diff --git a/frc971/control_loops/control_loops.gyp b/frc971/control_loops/control_loops.gyp
index bada490..18df792 100644
--- a/frc971/control_loops/control_loops.gyp
+++ b/frc971/control_loops/control_loops.gyp
@@ -2,7 +2,6 @@
   'variables': {
     'loop_files': [
       'DriveTrain.q',
-      'wrist_motor.q',
     ]
   },
   'targets': [
@@ -38,53 +37,6 @@
       'includes': ['../../aos/build/queues.gypi'],
     },
     {
-      'target_name': 'wrist_lib',
-      'type': 'static_library',
-      'sources': [
-        'wrist.cc',
-        'wrist_motor_plant.cc',
-      ],
-      'dependencies': [
-        '<(AOS)/build/aos.gyp:libaos',
-        'control_loops',
-        '<(AOS)/common/common.gyp:controls',
-        '<(DEPTH)/frc971/frc971.gyp:common',
-        'state_feedback_loop',
-      ],
-      'export_dependent_settings': [
-        'state_feedback_loop',
-        '<(AOS)/common/common.gyp:controls',
-        'control_loops',
-      ],
-    },
-    {
-      'target_name': 'wrist_lib_test',
-      'type': 'executable',
-      'sources': [
-        'wrist_lib_test.cc',
-      ],
-      'dependencies': [
-        '<(EXTERNALS):gtest',
-        '<(AOS)/build/aos.gyp:libaos',
-        'control_loops',
-        'wrist_lib',
-        '<(AOS)/common/common.gyp:queue_testutils',
-        'state_feedback_loop',
-      ],
-    },
-    {
-      'target_name': 'wrist',
-      'type': 'executable',
-      'sources': [
-        'wrist_main.cc',
-      ],
-      'dependencies': [
-        '<(AOS)/build/aos.gyp:libaos',
-        'wrist_lib',
-        'control_loops',
-      ],
-    },
-    {
       'target_name': 'DriveTrain',
       'type': 'executable',
       'sources': [
diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index aa177ed..6704526 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -16,12 +16,13 @@
     self._namespace_end = ("}  // namespace frc971\n"
                            "}  // namespace control_loops\n")
 
-    self._header_start = ("#ifndef FRC971_CONTROL_LOOPS_%s_MOTOR_PLANT_H_\n"
-                          "#define FRC971_CONTROL_LOOPS_%s_MOTOR_PLANT_H_\n\n"
-                          % (self._name.upper(), self._name.upper()))
+    self._header_start = ("#ifndef FRC971_CONTROL_LOOPS_%s_%s_MOTOR_PLANT_H_\n"
+                          "#define FRC971_CONTROL_LOOPS_%s_%s_MOTOR_PLANT_H_\n\n"
+                          % (self._name.upper(), self._name.upper(),
+                             self._name.upper(), self._name.upper()))
 
-    self._header_end = ("#endif  // FRC971_CONTROL_LOOPS_%s_MOTOR_PLANT_H_\n"
-                        % (self._name.upper()))
+    self._header_end = ("#endif  // FRC971_CONTROL_LOOPS_%s_%s_MOTOR_PLANT_H_\n"
+                        % (self._name.upper(), self._name.upper()))
 
   def ContinuousToDiscrete(self, A_continuous, B_continuous, dt, C):
     """Calculates the discrete time values for A and B as well as initializing
diff --git a/frc971/control_loops/wrist.cc b/frc971/control_loops/wrist/wrist.cc
similarity index 98%
rename from frc971/control_loops/wrist.cc
rename to frc971/control_loops/wrist/wrist.cc
index 5bdce25..4e116c7 100644
--- a/frc971/control_loops/wrist.cc
+++ b/frc971/control_loops/wrist/wrist.cc
@@ -1,4 +1,4 @@
-#include "frc971/control_loops/wrist.h"
+#include "frc971/control_loops/wrist/wrist.h"
 
 #include <stdio.h>
 
@@ -11,7 +11,7 @@
 #include "aos/common/logging/logging.h"
 
 #include "frc971/constants.h"
-#include "frc971/control_loops/wrist_motor_plant.h"
+#include "frc971/control_loops/wrist/wrist_motor_plant.h"
 
 namespace frc971 {
 namespace control_loops {
diff --git a/frc971/control_loops/wrist/wrist.gyp b/frc971/control_loops/wrist/wrist.gyp
new file mode 100644
index 0000000..7c16577
--- /dev/null
+++ b/frc971/control_loops/wrist/wrist.gyp
@@ -0,0 +1,70 @@
+{
+  'targets': [
+    {
+      'target_name': 'wrist_loop',
+      'type': 'static_library',
+      'sources': ['wrist_motor.q'],
+      'variables': {
+        'header_path': 'frc971/control_loops/wrist',
+      },
+      'dependencies': [
+        '<(AOS)/build/aos.gyp:libaos',
+        '<(AOS)/common/common.gyp:control_loop_queues',
+        '<(AOS)/common/common.gyp:queues',
+      ],
+      'export_dependent_settings': [
+        '<(AOS)/build/aos.gyp:libaos',
+        '<(AOS)/common/common.gyp:control_loop_queues',
+        '<(AOS)/common/common.gyp:queues',
+      ],
+      'includes': ['../../../aos/build/queues.gypi'],
+    },
+    {
+      'target_name': 'wrist_lib',
+      'type': 'static_library',
+      'sources': [
+        'wrist.cc',
+        'wrist_motor_plant.cc',
+      ],
+      'dependencies': [
+        '<(AOS)/build/aos.gyp:libaos',
+        'wrist_loop',
+        '<(AOS)/common/common.gyp:controls',
+        '<(DEPTH)/frc971/frc971.gyp:common',
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+      ],
+      'export_dependent_settings': [
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+        '<(AOS)/common/common.gyp:controls',
+        'wrist_loop',
+      ],
+    },
+    {
+      'target_name': 'wrist_lib_test',
+      'type': 'executable',
+      'sources': [
+        'wrist_lib_test.cc',
+      ],
+      'dependencies': [
+        '<(EXTERNALS):gtest',
+        '<(AOS)/build/aos.gyp:libaos',
+        'wrist_loop',
+        'wrist_lib',
+        '<(AOS)/common/common.gyp:queue_testutils',
+        '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+      ],
+    },
+    {
+      'target_name': 'wrist',
+      'type': 'executable',
+      'sources': [
+        'wrist_main.cc',
+      ],
+      'dependencies': [
+        '<(AOS)/build/aos.gyp:libaos',
+        'wrist_lib',
+        'wrist_loop',
+      ],
+    },
+  ],
+}
diff --git a/frc971/control_loops/wrist.h b/frc971/control_loops/wrist/wrist.h
similarity index 96%
rename from frc971/control_loops/wrist.h
rename to frc971/control_loops/wrist/wrist.h
index 99d9920..250f536 100644
--- a/frc971/control_loops/wrist.h
+++ b/frc971/control_loops/wrist/wrist.h
@@ -5,8 +5,8 @@
 
