diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
new file mode 100644
index 0000000..5d78649
--- /dev/null
+++ b/y2019/wpilib_interface.cc
@@ -0,0 +1,427 @@
+#include <inttypes.h>
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <array>
+#include <chrono>
+#include <cmath>
+#include <functional>
+#include <mutex>
+#include <thread>
+
+#include "frc971/wpilib/ahal/AnalogInput.h"
+#include "frc971/wpilib/ahal/Counter.h"
+#include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
+#include "frc971/wpilib/ahal/DriverStation.h"
+#include "frc971/wpilib/ahal/Encoder.h"
+#include "frc971/wpilib/ahal/VictorSP.h"
+#undef ERROR
+
+#include "aos/commonmath.h"
+#include "aos/init.h"
+#include "aos/logging/logging.h"
+#include "aos/logging/queue_logging.h"
+#include "aos/make_unique.h"
+#include "aos/stl_mutex/stl_mutex.h"
+#include "aos/time/time.h"
+#include "aos/util/compiler_memory_barrier.h"
+#include "aos/util/log_interval.h"
+#include "aos/util/phased_loop.h"
+#include "aos/util/wrapping_counter.h"
+
+#include "frc971/autonomous/auto.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/wpilib/ADIS16448.h"
+#include "frc971/wpilib/buffered_pcm.h"
+#include "frc971/wpilib/buffered_solenoid.h"
+#include "frc971/wpilib/dma.h"
+#include "frc971/wpilib/dma_edge_counting.h"
+#include "frc971/wpilib/encoder_and_potentiometer.h"
+#include "frc971/wpilib/interrupt_edge_counting.h"
+#include "frc971/wpilib/joystick_sender.h"
+#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/loop_output_handler.h"
+#include "frc971/wpilib/pdp_fetcher.h"
+#include "frc971/wpilib/wpilib_interface.h"
+#include "frc971/wpilib/wpilib_robot_base.h"
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+using ::frc971::control_loops::drivetrain_queue;
+using ::aos::monotonic_clock;
+namespace chrono = ::std::chrono;
+using aos::make_unique;
+
+namespace y2019 {
+namespace wpilib {
+namespace {
+
+constexpr double kMaxBringupPower = 12.0;
+
+// TODO(Brian): Fix the interpretation of the result of GetRaw here and in the
+// DMA stuff and then removing the * 2.0 in *_translate.
+// The low bit is direction.
+
+// TODO(brian): Use ::std::max instead once we have C++14 so that can be
+// constexpr.
+template <typename T>
+constexpr T max(T a, T b) {
+  return (a > b) ? a : b;
+}
+
+template <typename T, typename... Rest>
+constexpr T max(T a, T b, T c, Rest... rest) {
+  return max(max(a, b), c, rest...);
+}
+
+double drivetrain_translate(int32_t in) {
+  return ((static_cast<double>(in)
+           /* / Values::kDrivetrainEncoderCountsPerRevolution()) *
+          (2.0 * M_PI)) *
+         Values::kDrivetrainEncoderRatio() *
+         control_loops::drivetrain::kWheelRadius*/));
+}
+
+double drivetrain_velocity_translate(double in) {
+  return (((1.0 / in) /* / Values::kDrivetrainCyclesPerRevolution()) *
+          (2.0 * M_PI)) *
+         Values::kDrivetrainEncoderRatio() *
+         control_loops::drivetrain::kWheelRadius*/));
+}
+
+constexpr double kMaxFastEncoderPulsesPerSecond =
+    max(/*Values::kMaxDrivetrainEncoderPulsesPerSecond(),
+        Values::kMaxIntakeMotorEncoderPulsesPerSecond()*/ 1.0, 1.0);
+static_assert(kMaxFastEncoderPulsesPerSecond <= 1300000,
+              "fast encoders are too fast");
+
+constexpr double kMaxMediumEncoderPulsesPerSecond =
+    max(/*Values::kMaxProximalEncoderPulsesPerSecond(),
+        Values::kMaxDistalEncoderPulsesPerSecond()*/ 1.0, 1.0);
+static_assert(kMaxMediumEncoderPulsesPerSecond <= 400000,
+              "medium encoders are too fast");
+
+// Class to send position messages with sensor readings to our loops.
