Added superstructure
Change-Id: I3fc6b2b555467fad231902fbc50af729b4b7157f
diff --git a/y2017_bot3/control_loops/superstructure/superstructure.q b/y2017_bot3/control_loops/superstructure/superstructure.q
new file mode 100644
index 0000000..91363c4
--- /dev/null
+++ b/y2017_bot3/control_loops/superstructure/superstructure.q
@@ -0,0 +1,35 @@
+package y2017_bot3.control_loops;
+
+import "aos/common/controls/control_loops.q";
+import "frc971/control_loops/control_loops.q";
+
+queue_group SuperstructureQueue {
+ implements aos.control_loops.ControlLoop;
+
+ message Goal {
+ // Voltage to send to the rollers. Positive is sucking in.
+ float voltage_rollers;
+ bool fingers_out;
+ float hanger_voltage;
+ };
+
+ message Status {
+ };
+
+ message Position {
+ };
+
+ message Output {
+ float voltage_rollers;
+ bool fingers_out;
+ float hanger_voltage;
+ };
+
+ queue Goal goal;
+ queue Output output;
+ queue Status status;
+ queue Position position;
+};
+
+queue_group SuperstructureQueue superstructure_queue;
+