diff --git a/y2024_bot3/wpilib_interface.cc b/y2024_bot3/wpilib_interface.cc
new file mode 100644
index 0000000..b6066e3
--- /dev/null
+++ b/y2024_bot3/wpilib_interface.cc
@@ -0,0 +1,249 @@
+#include <unistd.h>
+
+#include <array>
+#include <chrono>
+#include <cinttypes>
+#include <cstdio>
+#include <cstring>
+#include <functional>
+#include <memory>
+#include <mutex>
+#include <thread>
+
+#include "absl/flags/flag.h"
+
+#include "frc971/wpilib/ahal/AnalogInput.h"
+#include "frc971/wpilib/ahal/DriverStation.h"
+#include "frc971/wpilib/ahal/Encoder.h"
+#include "frc971/wpilib/ahal/TalonFX.h"
+#include "frc971/wpilib/ahal/VictorSP.h"
+#undef ERROR
+
+#include "ctre/phoenix/cci/Diagnostics_CCI.h"
+
+#include "aos/commonmath.h"
+#include "aos/containers/sized_array.h"
+#include "aos/events/event_loop.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/logging/logging.h"
+#include "aos/realtime.h"
+#include "aos/time/time.h"
+#include "aos/util/log_interval.h"
+#include "aos/util/phased_loop.h"
+#include "aos/util/wrapping_counter.h"
+#include "frc971/can_configuration_generated.h"
+#include "frc971/constants/constants_sender_lib.h"
+#include "frc971/input/robot_state_generated.h"
+#include "frc971/queues/gyro_generated.h"
+#include "frc971/wpilib/buffered_pcm.h"
+#include "frc971/wpilib/buffered_solenoid.h"
+#include "frc971/wpilib/can_sensor_reader.h"
+#include "frc971/wpilib/dma.h"
+#include "frc971/wpilib/encoder_and_potentiometer.h"
+#include "frc971/wpilib/generic_can_writer.h"
+#include "frc971/wpilib/joystick_sender.h"
+#include "frc971/wpilib/logging_generated.h"
+#include "frc971/wpilib/loop_output_handler.h"
+#include "frc971/wpilib/pdp_fetcher.h"
+#include "frc971/wpilib/sensor_reader.h"
+#include "frc971/wpilib/talonfx.h"
+#include "frc971/wpilib/wpilib_robot_base.h"
+#include "y2024_bot3/constants.h"
+#include "y2024_bot3/constants/constants_generated.h"
+#include "y2024_bot3/control_loops/superstructure/superstructure_can_position_static.h"
+#include "y2024_bot3/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2024_bot3/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2024_bot3/control_loops/superstructure/superstructure_position_static.h"
+
+ABSL_FLAG(bool, ctre_diag_server, false,
+          "If true, enable the diagnostics server for interacting with "
+          "devices on the CAN bus using Phoenix Tuner");
+
+using ::aos::monotonic_clock;
+using ::frc971::CANConfiguration;
+using ::frc971::wpilib::TalonFX;
+using ::y2024_bot3::constants::Values;
+namespace superstructure = ::y2024_bot3::control_loops::superstructure;
+namespace chrono = ::std::chrono;
+using std::make_unique;
+
+namespace y2024_bot3::wpilib {
+namespace {
+
+constexpr double kMaxBringupPower = 12.0;
+
+constexpr double kMaxFastEncoderPulsesPerSecond = std::max({
+    1000000  // arbitrary number because we deleted all the stuff in this array
+});
+
+static_assert(kMaxFastEncoderPulsesPerSecond <= 1300000,
+              "fast encoders are too fast");
+
+}  // namespace
+
+// Class to send position messages with sensor readings to our loops.
+class SensorReader : public ::frc971::wpilib::SensorReader {
+ public:
+  SensorReader(::aos::ShmEventLoop *event_loop,
+               const Constants *robot_constants)
+      : ::frc971::wpilib::SensorReader(event_loop),
+        robot_constants_(robot_constants),
+        superstructure_position_sender_(
+            event_loop->MakeSender<superstructure::PositionStatic>(
+                "/superstructure")) {
+    UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
+    event_loop->SetRuntimeAffinity(aos::MakeCpusetFromCpus({0}));
+  };
+  void Start() override { AddToDMA(&imu_yaw_rate_reader_); }
+
+  void set_yaw_rate_input(::std::unique_ptr<frc::DigitalInput> sensor) {
+    imu_yaw_rate_input_ = ::std::move(sensor);
+    imu_yaw_rate_reader_.set_input(imu_yaw_rate_input_.get());
+  }
+
+  void RunIteration() override {
+    aos::Sender<superstructure::PositionStatic>::StaticBuilder builder =
+        superstructure_position_sender_.MakeStaticBuilder();
+
+    builder.CheckOk(builder.Send());
+
+    {
+      auto builder = gyro_sender_.MakeBuilder();
+      ::frc971::sensors::GyroReading::Builder gyro_reading_builder =
+          builder.MakeBuilder<::frc971::sensors::GyroReading>();
+
+      builder.CheckOk(builder.Send(gyro_reading_builder.Finish()));
+    }
+  }
+
+ private:
+  const Constants *robot_constants_;
+
+  aos::Sender<superstructure::PositionStatic> superstructure_position_sender_;
+  ::aos::Sender<::frc971::sensors::GyroReading> gyro_sender_;
+
+  std::unique_ptr<frc::DigitalInput> imu_yaw_rate_input_;
+
+  frc971::wpilib::DMAPulseWidthReader imu_yaw_rate_reader_;
+};
+
+class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
+ public:
+  ::std::unique_ptr<frc::Encoder> make_encoder(int index) {
+    return make_unique<frc::Encoder>(10 + index * 2, 11 + index * 2, false,
+                                     frc::Encoder::k4X);
+  }
+
+  void Run() override {
+    aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+        aos::configuration::ReadConfig("aos_config.json");
+
+    frc971::constants::WaitForConstants<y2024_bot3::Constants>(
+        &config.message());
+
+    ::aos::ShmEventLoop constant_fetcher_event_loop(&config.message());
+    frc971::constants::ConstantsFetcher<Constants> constants_fetcher(
+        &constant_fetcher_event_loop);
+    const Constants *robot_constants = &constants_fetcher.constants();
+
+    AddLoop(&constant_fetcher_event_loop);
+
+    // Thread 1.
