Add y2019 superstructure, queues, constants.
Change-Id: I82b4bdfe77eff02e0dd7557491eb2e323bcf9de9
diff --git a/y2019/control_loops/superstructure/superstructure.h b/y2019/control_loops/superstructure/superstructure.h
new file mode 100644
index 0000000..1faa6b4
--- /dev/null
+++ b/y2019/control_loops/superstructure/superstructure.h
@@ -0,0 +1,34 @@
+#ifndef Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
+#define Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
+
+#include "aos/controls/control_loop.h"
+#include "y2019/control_loops/superstructure/superstructure.q.h"
+
+namespace y2019 {
+namespace control_loops {
+namespace superstructure {
+
+class Superstructure
+ : public ::aos::controls::ControlLoop<SuperstructureQueue> {
+ public:
+ explicit Superstructure(
+ SuperstructureQueue *my_superstructure =
+ &superstructure_queue);
+
+ protected:
+ virtual void RunIteration(
+ const SuperstructureQueue::Goal *unsafe_goal,
+ const SuperstructureQueue::Position *position,
+ SuperstructureQueue::Output *output,
+ SuperstructureQueue::Status *status) override;
+
+ private:
+
+ DISALLOW_COPY_AND_ASSIGN(Superstructure);
+};
+
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2019
+
+#endif // Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
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