diff --git a/bot3/control_loops/rollers/rollers.cc b/bot3/control_loops/rollers/rollers.cc
new file mode 100644
index 0000000..8777549
--- /dev/null
+++ b/bot3/control_loops/rollers/rollers.cc
@@ -0,0 +1,74 @@
+#include "bot3/control_loops/rollers/rollers.h"
+#include "bot3/control_loops/rollers/rollers.q.h"
+
+namespace bot3 {
+namespace control_loops {
+
+void RollersLoop::RunIteration(const Rollers::Goal *goal,
+                               const Rollers::Position * /*position*/,
+                               Rollers::Output *output,
+                               Rollers::Status * /*status*/) {
+  constexpr double kBot3IntakeForwardVoltage = 12.0;
+  constexpr double kBot3IntakeBackwardVoltage = -12.0;
+  constexpr double kBot3LowGoalForwardVoltage = 6.0;
+  constexpr double kBot3LowGoalBackwardVoltage = -6.0;
+
+  const int intake = goal->intake;
+  const int low_spit = goal->low_spit;
+  const bool human_player = goal->human_player;
+
+  if (!output) {
+    return;
+  }
+
+  output->Zero();
+
+  switch (low_spit) {
+    case 1:
+      // Spit towards front
+      output->low_goal_voltage = kBot3LowGoalBackwardVoltage;
+      output->front_intake_voltage = kBot3IntakeBackwardVoltage;
+      output->back_intake_voltage = -kBot3IntakeForwardVoltage;
+      break;
+    case -1:
+      // Spit towards back
+      output->low_goal_voltage = kBot3LowGoalForwardVoltage;
+      output->back_intake_voltage = -kBot3IntakeBackwardVoltage;
+      output->front_intake_voltage = kBot3IntakeForwardVoltage;
+      break;
+    default:
+      // Stationary
+      break;
+  }
+
+  switch (intake) {
+    case 1:
+      // Front intake.
+      output->front_extended = true;
+      output->back_extended = false;
+      output->front_intake_voltage = kBot3IntakeForwardVoltage;
+      output->back_intake_voltage = 0.0;
+      break;
+    case -1:
+      // Back intake.
+      output->back_extended = true;
+      output->front_extended = false;
+      output->back_intake_voltage = -kBot3IntakeForwardVoltage;
+      output->front_intake_voltage = 0.0;
+      break;
+    default:
+      // Stationary
+      break;
+  }
+
+  if (human_player) {
+    // Intake for human player.
+    output->front_extended = false;
+    output->back_extended = false;
+    output->front_intake_voltage = kBot3IntakeForwardVoltage;
+    output->back_intake_voltage = -kBot3IntakeForwardVoltage;
+  }
+}
+
+}  //  namespace control_loops
+}  //  namespace bot3
diff --git a/bot3/control_loops/rollers/rollers.gyp b/bot3/control_loops/rollers/rollers.gyp
new file mode 100644
index 0000000..e865ed8
--- /dev/null
+++ b/bot3/control_loops/rollers/rollers.gyp
@@ -0,0 +1,45 @@
+{
+  'targets': [
+    {
+      'target_name': 'rollers_loop',
+      'type': 'static_library',
+      'sources': ['rollers.q'],
+      'variables': {
+        'header_path': 'bot3/control_loops/rollers',
+      },
+      'dependencies': [
+        '<(AOS)/common/controls/controls.gyp:control_loop_queues',
+      ],
+      'export_dependent_settings': [
+        '<(AOS)/common/controls/controls.gyp:control_loop_queues',
+      ],
+      'includes': ['../../../aos/build/queues.gypi'],
+    },
+    {
+      'target_name': 'rollers_lib',
+      'type': 'static_library',
+      'sources': [
+        'rollers.cc',
+      ],
+      'dependencies': [
+        'rollers_loop',
+        '<(AOS)/common/controls/controls.gyp:control_loop',
