diff --git a/y2019/control_loops/superstructure/BUILD b/y2019/control_loops/superstructure/BUILD
new file mode 100644
index 0000000..79d851a
--- /dev/null
+++ b/y2019/control_loops/superstructure/BUILD
@@ -0,0 +1,40 @@
+package(default_visibility = ["//visibility:public"])
+
+load("//aos/build:queues.bzl", "queue_library")
+
+queue_library(
+    name = "superstructure_queue",
+    srcs = [
+        "superstructure.q",
+    ],
+    deps = [
+        "//aos/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/controls:control_loop",
+    ]
+)
+
+cc_binary(
+    name = "superstructure",
+    srcs = [
+        "superstructure_main.cc",
+    ],
+    deps = [
+        ":superstructure_lib",
+        "//aos:init",
+    ]
+)
\ No newline at end of file
diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
new file mode 100644
index 0000000..2f0832c
--- /dev/null
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -0,0 +1,32 @@
+#include "y2019/control_loops/superstructure/superstructure.h"
+
+#include "aos/controls/control_loops.q.h"
+#include "frc971/control_loops/control_loops.q.h"
+
+namespace y2019 {
+namespace control_loops {
+namespace superstructure {
+
+Superstructure::Superstructure(
+    SuperstructureQueue *superstructure_queue)
+    : aos::controls::ControlLoop<SuperstructureQueue>(
+          superstructure_queue) {}
+
+void Superstructure::RunIteration(
+    const SuperstructureQueue::Goal *unsafe_goal,
+    const SuperstructureQueue::Position *position,
+    SuperstructureQueue::Output *output,
+    SuperstructureQueue::Status *status) {
+  (void)unsafe_goal;
+  (void)position;
+  (void)output;
+  (void)status;
+
+  if (WasReset()) {
+    LOG(ERROR, "WPILib reset, restarting\n");
+  }
+}
+
+}  // namespace superstructure
+}  // namespace control_loops
+}  // namespace y2019
\ No newline at end of file
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_
\ No newline at end of file
diff --git a/y2019/control_loops/superstructure/superstructure.q b/y2019/control_loops/superstructure/superstructure.q
new file mode 100644
index 0000000..2cd7238
--- /dev/null
+++ b/y2019/control_loops/superstructure/superstructure.q
@@ -0,0 +1,127 @@
+package y2019.control_loops.superstructure;
+
+import "aos/controls/control_loops.q";
+import "frc971/control_loops/profiled_subsystem.q";
+
+struct ElevatorGoal {
+  // Meters, 0 = lowest position - mechanical hard stop,
+  // positive = upward
+  double height;
+
+  .frc971.ProfileParameters profile_params;
+};
+
+struct IntakeGoal {
+  // Positive is rollers intaking inward.
+  double roller_voltage;
+
+  // 0 = linkage on the sprocket is pointing straight up,
+  // positive = forward
+  double joint_angle;
+
+  .frc971.ProfileParameters profile_params;
+};
+
+struct SuctionGoal {
+  // True = open solenoid (apply suction)
+  // Top/bottom are when wrist is forward
+  bool top;
+  bool bottom;
+};
+
+struct StiltsGoal {
+  // Distance stilts extended out of the bottom of the robot. Positive = down.
+  // 0 is the height such that the bottom of the stilts is tangent to the bottom
+  // of the middle wheels.
+  double height;
+
+  .frc971.ProfileParameters profile_params;
+};
+
+struct WristGoal {
+  // 0 = Straight up parallel to elevator
+  // Positive rotates toward intake from 0
+  double angle;
+  .frc971.ProfileParameters profile_params;
+};
+
+queue_group SuperstructureQueue {
+  implements aos.control_loops.ControlLoop;
+
+  message Goal {
+    ElevatorGoal elevator;
+    IntakeGoal intake;
+    SuctionGoal suction;
+    StiltsGoal stilts;
+    WristGoal wrist;
+  };
+
+  message Status {
+    // All subsystems know their location.
+    bool zeroed;
+
+    // If true, we have aborted. This is the or of all subsystem estops.
+    bool estopped;
+
+    // Whether suction_pressure indicates cargo is held
+    bool has_piece;
+
+    // Status of each subsystem.
+    .frc971.control_loops.AbsoluteProfiledJointStatus elevator;
+    .frc971.control_loops.AbsoluteProfiledJointStatus wrist;
+    .frc971.control_loops.AbsoluteProfiledJointStatus intake;
+    .frc971.control_loops.AbsoluteProfiledJointStatus stilts;
+  };
+
+  message Position {
+    // Input from pressure sensor in psi
+    // 0 = current atmospheric pressure, negative = suction.
+    double suction_pressure;
+
+    // Position of the elevator, 0 at lowest position, positive when up.
+    .frc971.PotAndAbsolutePosition elevator;
+
+    // Position of wrist, 0 when up, positive is rotating toward the front,
+    // over the top.
+    .frc971.PotAndAbsolutePosition wrist;
+
+    // Position of the intake. 0 when rollers are retracted, positive extended.
+    .frc971.PotAndAbsolutePosition intake_joint;
+
+    // Position of the stilts, 0 when retracted (defualt), positive lifts robot.
+    .frc971.PotAndAbsolutePosition stilts;
+  };
+
+  message Output {
+    // Voltage sent to motors moving elevator up/down. Positive is up.
+    double elevator_voltage;
+
+    // Voltage sent to wrist motors on elevator to rotate.
+    // Positive rotates over the top towards the front of the robot.
+    double wrist_voltage;
+
+    // Voltage sent to motors on intake joint. Positive extends rollers.
+    double intake_joint_voltage;
+
+    // Voltage sent to rollers on intake. Positive rolls inward.
+    double intake_roller_voltage;
+
+    // Voltage sent to motors to move stilts height. Positive moves robot upward.
+    double stilts_voltage;
+
+    // True opens solenoid (applies suction)
+    // Top/bottom are when wrist is toward the front of the robot
+    bool intake_suction_top;
+    bool intake_suction_bottom;
+
+    // Voltage sent to the vacuum pump motors.
+    double pump_voltage;
+  };
+
+  queue Goal goal;
+  queue Output output;
+  queue Status status;
+  queue Position position;
+};
+
+queue_group SuperstructureQueue superstructure_queue;
\ No newline at end of file
diff --git a/y2019/control_loops/superstructure/superstructure_main.cc b/y2019/control_loops/superstructure/superstructure_main.cc
new file mode 100644
index 0000000..f3dd1ad
--- /dev/null
+++ b/y2019/control_loops/superstructure/superstructure_main.cc
@@ -0,0 +1,11 @@
+#include "y2019/control_loops/superstructure/superstructure.h"
+
+#include "aos/init.h"
+
+int main() {
+  ::aos::Init();
+  ::y2019::control_loops::superstructure::Superstructure superstructure;
+  superstructure.Run();
+  ::aos::Cleanup();
+  return 0;
+}