diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 004ea7a..64ba98e 100644
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -7,6 +7,7 @@
 
 #include "frc971/constants.h"
 #include "frc971/control_loops/claw/claw_motor_plant.h"
+#include "aos/common/util/trapezoid_profile.h"
 
 namespace frc971 {
 namespace control_loops {
@@ -33,7 +34,8 @@
     : aos::controls::ControlLoop<control_loops::ClawQueue>(claw),
       last_piston_edge_(Time::Now()),
       claw_loop_(new ClawCappedStateFeedbackLoop(MakeClawLoop())),
-      claw_estimator_(constants::GetValues().claw.zeroing) {}
+      claw_estimator_(constants::GetValues().claw.zeroing),
+      profile_(::aos::controls::kLoopFrequency) {}
 
 void Claw::UpdateZeroingState() {
   if (claw_estimator_.offset_ratio_ready() < 1.0) {
@@ -169,6 +171,14 @@
         claw_goal_ +=
             claw_goal_velocity * ::aos::controls::kLoopFrequency.ToSeconds();
       }
+
+      // Clear the current profile state if we are zeroing.
+      {
+        Eigen::Matrix<double, 2, 1> current;
+        current.setZero();
+        current << claw_goal_, claw_goal_velocity;
+        profile_.MoveCurrentState(current);
+      }
       break;
 
     case RUNNING:
@@ -177,8 +187,25 @@
       // Update state_.
       UpdateZeroingState();
       if (unsafe_goal) {
-        claw_goal_ = unsafe_goal->angle;
-        claw_goal_velocity = unsafe_goal->angular_velocity;
+        // Pick a set of sane defaults if none are specified.
+        if (unsafe_goal->max_velocity != 0.0) {
+          profile_.set_maximum_velocity(unsafe_goal->max_velocity);
+        } else {
+          profile_.set_maximum_velocity(2.5);
+        }
+        if (unsafe_goal->max_acceleration != 0.0) {
+          profile_.set_maximum_acceleration(unsafe_goal->max_acceleration);
+        } else {
+          profile_.set_maximum_acceleration(4.0);
+        }
+
+        const double unfiltered_goal = ::std::max(
+            ::std::min(unsafe_goal->angle, values.claw.wrist.upper_limit),
+            values.claw.wrist.lower_limit);
+        ::Eigen::Matrix<double, 2, 1> goal_state =
+            profile_.Update(unfiltered_goal, unsafe_goal->angular_velocity);
+        claw_goal_ = goal_state(0, 0);
+        claw_goal_velocity = goal_state(1, 0);
       }
 
       if (state_ != RUNNING && state_ != ESTOP) {
@@ -249,12 +276,15 @@
   zeroing::PopulateEstimatorState(claw_estimator_, &status->zeroing_state);
 
   status->angle = claw_loop_->X_hat(0, 0);
+  status->angular_velocity = claw_loop_->X_hat(1, 0);
+
   if (output) {
     status->intake = output->intake_voltage;
   } else {
     status->intake = 0;
   }
   status->goal_angle = claw_goal_;
+  status->goal_velocity = claw_goal_velocity;
 
   if (output) {
     status->rollers_open =
diff --git a/frc971/control_loops/claw/claw.gyp b/frc971/control_loops/claw/claw.gyp
index 16001c3..b84b5c0 100644
--- a/frc971/control_loops/claw/claw.gyp
+++ b/frc971/control_loops/claw/claw.gyp
@@ -29,6 +29,7 @@
         'claw_queue',
         '<(AOS)/common/controls/controls.gyp:control_loop',
         '<(AOS)/common/common.gyp:time',
+        '<(AOS)/common/util/util.gyp:trapezoid_profile',
         '<(DEPTH)/frc971/frc971.gyp:constants',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
         '<(DEPTH)/frc971/zeroing/zeroing.gyp:zeroing',
@@ -37,6 +38,7 @@
         'claw_queue',
         '<(AOS)/common/controls/controls.gyp:control_loop',
         '<(AOS)/common/common.gyp:time',
+        '<(AOS)/common/util/util.gyp:trapezoid_profile',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
         '<(DEPTH)/frc971/zeroing/zeroing.gyp:zeroing',
       ],
diff --git a/frc971/control_loops/claw/claw.h b/frc971/control_loops/claw/claw.h
index 381bd15..0413b8d 100644
--- a/frc971/control_loops/claw/claw.h
+++ b/frc971/control_loops/claw/claw.h
@@ -5,6 +5,7 @@
 
 #include "aos/common/controls/control_loop.h"
 #include "aos/common/time.h"
+#include "aos/common/util/trapezoid_profile.h"
 #include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/control_loops/claw/claw.q.h"
 #include "frc971/control_loops/claw/claw_motor_plant.h"
@@ -105,6 +106,8 @@
 
   // Whether claw was closed last cycle.
   bool last_rollers_closed_ = false;
+
+  ::aos::util::TrapezoidProfile profile_;
 };
 
 }  // namespace control_loops
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index e05f779..7696d3b 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -15,6 +15,10 @@
     double angle;
     // Angular velocity of wrist.
     double angular_velocity;
+    // Maximum profile velocity, or 0 for the default.
+    double max_velocity;
+    // Maximum profile acceleration, or 0 for the default.
+    double max_acceleration;
     // Voltage of intake rollers. Positive means sucking in, negative means
     // spitting out.
     double intake;
@@ -47,10 +51,14 @@
     uint32_t state;
     EstimatorState zeroing_state;
 
-    // Angle of wrist joint.
+    // Estimated angle of wrist joint.
     double angle;
+    // Estimated angular velocity of wrist.
+    double angular_velocity;
+
     // Goal angle of wrist joint.
     double goal_angle;
+    double goal_velocity;
     // Voltage of intake rollers. Positive means sucking in, negative means
     // spitting out.
     double intake;
diff --git a/frc971/control_loops/claw/claw_lib_test.cc b/frc971/control_loops/claw/claw_lib_test.cc
index 142f5ab..e53c0ed 100644
--- a/frc971/control_loops/claw/claw_lib_test.cc
+++ b/frc971/control_loops/claw/claw_lib_test.cc
@@ -211,7 +211,7 @@
       .angle(values.claw.wrist.upper_hard_limit + 5.0)
       .Send());
 
-  RunForTime(Time::InSeconds(6));
+  RunForTime(Time::InSeconds(7));
 
   claw_queue_.status.FetchLatest();
   EXPECT_NEAR(values.claw.wrist.upper_limit,
@@ -223,7 +223,7 @@
       .angle(values.claw.wrist.lower_hard_limit - 5.0)
       .Send());
 
-  RunForTime(Time::InMS(4000));
+  RunForTime(Time::InMS(6000));
 
   claw_queue_.status.FetchLatest();
   EXPECT_NEAR(values.claw.wrist.lower_limit,
@@ -312,7 +312,7 @@
   claw_.claw_goal_ += 100.0;
 
   RunIteration();
-  EXPECT_NEAR(orig_claw_goal, claw_.claw_goal_, 0.05);
+  EXPECT_NEAR(orig_claw_goal, claw_.claw_goal_, 0.10);
 
   RunIteration();
 
@@ -335,7 +335,7 @@
   claw_.claw_goal_ -= 100.0;
 
   RunIteration();
-  EXPECT_NEAR(orig_claw_goal, claw_.claw_goal_, 0.05);
+  EXPECT_NEAR(orig_claw_goal, claw_.claw_goal_, 0.10);
 
   RunIteration();