+    ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
+    ::frc971::wpilib::JoystickSender joystick_sender(
+        &joystick_sender_event_loop);
+    AddLoop(&joystick_sender_event_loop);
+
+    // Thread 2.
+    ::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
+    ::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
+    AddLoop(&pdp_fetcher_event_loop);
+
+    // Thread 3.
+    ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
+    SensorReader sensor_reader(&sensor_reader_event_loop, robot_constants);
+    sensor_reader.set_pwm_trigger(false);
+    sensor_reader.set_yaw_rate_input(make_unique<frc::DigitalInput>(25));
+
+    AddLoop(&sensor_reader_event_loop);
+
+    // Thread 4.
+    // Set up CAN.
+    if (!absl::GetFlag(FLAGS_ctre_diag_server)) {
+      c_Phoenix_Diagnostics_SetSecondsToStart(-1);
+      c_Phoenix_Diagnostics_Dispose();
+    }
+
+    std::vector<ctre::phoenix6::BaseStatusSignal *> canivore_signal_registry;
+    std::vector<ctre::phoenix6::BaseStatusSignal *> rio_signal_registry;
+
+    ::aos::ShmEventLoop can_sensor_reader_event_loop(&config.message());
+    can_sensor_reader_event_loop.set_name("CANSensorReader");
+
+    ::aos::ShmEventLoop rio_sensor_reader_event_loop(&config.message());
+    rio_sensor_reader_event_loop.set_name("RioSensorReader");
+
+    // Creating list of talonfx for CANSensorReader
+    std::vector<std::shared_ptr<TalonFX>> canivore_talonfxs;
+    std::vector<std::shared_ptr<TalonFX>> rio_talonfxs;
+
+    aos::Sender<y2024_bot3::control_loops::superstructure::CANPositionStatic>
+        superstructure_can_position_sender =
+            can_sensor_reader_event_loop.MakeSender<
+                y2024_bot3::control_loops::superstructure::CANPositionStatic>(
+                "/superstructure/canivore");
+
+    aos::Sender<y2024_bot3::control_loops::superstructure::CANPositionStatic>
+        superstructure_rio_position_sender =
+            rio_sensor_reader_event_loop.MakeSender<
+                y2024_bot3::control_loops::superstructure::CANPositionStatic>(
+                "/superstructure/rio");
+
+    frc971::wpilib::CANSensorReader rio_can_sensor_reader(
+        &rio_sensor_reader_event_loop, std::move(rio_signal_registry),
+        rio_talonfxs,
+        [&superstructure_rio_position_sender](
+            ctre::phoenix::StatusCode status) {
+          aos::Sender<
+              y2024_bot3::control_loops::superstructure::CANPositionStatic>::
+              StaticBuilder superstructure_can_builder =
+                  superstructure_rio_position_sender.MakeStaticBuilder();
+
+          superstructure_can_builder->set_status(static_cast<int>(status));
+          superstructure_can_builder.CheckOk(superstructure_can_builder.Send());
+        },
+        frc971::wpilib::CANSensorReader::SignalSync::kNoSync);
+
+    AddLoop(&can_sensor_reader_event_loop);
+    AddLoop(&rio_sensor_reader_event_loop);
+
+    // Thread 5.
+    ::aos::ShmEventLoop can_output_event_loop(&config.message());
+    can_output_event_loop.set_name("CANOutputWriter");
+
+    frc971::wpilib::GenericCANWriter<control_loops::superstructure::Output>
+        can_superstructure_writer(
+            &can_output_event_loop,
+            [](const control_loops::superstructure::Output &output,
+               const std::map<std::string_view, std::shared_ptr<TalonFX>>
+                   &talonfx_map) {
+              (void)output;
+              (void)talonfx_map;
+            });
+
+    can_output_event_loop.MakeWatcher(
+        "/roborio", [&can_superstructure_writer](
+                        const frc971::CANConfiguration &configuration) {
+          can_superstructure_writer.HandleCANConfiguration(configuration);
+        });
+
+    AddLoop(&can_output_event_loop);
+
+    RunLoops();
+  }
+};
+
+}  // namespace y2024_bot3::wpilib
+
+AOS_ROBOT_CLASS(::y2024_bot3::wpilib::WPILibRobot);