Renamed everything to claw.
- Renamed all the wrists calls to claw.
- Added a top and bottom wrist controller.
diff --git a/frc971/control_loops/claw/claw.gyp b/frc971/control_loops/claw/claw.gyp
new file mode 100644
index 0000000..c541dad
--- /dev/null
+++ b/frc971/control_loops/claw/claw.gyp
@@ -0,0 +1,68 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'claw_loops',
+ 'type': 'static_library',
+ 'sources': ['claw.q'],
+ 'variables': {
+ 'header_path': 'frc971/control_loops/claw',
+ },
+ 'dependencies': [
+ '<(AOS)/common/common.gyp:control_loop_queues',
+ '<(AOS)/common/common.gyp:queues',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/common.gyp:control_loop_queues',
+ '<(AOS)/common/common.gyp:queues',
+ ],
+ 'includes': ['../../../aos/build/queues.gypi'],
+ },
+ {
+ 'target_name': 'claw_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'claw.cc',
+ 'top_claw_motor_plant.cc',
+ 'bottom_claw_motor_plant.cc',
+ 'unaugmented_top_claw_motor_plant.cc',
+ 'unaugmented_bottom_claw_motor_plant.cc',
+ ],
+ 'dependencies': [
+ 'claw_loops',
+ '<(AOS)/common/common.gyp:controls',
+ '<(DEPTH)/frc971/frc971.gyp:constants',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ ],
+ 'export_dependent_settings': [
+ 'claw_loops',
+ '<(AOS)/common/common.gyp:controls',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ ],
+ },
+ {
+ 'target_name': 'claw_lib_test',
+ 'type': 'executable',
+ 'sources': [
+ 'claw_lib_test.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):gtest',
+ 'claw_loops',
+ 'claw_lib',
+ '<(AOS)/common/common.gyp:queue_testutils',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ ],
+ },
+ {
+ 'target_name': 'claw',
+ 'type': 'executable',
+ 'sources': [
+ 'claw_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ 'claw_lib',
+ ],
+ },
+ ],
+}