoop;
+
+  // All angles are in radians, and angular velocities are in radians/second.
+  // For all angular velocities, positive is moving balls up towards the
+  // shooter.
+
+  message Goal {
+    // Angular velocity goals in radians/second.
+    double angular_velocity;
+  };
+
+  message Position {
+    // Serializer angle in radians.
+    double theta;
+  };
+
+  message Status {
+    // 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;
+  };
+
+  message Output {
+    // Voltage in volts of the shooter motor.
+    double voltage;
+  };
+
+  queue Goal goal;
+  queue Position position;
+  queue Output output;
+  queue Status status;
+};
+
+queue_group SerializerQueue shooter_queue;