Added superstructure
Change-Id: I3fc6b2b555467fad231902fbc50af729b4b7157f
diff --git a/y2017_bot3/control_loops/superstructure/superstructure.h b/y2017_bot3/control_loops/superstructure/superstructure.h
new file mode 100644
index 0000000..79a901b
--- /dev/null
+++ b/y2017_bot3/control_loops/superstructure/superstructure.h
@@ -0,0 +1,40 @@
+#ifndef Y2017_BOT3_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
+#define Y2017_BOT3_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
+
+#include <memory>
+
+#include "aos/common/controls/control_loop.h"
+#include "aos/common/util/trapezoid_profile.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/zeroing/zeroing.h"
+#include "y2017_bot3/control_loops/superstructure/superstructure.q.h"
+
+namespace y2017_bot3 {
+namespace control_loops {
+namespace superstructure {
+
+class Superstructure
+ : public ::aos::controls::ControlLoop<control_loops::SuperstructureQueue> {
+ public:
+ explicit Superstructure(
+ control_loops::SuperstructureQueue *my_superstructure =
+ &control_loops::superstructure_queue);
+
+ static constexpr double kOperatingVoltage = 12.0;
+
+ protected:
+ virtual void RunIteration(
+ const control_loops::SuperstructureQueue::Goal *unsafe_goal,
+ const control_loops::SuperstructureQueue::Position * /*position*/,
+ control_loops::SuperstructureQueue::Output *output,
+ control_loops::SuperstructureQueue::Status * /*status*/) override;
+
+ private:
+ DISALLOW_COPY_AND_ASSIGN(Superstructure);
+};
+
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2017_bot3
+
+#endif // Y2017_BOT3_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_