+      ],
+      'export_dependent_settings': [
+        'rollers_loop',
+        '<(AOS)/common/controls/controls.gyp:control_loop',
+      ],
+    },
+    {
+      'target_name': 'rollers',
+      'type': 'executable',
+      'sources': [
+        'rollers_main.cc',
+      ],
+      'dependencies': [
+        'rollers_lib',
+        '<(AOS)/linux_code/linux_code.gyp:init'
+      ],
+    },
+  ],
+}
diff --git a/bot3/control_loops/rollers/rollers.h b/bot3/control_loops/rollers/rollers.h
new file mode 100644
index 0000000..f67b372
--- /dev/null
+++ b/bot3/control_loops/rollers/rollers.h
@@ -0,0 +1,33 @@
+#ifndef BOT3_CONTROL_LOOPS_ROLLERS_H_
+#define BOT3_CONTROL_LOOPS_ROLLERS_H_
+
+#include "aos/common/controls/control_loop.h"
+#include "bot3/control_loops/rollers/rollers.q.h"
+
+namespace bot3 {
+namespace control_loops {
+
+class RollersLoop
+  : public aos::controls::ControlLoop<control_loops::Rollers,
+      false, false, true> {
+ public:
+  // Constructs a control loops which can take a rollers or defaults to the
+  // rollers at ::bot3::control_loops::rollers.
+  explicit RollersLoop(
+      control_loops::Rollers *my_rollers = &control_loops::rollers)
+      : aos::controls::ControlLoop<control_loops::Rollers, false, false, true>(
+          my_rollers) {}
+
+ protected:
+  // Executes one cycle of the control loop.
+  virtual void RunIteration(
+      const control_loops::Rollers::Goal *goal,
+      const control_loops::Rollers::Position *position,
+      control_loops::Rollers::Output *output,
+      control_loops::Rollers::Status *status);
+};
+
+}  // namespace control_loops
+}  // namespace bot3
+
+#endif  // BOT3_CONTROL_LOOPS_ROLLERS_H_
diff --git a/bot3/control_loops/rollers/rollers.q b/bot3/control_loops/rollers/rollers.q
new file mode 100644
index 0000000..5abb488
--- /dev/null
+++ b/bot3/control_loops/rollers/rollers.q
@@ -0,0 +1,40 @@
+package bot3.control_loops;
+
+import "aos/common/controls/control_loops.q";
+
+queue_group Rollers {
+  implements aos.control_loops.ControlLoop;
+
+  message Goal {
+    // -1 = back intake, 1 = front intake, all else = stationary.
+    int16_t intake;
+    // -1 = backwards, 1 = forwards, all else = stationary.
+    int16_t low_spit;
+    // Whether we want the human player load function.
+    bool human_player;
+  };
+
+  message Position {};
+
+  message Output {
+    // Positive voltage = intaking, Negative = spitting.
+    double front_intake_voltage;
+    double back_intake_voltage;
+    // Voltage for the low goal rollers.
+    // Positive voltage = ball towards back, Negative = ball towards front.
+    double low_goal_voltage;
+
+    // Whether the front and back intake pistons are extended.
+    bool front_extended;
+    bool back_extended;
+  };
+
+  message Status {};
+
+  queue Goal goal;
+  queue Position position;
+  queue Output output;
+  queue Status status;
+};
+
+queue_group Rollers rollers;
diff --git a/bot3/control_loops/rollers/rollers_main.cc b/bot3/control_loops/rollers/rollers_main.cc
new file mode 100644
index 0000000..75d2cc6
--- /dev/null
+++ b/bot3/control_loops/rollers/rollers_main.cc
@@ -0,0 +1,11 @@
+#include "bot3/control_loops/rollers/rollers.h"
+
+#include "aos/linux_code/init.h"
+
+int main() {
+  ::aos::Init();
+  bot3::control_loops::RollersLoop rollers;
+  rollers.Run();
+  ::aos::Cleanup();
+  return 0;
+}