text: #ifndef C2017_WPILIB_SUPERSTRUCTURE_INTERFACE_H_
  #define C2017_WPILIB_SUPERSTRUCTURE_INTERFACE_H_
  
  #include "WPILib.h"
  #include "c2017/queue_manager/queue_manager.h"
  #include "muan/utils/math_utils.h"
  #include "muan/wpilib/can_wrapper.h"
  #include "muan/wpilib/pcm_wrapper.h"
  
  namespace c2017 {
  namespace wpilib {
  
  class SuperStructureInterface {
   public:
    explicit SuperStructureInterface(muan::wpilib::CanWrapper* can_wrapper);
  
    void WriteActuators();
    void ReadSensors();
  
   private:
    c2017::shooter::ShooterInputQueue shooter_input_queue_;
    c2017::climber::ClimberInputQueue climber_input_queue_;
  
    c2017::wpilib::WpilibOutputQueue::QueueReader output_queue_;
  
    VictorSP shooter_motor_;
    VictorSP accel_motor_;
    VictorSP upper_conveyor_motor_;
    VictorSP side_conveyor_motor_;
    VictorSP lower_conveyor_motor_;
    VictorSP ball_intake_motor_;
    VictorSP gear_intake_motor_;
  
    Encoder shooter_encoder_;
    Encoder accel_encoder_;
  
    muan::wpilib::PcmWrapper* pcm_;
  };
  
  }  // namespace wpilib
  }  // namespace c2017
  
  #endif  // C2017_WPILIB_SUPERSTRUCTURE_INTERFACE_H_
  