Wrist loop test case now runs and fails.
diff --git a/frc971/control_loops/wrist.h b/frc971/control_loops/wrist.h
new file mode 100644
index 0000000..728b46f
--- /dev/null
+++ b/frc971/control_loops/wrist.h
@@ -0,0 +1,38 @@
+#ifndef FRC971_CONTROL_LOOPS_WRIST_H_
+#define FRC971_CONTROL_LOOPS_WRIST_H_
+
+#include <memory>
+
+#include "aos/common/control_loop/ControlLoop.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/wrist_motor.q.h"
+#include "frc971/control_loops/wrist_motor_plant.h"
+
+namespace frc971 {
+namespace control_loops {
+
+class WristMotor
+ : public aos::control_loops::ControlLoop<control_loops::WristLoop> {
+ public:
+ explicit WristMotor(
+ control_loops::WristLoop *my_wrist = &control_loops::wrist);
+
+ protected:
+ virtual void RunIteration(
+ const ::aos::control_loops::Goal *goal,
+ const control_loops::WristLoop::Position *position,
+ ::aos::control_loops::Output *output,
+ ::aos::control_loops::Status *status);
+
+ private:
+ ::std::unique_ptr<StateFeedbackLoop<2, 1, 1>> loop_;
+ bool stop_;
+ int error_count_;
+ bool zeroed_;
+ double zero_offset_;
+};
+
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_WRIST_H_