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.h b/frc971/control_loops/claw/claw.h
new file mode 100644
index 0000000..e057c3e
--- /dev/null
+++ b/frc971/control_loops/claw/claw.h
@@ -0,0 +1,63 @@
+#ifndef FRC971_CONTROL_LOOPS_CLAW_CLAW_H_
+#define FRC971_CONTROL_LOOPS_CLAW_CLAW_H_
+
+#include <memory>
+
+#include "aos/common/control_loop/ControlLoop.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/claw/claw.q.h"
+#include "frc971/control_loops/claw/top_claw_motor_plant.h"
+#include "frc971/control_loops/claw/bottom_claw_motor_plant.h"
+
+#include "frc971/control_loops/zeroed_joint.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace testing {
+class ClawTest_NoWindupPositive_Test;
+class ClawTest_NoWindupNegative_Test;
+};
+
+class ClawMotor
+ : public aos::control_loops::ControlLoop<control_loops::ClawLoop> {
+ public:
+ explicit ClawMotor(
+ control_loops::ClawLoop *my_claw = &control_loops::claw);
+
+ // True if the goal was moved to avoid goal windup.
+ bool capped_goal() const { return zeroed_joint_.capped_goal(); }
+
+ // True if the claw is zeroing.
+ bool is_zeroing() const { return zeroed_joint_.is_zeroing(); }
+
+ // True if the claw is zeroing.
+ bool is_moving_off() const { return zeroed_joint_.is_moving_off(); }
+
+ // True if the state machine is uninitialized.
+ bool is_uninitialized() const { return zeroed_joint_.is_uninitialized(); }
+
+ // True if the state machine is ready.
+ bool is_ready() const { return zeroed_joint_.is_ready(); }
+
+ protected:
+ virtual void RunIteration(
+ const control_loops::ClawLoop::Goal *goal,
+ const control_loops::ClawLoop::Position *position,
+ control_loops::ClawLoop::Output *output,
+ ::aos::control_loops::Status *status);
+
+ private:
+ // Friend the test classes for acces to the internal state.
+ friend class testing::ClawTest_NoWindupPositive_Test;
+ friend class testing::ClawTest_NoWindupNegative_Test;
+
+ // The zeroed joint to use.
+ ZeroedJoint<1> zeroed_joint_;
+
+ DISALLOW_COPY_AND_ASSIGN(ClawMotor);
+};
+
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_CLAW_CLAW_H_