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',
+  ],
+)
diff --git a/y2017_bot3/control_loops/superstructure/superstructure.cc b/y2017_bot3/control_loops/superstructure/superstructure.cc
new file mode 100644
index 0000000..9cb069b
--- /dev/null
+++ b/y2017_bot3/control_loops/superstructure/superstructure.cc
@@ -0,0 +1,39 @@
+#include "y2017_bot3/control_loops/superstructure/superstructure.h"
+
+#include "aos/common/commonmath.h"
+#include "aos/common/controls/control_loops.q.h"
+#include "aos/common/logging/logging.h"
+
+namespace y2017_bot3 {
+namespace control_loops {
+namespace superstructure {
+
+Superstructure::Superstructure(
+    control_loops::SuperstructureQueue *superstructure_queue)
+    : aos::controls::ControlLoop<control_loops::SuperstructureQueue>(
+          superstructure_queue) {}
+
+void Superstructure::RunIteration(
+    const control_loops::SuperstructureQueue::Goal *unsafe_goal,
+    const control_loops::SuperstructureQueue::Position * /*position*/,
+    control_loops::SuperstructureQueue::Output *output,
+    control_loops::SuperstructureQueue::Status * /*status*/) {
+  // Write out all the voltages.
+  if (output) {
+    output->voltage_rollers = 0.0;
+    output->hanger_voltage = 0.0;
+    output->fingers_out = false;
+    if (unsafe_goal) {
+      // Intake.
+      output->voltage_rollers = unsafe_goal->voltage_rollers;
+
+      output->fingers_out = unsafe_goal->fingers_out;
+
+      output->hanger_voltage = unsafe_goal->hanger_voltage;
+    }
+  }
+}
+
+}  // namespace superstructure
+}  // namespace control_loops
+}  // namespace y2017_bot3
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_
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;
+
diff --git a/y2017_bot3/control_loops/superstructure/superstructure_main.cc b/y2017_bot3/control_loops/superstructure/superstructure_main.cc
new file mode 100644
index 0000000..04a41a4
--- /dev/null
+++ b/y2017_bot3/control_loops/superstructure/superstructure_main.cc
@@ -0,0 +1,11 @@
+#include "y2017_bot3/control_loops/superstructure/superstructure.h"
+
+#include "aos/linux_code/init.h"
+
+int main() {
+  ::aos::Init();
+  ::y2017_bot3::control_loops::superstructure::Superstructure superstructure;
+  superstructure.Run();
+  ::aos::Cleanup();
+  return 0;
+}