diff --git a/y2017_bot3/BUILD b/y2017_bot3/BUILD
index c1dab0f..9ff13fd 100644
--- a/y2017_bot3/BUILD
+++ b/y2017_bot3/BUILD
@@ -33,6 +33,7 @@
     '//frc971/wpilib:wpilib_robot_base',
     '//third_party:wpilib',
     '//y2017_bot3/control_loops/drivetrain:polydrivetrain_plants',
+    '//y2017_bot3/control_loops/superstructure:superstructure_queue',
   ],
   restricted_to = ['//tools:roborio'],
 )
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;
+}
diff --git a/y2017_bot3/wpilib_interface.cc b/y2017_bot3/wpilib_interface.cc
index 737050a..7fa160c 100644
--- a/y2017_bot3/wpilib_interface.cc
+++ b/y2017_bot3/wpilib_interface.cc
@@ -46,14 +46,16 @@
 #include "frc971/wpilib/wpilib_interface.h"
 #include "frc971/wpilib/wpilib_robot_base.h"
 
-#include "y2017_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "y2017_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2017_bot3/control_loops/superstructure/superstructure.q.h"
 
 #ifndef M_PI
 #define M_PI 3.14159265358979323846
 #endif
 
 using ::frc971::control_loops::drivetrain_queue;
+using ::y2017_bot3::control_loops::superstructure_queue;
 using ::aos::monotonic_clock;
 namespace chrono = ::std::chrono;
 
@@ -102,9 +104,10 @@
 }
 
 double drivetrain_translate(int32_t in) {
-  return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/)  *
+  return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/) *
          kDrivetrainEncoderRatio *
-         control_loops::drivetrain::kWheelRadius * 2.0 * M_PI;
+         control_loops::drivetrain::kWheelRadius *
+         2.0 * M_PI;
 }
 
 double drivetrain_velocity_translate(double in) {
@@ -302,8 +305,12 @@
       drivetrain_message.Send();
     }
 
-    dma_synchronizer_->RunIteration();
+    {
+      auto superstructure_message = superstructure_queue.position.MakeMessage();
+      superstructure_message.Send();
     }
+    dma_synchronizer_->RunIteration();
+  }
 
   void Quit() { run_ = false; }
 
@@ -334,16 +341,20 @@
 
   ::std::atomic<bool> run_{true};
 
-  DigitalGlitchFilter fast_encoder_filter_, medium_encoder_filter_, hall_filter_;
+  DigitalGlitchFilter fast_encoder_filter_, medium_encoder_filter_,
+      hall_filter_;
 };
 
 class SolenoidWriter {
  public:
   SolenoidWriter(const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm)
       : pcm_(pcm),
-        drivetrain_(".y2017_bot3.control_loops.drivetrain_queue.output"){}
+        drivetrain_(".y2017_bot3.control_loops.drivetrain_queue.output"),
+        superstructure_(
+            ".y2017_bot3.control_loops.superstructure_queue.output") {}
+
   void set_compressor(::std::unique_ptr<Compressor> compressor) {
-     compressor_ = ::std::move(compressor);
+    compressor_ = ::std::move(compressor);
   }
 
   void set_drivetrain_shifter(
@@ -351,6 +362,10 @@
     drivetrain_shifter_ = ::std::move(s);
   }
 
+  void set_fingers(::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
+    fingers_ = ::std::move(s);
+  }
+
   void operator()() {
     compressor_->Start();
     ::aos::SetCurrentThreadName("Solenoids");
@@ -377,10 +392,16 @@
       }
 
       {
-        ::frc971::wpilib::PneumaticsToLog to_log;
-        {
-          to_log.compressor_on = compressor_->Enabled();
+        superstructure_.FetchLatest();
+        if (superstructure_.get()) {
+          LOG_STRUCT(DEBUG, "solenoids", *superstructure_);
+          fingers_->Set(superstructure_->fingers_out);
         }
+      }
+
+      {
+        ::frc971::wpilib::PneumaticsToLog to_log;
+        { to_log.compressor_on = compressor_->Enabled(); }
 
         pcm_->Flush();
         to_log.read_solenoids = pcm_->GetAll();
@@ -394,10 +415,13 @@
  private:
   const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm_;
   ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> drivetrain_shifter_;
+  ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> fingers_;
 
   ::std::unique_ptr<Compressor> compressor_;
 
   ::aos::Queue<::frc971::control_loops::DrivetrainQueue::Output> drivetrain_;
+  ::aos::Queue<::y2017_bot3::control_loops::SuperstructureQueue::Output>
+      superstructure_;
 
   ::std::atomic<bool> run_{true};
 };
@@ -411,6 +435,7 @@
   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();
@@ -433,6 +458,37 @@
       drivetrain_right_victor_;
 };
 
+class SuperstructureWriter : public ::frc971::wpilib::LoopOutputHandler {
+ public:
+  void set_rollers_victor(::std::unique_ptr<::frc::VictorSP> t) {
+    rollers_victor_ = ::std::move(t);
+  }
+
+  void set_hanger_victor(::std::unique_ptr<::frc::VictorSP> t) {
+    hanger_victor_ = ::std::move(t);
+ }
+ private:
+  virtual void Read() override {
+    ::y2017_bot3::control_loops::superstructure_queue.output.FetchAnother();
+  }
+
+  virtual void Write() override {
+    auto &queue = ::y2017_bot3::control_loops::superstructure_queue.output;
+    LOG_STRUCT(DEBUG, "will output", *queue);
+    rollers_victor_->SetSpeed(queue->voltage_rollers / 12.0);
+    hanger_victor_->SetSpeed(queue->hanger_voltage / 12.0);
+  }
+
+  virtual void Stop() override {
+    LOG(WARNING, "Superstructure output too old.\n");
+    rollers_victor_->SetDisabled();
+    hanger_victor_->SetDisabled();
+  }
+
+  ::std::unique_ptr<::frc::VictorSP> rollers_victor_;
+  ::std::unique_ptr<::frc::VictorSP> hanger_victor_;
+};
+
 class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
  public:
   ::std::unique_ptr<Encoder> make_encoder(int index) {
@@ -457,7 +513,7 @@
     reader.set_drivetrain_left_hall(make_unique<AnalogInput>(0));
     reader.set_drivetrain_right_hall(make_unique<AnalogInput>(1));
 
-    reader.set_pwm_trigger(make_unique<DigitalInput>(7));
+    reader.set_pwm_trigger(make_unique<DigitalInput>(0));
     reader.set_dma(make_unique<DMA>());
     ::std::thread reader_thread(::std::ref(reader));
 
@@ -466,15 +522,22 @@
 
     DrivetrainWriter drivetrain_writer;
     drivetrain_writer.set_drivetrain_left_victor(
-        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(7)));
+        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(0)));
     drivetrain_writer.set_drivetrain_right_victor(
-        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(3)));
+        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(1)));
     ::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));
 
+    SuperstructureWriter superstructure_writer;
+    superstructure_writer.set_rollers_victor(
+        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(2)));
+    superstructure_writer.set_hanger_victor(
+        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(3)));
+
     ::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
         new ::frc971::wpilib::BufferedPcm());
     SolenoidWriter solenoid_writer(pcm);
     solenoid_writer.set_drivetrain_shifter(pcm->MakeSolenoid(0));
+    solenoid_writer.set_fingers(pcm->MakeSolenoid(2));
 
     solenoid_writer.set_compressor(make_unique<Compressor>());