Integration: Updating queues to output current position. Added structure for fridge and claw files.
Change-Id: I216fb5431aaadbf0be3838031d4858401330da94
diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
new file mode 100644
index 0000000..6177687
--- /dev/null
+++ b/frc971/control_loops/claw/claw.cc
@@ -0,0 +1,25 @@
+#include "frc971/control_loops/claw/claw.h"
+
+#include "aos/common/controls/control_loops.q.h"
+#include "aos/common/logging/logging.h"
+
+#include "frc971/control_loops/claw/claw_motor_plant.h"
+
+namespace frc971 {
+namespace control_loops {
+
+Claw::Claw(control_loops::ClawQueue *claw)
+ : aos::controls::ControlLoop<control_loops::ClawQueue>(claw),
+ claw_loop_(new StateFeedbackLoop<2, 1, 1>(MakeClawLoop())) {}
+
+void Claw::RunIteration(
+ const control_loops::ClawQueue::Goal * /*goal*/,
+ const control_loops::ClawQueue::Position * /*position*/,
+ control_loops::ClawQueue::Output * /*output*/,
+ control_loops::ClawQueue::Status * /*status*/) {
+
+ LOG(DEBUG, "Hi Brian!");
+}
+
+} // namespace control_loops
+} // namespace frc971