+class SensorReader {
+ public:
+  SensorReader() {
+    // Set to filter out anything shorter than 1/4 of the minimum pulse width
+    // we should ever see.
+    fast_encoder_filter_.SetPeriodNanoSeconds(
+        static_cast<int>(1 / 4.0 /* built-in tolerance */ /
+                             kMaxFastEncoderPulsesPerSecond * 1e9 +
+                         0.5));
+    medium_encoder_filter_.SetPeriodNanoSeconds(
+        static_cast<int>(1 / 4.0 /* built-in tolerance */ /
+                             kMaxMediumEncoderPulsesPerSecond * 1e9 +
+                         0.5));
+    hall_filter_.SetPeriodNanoSeconds(100000);
+  }
+
+  // Left drivetrain side.
+  void set_drivetrain_left_encoder(::std::unique_ptr<frc::Encoder> encoder) {
+    fast_encoder_filter_.Add(encoder.get());
+    drivetrain_left_encoder_ = ::std::move(encoder);
+  }
+
+  // Right drivetrain side.
+  void set_drivetrain_right_encoder(::std::unique_ptr<frc::Encoder> encoder) {
+    fast_encoder_filter_.Add(encoder.get());
+    drivetrain_right_encoder_ = ::std::move(encoder);
+  }
+
+  void set_pwm_trigger(::std::unique_ptr<frc::DigitalInput> pwm_trigger) {
+    medium_encoder_filter_.Add(pwm_trigger.get());
+    pwm_trigger_ = ::std::move(pwm_trigger);
+  }
+
+  // All of the DMA-related set_* calls must be made before this, and it
+  // doesn't hurt to do all of them.
+  void set_dma(::std::unique_ptr<DMA> dma) {
+    dma_synchronizer_.reset(
+        new ::frc971::wpilib::DMASynchronizer(::std::move(dma)));
+  }
+
+  void RunPWMDetecter() {
+    ::aos::SetCurrentThreadRealtimePriority(41);
+
+    pwm_trigger_->RequestInterrupts();
+    // Rising edge only.
+    pwm_trigger_->SetUpSourceEdge(true, false);
+
+    monotonic_clock::time_point last_posedge_monotonic =
+        monotonic_clock::min_time;
+
+    while (run_) {
+      auto ret = pwm_trigger_->WaitForInterrupt(1.0, true);
+      if (ret == frc::InterruptableSensorBase::WaitResult::kRisingEdge) {
+        // Grab all the clocks.
+        const double pwm_fpga_time = pwm_trigger_->ReadRisingTimestamp();
+
+        aos_compiler_memory_barrier();
+        const double fpga_time_before = frc::GetFPGATime() * 1e-6;
+        aos_compiler_memory_barrier();
+        const monotonic_clock::time_point monotonic_now =
+            monotonic_clock::now();
+        aos_compiler_memory_barrier();
+        const double fpga_time_after = frc::GetFPGATime() * 1e-6;
+        aos_compiler_memory_barrier();
+
+        const double fpga_offset =
+            (fpga_time_after + fpga_time_before) / 2.0 - pwm_fpga_time;
+
+        // Compute when the edge was.
+        const monotonic_clock::time_point monotonic_edge =
+            monotonic_now - chrono::duration_cast<chrono::nanoseconds>(
+                                chrono::duration<double>(fpga_offset));
+
+        LOG(DEBUG, "Got PWM pulse %f spread, %f offset, %lld trigger\n",
+            fpga_time_after - fpga_time_before, fpga_offset,
+            monotonic_edge.time_since_epoch().count());
+
+        // Compute bounds on the timestep and sampling times.
+        const double fpga_sample_length = fpga_time_after - fpga_time_before;
+        const chrono::nanoseconds elapsed_time =
+            monotonic_edge - last_posedge_monotonic;
+
+        last_posedge_monotonic = monotonic_edge;
+
+        // Verify that the values are sane.
+        if (fpga_sample_length > 2e-5 || fpga_sample_length < 0) {
+          continue;
+        }
+        if (fpga_offset < 0 || fpga_offset > 0.00015) {
+          continue;
+        }
+        if (elapsed_time >
+                chrono::microseconds(5050) + chrono::microseconds(4) ||
+            elapsed_time <
+                chrono::microseconds(5050) - chrono::microseconds(4)) {
+          continue;
+        }
+        // Good edge!
