diff --git a/y2014/autonomous/auto.cc b/y2014/autonomous/auto.cc
index f3f3bee..a234890 100644
--- a/y2014/autonomous/auto.cc
+++ b/y2014/autonomous/auto.cc
@@ -166,24 +166,24 @@
     // Poll the running bit and auto done bits.
     // TODO(sensors): Fix this time.
     ::aos::time::PhasedLoop10MS(5000);
-    control_loops::claw_queue_group.status.FetchLatest();
-    control_loops::claw_queue_group.goal.FetchLatest();
+    control_loops::claw_queue.status.FetchLatest();
+    control_loops::claw_queue.goal.FetchLatest();
     if (ShouldExitAuto()) {
       return;
     }
-    if (control_loops::claw_queue_group.status.get() == nullptr ||
-        control_loops::claw_queue_group.goal.get() == nullptr) {
+    if (control_loops::claw_queue.status.get() == nullptr ||
+        control_loops::claw_queue.goal.get() == nullptr) {
       continue;
     }
     bool ans =
-        control_loops::claw_queue_group.status->zeroed &&
-        (::std::abs(control_loops::claw_queue_group.status->bottom_velocity) <
+        control_loops::claw_queue.status->zeroed &&
+        (::std::abs(control_loops::claw_queue.status->bottom_velocity) <
          1.0) &&
-        (::std::abs(control_loops::claw_queue_group.status->bottom -
-                    control_loops::claw_queue_group.goal->bottom_angle) <
+        (::std::abs(control_loops::claw_queue.status->bottom -
+                    control_loops::claw_queue.goal->bottom_angle) <
          0.10) &&
-        (::std::abs(control_loops::claw_queue_group.status->separation -
-                    control_loops::claw_queue_group.goal->separation_angle) <
+        (::std::abs(control_loops::claw_queue.status->separation -
+                    control_loops::claw_queue.goal->separation_angle) <
          0.4);
     if (ans) {
       return;
diff --git a/y2014/autonomous/autonomous.gyp b/y2014/autonomous/autonomous.gyp
index d37d36b..ccc29c4 100644
--- a/y2014/autonomous/autonomous.gyp
+++ b/y2014/autonomous/autonomous.gyp
@@ -9,9 +9,9 @@
       'dependencies': [
         'auto_queue',
         '<(AOS)/common/controls/controls.gyp:control_loop',
-        '<(DEPTH)/y2014/control_loops/drivetrain/drivetrain.gyp:drivetrain_loop',
-        '<(DEPTH)/y2014/control_loops/shooter/shooter.gyp:shooter_loop',
-        '<(DEPTH)/y2014/control_loops/claw/claw.gyp:claw_loop',
+        '<(DEPTH)/y2014/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
+        '<(DEPTH)/y2014/control_loops/shooter/shooter.gyp:shooter_queue',
+        '<(DEPTH)/y2014/control_loops/claw/claw.gyp:claw_queue',
         '<(DEPTH)/y2014/y2014.gyp:constants',
         '<(AOS)/common/common.gyp:time',
         '<(AOS)/common/util/util.gyp:phased_loop',