Added superstructure
Change-Id: I3fc6b2b555467fad231902fbc50af729b4b7157f
diff --git a/y2017_bot3/control_loops/superstructure/BUILD b/y2017_bot3/control_loops/superstructure/BUILD
new file mode 100644
index 0000000..82b5d7a
--- /dev/null
+++ b/y2017_bot3/control_loops/superstructure/BUILD
@@ -0,0 +1,47 @@
+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:profiled_subsystem_queue',
+ '//frc971/control_loops:queues',
+ ],
+)
+
+cc_library(
+ name = 'superstructure_lib',
+ srcs = [
+ 'superstructure.cc',
+ ],
+ hdrs = [
+ 'superstructure.h',
+ ],
+ deps = [
+ ':superstructure_queue',
+ '//aos/common/controls:control_loop',
+ '//aos/common/util:trapezoid_profile',
+ '//aos/common:math',
+ '//frc971/control_loops:profiled_subsystem',
+ '//frc971/control_loops:simple_capped_state_feedback_loop',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/zeroing',
+ ],
+)
+
+cc_binary(
+ name = 'superstructure',
+ srcs = [
+ 'superstructure_main.cc',
+ ],
+ deps = [
+ '//aos/linux_code:init',
+ ':superstructure_lib',
+ ':superstructure_queue',
+ ],
+)