+        {
+          ::std::unique_lock<::aos::stl_mutex> locker(tick_time_mutex_);
+          last_tick_time_monotonic_timepoint_ = last_posedge_monotonic;
+          last_period_ = elapsed_time;
+        }
+      } else {
+        LOG(INFO, "PWM triggered %d\n", ret);
+      }
+    }
+    pwm_trigger_->CancelInterrupts();
+  }
+
+  void operator()() {
+    ::aos::SetCurrentThreadName("SensorReader");
+
+    my_pid_ = getpid();
+
+    dma_synchronizer_->Start();
+
+    ::aos::time::PhasedLoop phased_loop(last_period_,
+                                        ::std::chrono::milliseconds(3));
+    chrono::nanoseconds filtered_period = last_period_;
+
+    ::std::thread pwm_detecter_thread(
+        ::std::bind(&SensorReader::RunPWMDetecter, this));
+
+    ::aos::SetCurrentThreadRealtimePriority(40);
+    while (run_) {
+      {
+        const int iterations = phased_loop.SleepUntilNext();
+        if (iterations != 1) {
+          LOG(WARNING, "SensorReader skipped %d iterations\n", iterations - 1);
+        }
+      }
+      RunIteration();
+
+      monotonic_clock::time_point last_tick_timepoint;
+      chrono::nanoseconds period;
+      {
+        ::std::unique_lock<::aos::stl_mutex> locker(tick_time_mutex_);
+        last_tick_timepoint = last_tick_time_monotonic_timepoint_;
+        period = last_period_;
+      }
+
+      if (last_tick_timepoint == monotonic_clock::min_time) {
+        continue;
+      }
+      chrono::nanoseconds new_offset = phased_loop.OffsetFromIntervalAndTime(
+          period, last_tick_timepoint + chrono::microseconds(2050));
+
+      // TODO(austin): If this is the first edge in a while, skip to it (plus
+      // an offset). Otherwise, slowly drift time to line up.
+
+      phased_loop.set_interval_and_offset(period, new_offset);
+    }
+    pwm_detecter_thread.join();
+  }
+
+  void RunIteration() {
+    ::frc971::wpilib::SendRobotState(my_pid_);
+
+    {
+      auto drivetrain_message = drivetrain_queue.position.MakeMessage();
+      drivetrain_message->left_encoder =
+          drivetrain_translate(drivetrain_left_encoder_->GetRaw());
+      drivetrain_message->left_speed =
+          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod());
+
+      drivetrain_message->right_encoder =
+          -drivetrain_translate(drivetrain_right_encoder_->GetRaw());
+      drivetrain_message->right_speed = -drivetrain_velocity_translate(
+          drivetrain_right_encoder_->GetPeriod());
+
+      drivetrain_message.Send();
+    }
+
+    dma_synchronizer_->RunIteration();
+  }
+
+  void Quit() { run_ = false; }
+
+ private:
+  double encoder_translate(int32_t value, double counts_per_revolution,
+                           double ratio) {
+    return static_cast<double>(value) / counts_per_revolution * ratio *
+           (2.0 * M_PI);
+  }
+
+  int32_t my_pid_;
+
+  // Mutex to manage access to the period and tick time variables.