 #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"
+#include "frc971/control_loops/wrist/wrist_motor.q.h"
+#include "frc971/control_loops/wrist/wrist_motor_plant.h"
 
 namespace frc971 {
 namespace control_loops {
diff --git a/frc971/control_loops/wrist_lib_test.cc b/frc971/control_loops/wrist/wrist_lib_test.cc
similarity index 98%
rename from frc971/control_loops/wrist_lib_test.cc
rename to frc971/control_loops/wrist/wrist_lib_test.cc
index 2e329af..8e852c1 100644
--- a/frc971/control_loops/wrist_lib_test.cc
+++ b/frc971/control_loops/wrist/wrist_lib_test.cc
@@ -5,8 +5,8 @@
 #include "gtest/gtest.h"
 #include "aos/common/queue.h"
 #include "aos/common/queue_testutils.h"
-#include "frc971/control_loops/wrist_motor.q.h"
-#include "frc971/control_loops/wrist.h"
+#include "frc971/control_loops/wrist/wrist_motor.q.h"
+#include "frc971/control_loops/wrist/wrist.h"
 #include "frc971/constants.h"
 
 
diff --git a/frc971/control_loops/wrist_main.cc b/frc971/control_loops/wrist/wrist_main.cc
similarity index 76%
rename from frc971/control_loops/wrist_main.cc
rename to frc971/control_loops/wrist/wrist_main.cc
index 0c0b66d..8585180 100644
--- a/frc971/control_loops/wrist_main.cc
+++ b/frc971/control_loops/wrist/wrist_main.cc
@@ -1,4 +1,4 @@
-#include "frc971/control_loops/wrist.h"
+#include "frc971/control_loops/wrist/wrist.h"
 
 #include "aos/aos_core.h"
 
diff --git a/frc971/control_loops/wrist_motor.q b/frc971/control_loops/wrist/wrist_motor.q
similarity index 100%
rename from frc971/control_loops/wrist_motor.q
rename to frc971/control_loops/wrist/wrist_motor.q
diff --git a/frc971/control_loops/wrist_motor_plant.cc b/frc971/control_loops/wrist/wrist_motor_plant.cc
similarity index 93%
rename from frc971/control_loops/wrist_motor_plant.cc
rename to frc971/control_loops/wrist/wrist_motor_plant.cc
index 56e141f..3998cae 100644
--- a/frc971/control_loops/wrist_motor_plant.cc
+++ b/frc971/control_loops/wrist/wrist_motor_plant.cc
@@ -1,4 +1,4 @@
-#include "frc971/control_loops/wrist_motor_plant.h"
+#include "frc971/control_loops/wrist/wrist_motor_plant.h"
 
 #include "frc971/control_loops/state_feedback_loop.h"
 
diff --git a/frc971/control_loops/wrist/wrist_motor_plant.h b/frc971/control_loops/wrist/wrist_motor_plant.h
new file mode 100644
index 0000000..f2b3ac9
--- /dev/null
+++ b/frc971/control_loops/wrist/wrist_motor_plant.h
@@ -0,0 +1,16 @@
+#ifndef FRC971_CONTROL_LOOPS_WRIST_WRIST_MOTOR_PLANT_H_
+#define FRC971_CONTROL_LOOPS_WRIST_WRIST_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlant<2, 1, 1> MakeWristPlant();
+
+StateFeedbackLoop<2, 1, 1> MakeWristLoop();
+
+}  // namespace frc971
+}  // namespace control_loops
+
+#endif  // FRC971_CONTROL_LOOPS_WRIST_WRIST_MOTOR_PLANT_H_
diff --git a/frc971/control_loops/wrist_motor_plant.h b/frc971/control_loops/wrist_motor_plant.h
deleted file mode 100644
index c692770..0000000
--- a/frc971/control_loops/wrist_motor_plant.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#ifndef FRC971_CONTROL_LOOPS_WRIST_MOTOR_PLANT_H_
-#define FRC971_CONTROL_LOOPS_WRIST_MOTOR_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlant<2, 1, 1> MakeWristPlant();
-
-StateFeedbackLoop<2, 1, 1> MakeWristLoop();
-
-}  // namespace frc971
-}  // namespace control_loops
-
-#endif  // FRC971_CONTROL_LOOPS_WRIST_MOTOR_PLANT_H_