Merged some code from Brian so that it builds on the bot.
diff --git a/frc971/control_loops/wrist.cc b/frc971/control_loops/wrist.cc
index edbd8a0..dee0438 100644
--- a/frc971/control_loops/wrist.cc
+++ b/frc971/control_loops/wrist.cc
@@ -125,6 +125,8 @@
zeroing_position_ = absolute_position;
// Clear the observer state.
loop_->X_hat << absolute_position, 0.0;
+ // Set the goal to here to make it so it doesn't move when disabled.
+ loop_->R = loop_->X_hat;
// Only progress if we are enabled.
if (::aos::robot_state->enabled) {
if (position->hall_effect) {