diff --git a/bot3/control_loops/intake/intake.cc b/bot3/control_loops/intake/intake.cc
new file mode 100644
index 0000000..935730b
--- /dev/null
+++ b/bot3/control_loops/intake/intake.cc
@@ -0,0 +1,36 @@
+#include "bot3/control_loops/intake/intake.h"
+
+#include "bot3/control_loops/intake/intake.q.h"
+
+namespace bot3 {
+namespace control_loops {
+
+Intake::Intake(control_loops::IntakeQueue *intake)
+    : aos::controls::ControlLoop<control_loops::IntakeQueue>(intake) {}
+
+void Intake::RunIteration(
+    const control_loops::IntakeQueue::Goal *goal,
+    const control_loops::IntakeQueue::Position * /*position*/,
+    control_loops::IntakeQueue::Output *output,
+    control_loops::IntakeQueue::Status * /*status*/) {
+
+  if (output != nullptr) {
+    output->Zero();
+
+    const int16_t intake_movement = goal->movement;
+
+    if (intake_movement > 0) {
+      // Suck.
+      output->intake = kIntakeVoltageFullPower;
+    } else if (intake_movement < 0) {
+      // Spit.
+      output->intake = -kIntakeVoltageFullPower;
+    } else {
+      // Stationary.
+      output->intake = 0.0;
+    }
+  }
+}
+
+}  // namespace control_loops
+}  // namespace bot3
diff --git a/bot3/control_loops/intake/intake.gyp b/bot3/control_loops/intake/intake.gyp
new file mode 100644
index 0000000..41f1b7f
--- /dev/null
+++ b/bot3/control_loops/intake/intake.gyp
@@ -0,0 +1,60 @@
+{
+  'targets': [
+    {
+      'target_name': 'intake_queue',
+      'type': 'static_library',
+      'sources': ['intake.q'],
+      'variables': {
+        'header_path': 'bot3/control_loops/intake',
+      },
+      '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': 'intake_lib',
+      'type': 'static_library',
+      'sources': [
+        'intake.cc',
+      ],
+      'dependencies': [
+        'intake_queue',
+        '<(AOS)/common/controls/controls.gyp:control_loop',
+      ],
+      'export_dependent_settings': [
+        'intake_queue',
+        '<(AOS)/common/controls/controls.gyp:control_loop',
+      ],
+    },
+    {
+      'target_name': 'intake_lib_test',
+      'type': 'executable',
+      'sources': [
+        'intake_lib_test.cc',
+      ],
+      'dependencies': [
+        '<(EXTERNALS):gtest',
+        'intake_lib',
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+        '<(AOS)/common/controls/controls.gyp:control_loop_test',
+        '<(AOS)/common/common.gyp:time',
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:team_number_test_environment',
+      ],
+    },
+    {
+      'target_name': 'intake',
+      'type': 'executable',
+      'sources': [
+        'intake_main.cc',
+      ],
+      'dependencies': [
+        '<(AOS)/linux_code/linux_code.gyp:init',
+        'intake_lib',
+      ],
+    },
+  ],
+}
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_
diff --git a/bot3/control_loops/intake/intake.q b/bot3/control_loops/intake/intake.q
new file mode 100644
index 0000000..3047f6b
--- /dev/null
+++ b/bot3/control_loops/intake/intake.q
@@ -0,0 +1,27 @@
+package bot3.control_loops;
+
+import "aos/common/controls/control_loops.q";
+
+queue_group IntakeQueue {
+  implements aos.control_loops.ControlLoop;
+
+  message Goal {
+    // Positive = suck, negative = spit, zero = stationary.
+    int16_t movement;
+  };
+
+  message Position {};
+
+  message Output {
+    double intake;
+  };
+
+  message Status {};
+
+  queue Goal goal;
+  queue Position position;
+  queue Output output;
+  queue Status status;
+};
+
+queue_group IntakeQueue intake_queue;
diff --git a/bot3/control_loops/intake/intake_lib_test.cc b/bot3/control_loops/intake/intake_lib_test.cc
new file mode 100644
index 0000000..6fe6672
--- /dev/null
+++ b/bot3/control_loops/intake/intake_lib_test.cc
@@ -0,0 +1,123 @@
+#include "bot3/control_loops/intake/intake.h"
+
+#include <math.h>
+#include <unistd.h>
+
+#include "gtest/gtest.h"
+#include "aos/common/queue.h"
+#include "aos/common/commonmath.h"
+#include "aos/common/controls/control_loop_test.h"
+#include "bot3/control_loops/intake/intake.q.h"
+
+using ::aos::time::Time;
+
+namespace bot3 {
+namespace control_loops {
+namespace testing {
+
+// Class which simulates the elevator and sends out queue messages with the
+// position.
