Add intake control loop.
Change-Id: I504e4b11c0d8424249e2544da517748a657ddef8
diff --git a/bot3/control_loops/intake/intake.h b/bot3/control_loops/intake/intake.h
new file mode 100644
index 0000000..43cd9fc
--- /dev/null
+++ b/bot3/control_loops/intake/intake.h
@@ -0,0 +1,28 @@
+#ifndef BOT3_CONTROL_LOOPS_INTAKE_H_
+#define BOT3_CONTROL_LOOPS_INTAKE_H_
+
+#include "aos/common/controls/control_loop.h"
+
+#include "bot3/control_loops/intake/intake.q.h"
+
+namespace bot3 {
+namespace control_loops {
+
+constexpr double kIntakeVoltageFullPower = 12.0;
+
+class Intake : public aos::controls::ControlLoop<control_loops::IntakeQueue> {
+ public:
+ explicit Intake(
+ control_loops::IntakeQueue *intake_queue = &control_loops::intake_queue);
+
+ protected:
+ void RunIteration(const control_loops::IntakeQueue::Goal *goal,
+ const control_loops::IntakeQueue::Position *position,
+ control_loops::IntakeQueue::Output *output,
+ control_loops::IntakeQueue::Status *status) override;
+};
+
+} // namespace control_loops
+} // namespace bot3
+
+#endif // BOT3_CONTROL_LOOPS_INTAKE_H_