+  ::aos::stl_mutex tick_time_mutex_;
+  monotonic_clock::time_point last_tick_time_monotonic_timepoint_ =
+      monotonic_clock::min_time;
+  chrono::nanoseconds last_period_ = chrono::microseconds(5050);
+
+  ::std::unique_ptr<::frc971::wpilib::DMASynchronizer> dma_synchronizer_;
+
+  frc::DigitalGlitchFilter fast_encoder_filter_, medium_encoder_filter_,
+      hall_filter_;
+
+  ::std::unique_ptr<frc::Encoder> drivetrain_left_encoder_,
+      drivetrain_right_encoder_;
+
+  ::std::unique_ptr<frc::DigitalInput> pwm_trigger_;
+
+  ::std::atomic<bool> run_{true};
+};
+
+class DrivetrainWriter : public ::frc971::wpilib::LoopOutputHandler {
+ public:
+  void set_drivetrain_left_victor(::std::unique_ptr<::frc::VictorSP> t) {
+    drivetrain_left_victor_ = ::std::move(t);
+  }
+
+  void set_drivetrain_right_victor(::std::unique_ptr<::frc::VictorSP> t) {
+    drivetrain_right_victor_ = ::std::move(t);
+  }
+
+ private:
+  virtual void Read() override {
+    ::frc971::control_loops::drivetrain_queue.output.FetchAnother();
+  }
+
+  virtual void Write() override {
+    auto &queue = ::frc971::control_loops::drivetrain_queue.output;
+    LOG_STRUCT(DEBUG, "will output", *queue);
+    drivetrain_left_victor_->SetSpeed(
+        ::aos::Clip(queue->left_voltage, -12.0, 12.0) / 12.0);
+    drivetrain_right_victor_->SetSpeed(
+        ::aos::Clip(-queue->right_voltage, -12.0, 12.0) / 12.0);
+  }
+
+  virtual void Stop() override {
+    LOG(WARNING, "drivetrain output too old\n");
+    drivetrain_left_victor_->SetDisabled();
+    drivetrain_right_victor_->SetDisabled();
+  }
+
+  ::std::unique_ptr<::frc::VictorSP> drivetrain_left_victor_,
+      drivetrain_right_victor_;
+};
+
+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::InitNRT();
+    ::aos::SetCurrentThreadName("StartCompetition");
+
+    ::frc971::wpilib::JoystickSender joystick_sender;
+    ::std::thread joystick_thread(::std::ref(joystick_sender));
+
+    ::frc971::wpilib::PDPFetcher pdp_fetcher;
+    ::std::thread pdp_fetcher_thread(::std::ref(pdp_fetcher));
+    SensorReader reader;
+
+    // TODO(Sabina): Update port numbers(Sensors and Victors)
+    reader.set_drivetrain_left_encoder(make_encoder(0));
+    reader.set_drivetrain_right_encoder(make_encoder(1));
+
+    reader.set_pwm_trigger(make_unique<frc::DigitalInput>(25));
+
+    reader.set_dma(make_unique<DMA>());
+    ::std::thread reader_thread(::std::ref(reader));
+
+    auto imu_trigger = make_unique<frc::DigitalInput>(5);
+    ::frc971::wpilib::ADIS16448 imu(frc::SPI::Port::kOnboardCS1,
+                                    imu_trigger.get());
+    imu.SetDummySPI(frc::SPI::Port::kOnboardCS2);
+    auto imu_reset = make_unique<frc::DigitalOutput>(6);
+    imu.set_reset(imu_reset.get());
+    ::std::thread imu_thread(::std::ref(imu));
+
+    // While as of 2/9/18 the drivetrain Victors are SPX, it appears as though
+    // they are identical, as far as DrivetrainWriter is concerned, to the SP
+    // variety so all the Victors are written as SPs.
+
+    DrivetrainWriter drivetrain_writer;
+    drivetrain_writer.set_drivetrain_left_victor(
+        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(2)));
+    drivetrain_writer.set_drivetrain_right_victor(
+        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(3)));
+    ::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));
+
+    // Wait forever. Not much else to do...
+    while (true) {
+      const int r = select(0, nullptr, nullptr, nullptr, nullptr);
+      if (r != 0) {
+        PLOG(WARNING, "infinite select failed");
+      } else {
+        PLOG(WARNING, "infinite select succeeded??\n");
+      }
+    }
+
+    LOG(ERROR, "Exiting WPILibRobot\n");
+
+    joystick_sender.Quit();
+    joystick_thread.join();
+    pdp_fetcher.Quit();
+    pdp_fetcher_thread.join();
+    reader.Quit();
+    reader_thread.join();
+    imu.Quit();
+    imu_thread.join();
+
+    drivetrain_writer.Quit();
+    drivetrain_writer_thread.join();
+
+    ::aos::Cleanup();
+  }
+};
+
+}  // namespace
+}  // namespace wpilib
+}  // namespace y2019
+
+AOS_ROBOT_CLASS(::y2019::wpilib::WPILibRobot);