+class IntakeSimulation {
+ public:
+  // Constructs a simulation.
+  IntakeSimulation()
+      : queue_(".bot3.control_loops.intake_queue", 0x627ceeeb,
+                      ".bot3.control_loops.intake_queue.goal",
+                      ".bot3.control_loops.intake_queue.position",
+                      ".bot3.control_loops.intake_queue.output",
+                      ".bot3.control_loops.intake_queue.status") {
+  }
+
+  // Simulates for a single timestep.
+  void Simulate() {
+    EXPECT_TRUE(queue_.output.FetchLatest());
+  }
+
+ private:
+  IntakeQueue queue_;
+};
+
+class IntakeTest : public ::aos::testing::ControlLoopTest {
+ protected:
+  IntakeTest()
+      : queue_(".bot3.control_loops.intake_queue", 0x627ceeeb,
+                      ".bot3.control_loops.intake_queue.goal",
+                      ".bot3.control_loops.intake_queue.position",
+                      ".bot3.control_loops.intake_queue.output",
+                      ".bot3.control_loops.intake_queue.status"),
+        intake_(&queue_),
+        plant_() {
+    set_team_id(971);
+  }
+
+  // Runs one iteration of the whole simulation.
+  void RunIteration(bool enabled = true) {
+    SendMessages(enabled);
+
+    queue_.position.MakeMessage().Send();
+
+    intake_.Iterate();
+
+    TickTime();
+  }
+
+  // Runs iterations until the specified amount of simulated time has elapsed.
+  void RunForTime(const Time &run_for, bool enabled = true) {
+    const auto start_time = Time::Now();
+    while (Time::Now() < start_time + run_for) {
+      RunIteration(enabled);
+    }
+  }
+
+  // Create a new instance of the test queue so that it invalidates the queue
+  // that it points to. Otherwise, we will have a pointed to shared memory that
+  // is no longer valid.
+  IntakeQueue queue_;
+
+  // Create a control loop.
+  Intake intake_;
+  IntakeSimulation plant_;
+};
+
+// Tests that the loop does nothing when the goal is zero.
+TEST_F(IntakeTest, DoesNothing) {
+  ASSERT_TRUE(queue_.goal.MakeWithBuilder()
+                  .movement(0)
+                  .Send());
+
+  // Run for a bit.
+  RunForTime(1.0);
+
+  ASSERT_TRUE(queue_.output.FetchLatest());
+  EXPECT_EQ(queue_.output->intake, 0.0);
+}
+
+// Tests that the intake sucks with a positive goal.
+TEST_F(IntakeTest, SuckingGoal) {
+  ASSERT_TRUE(queue_.goal.MakeWithBuilder()
+                  .movement(1)
+                  .Send());
+
+  // Run for a bit.
+  RunForTime(1.0);
+
+  ASSERT_TRUE(queue_.output.FetchLatest());
+  EXPECT_GT(queue_.output->intake, 0.0);
+}
+
+// Tests that the intake spits with a negative goal.
+TEST_F(IntakeTest, SpittingGoal) {
+  ASSERT_TRUE(queue_.goal.MakeWithBuilder()
+                  .movement(-1)
+                  .Send());
+
+  // Run for a bit.
+  RunForTime(1.0);
+
+  ASSERT_TRUE(queue_.output.FetchLatest());
+  EXPECT_LT(queue_.output->intake, 0.0);
+}
+
+}  // namespace testing
+}  // namespace control_loops
+}  // namespace bot3
diff --git a/bot3/control_loops/intake/intake_main.cc b/bot3/control_loops/intake/intake_main.cc
new file mode 100644
index 0000000..ccc5fab
--- /dev/null
+++ b/bot3/control_loops/intake/intake_main.cc
@@ -0,0 +1,11 @@
+#include "bot3/control_loops/intake/intake.h"
+
+#include "aos/linux_code/init.h"
+
+int main() {
+  ::aos::Init();
+  ::bot3::control_loops::Intake intake;
+  intake.Run();
+  ::aos::Cleanup();
+  return 0;
+}