Added most of Ben's changes in.
diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index 55cbcc5..44df982 100644
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -46,8 +46,8 @@
namespace frc971 {
namespace control_loops {
-ClawMotor::ClawMotor(control_loops::ClawLoop *my_claw)
- : aos::control_loops::ControlLoop<control_loops::ClawLoop>(my_claw),
+ClawMotor::ClawMotor(control_loops::ClawGroup *my_claw)
+ : aos::control_loops::ControlLoop<control_loops::ClawGroup>(my_claw),
zeroed_joint_(MakeTopClawLoop()) {
{
using ::frc971::constants::GetValues;
@@ -68,9 +68,9 @@
}
// Positive angle is up, and positive power is up.
-void ClawMotor::RunIteration(const control_loops::ClawLoop::Goal *goal,
- const control_loops::ClawLoop::Position *position,
- control_loops::ClawLoop::Output *output,
+void ClawMotor::RunIteration(const control_loops::ClawGroup::Goal *goal,
+ const control_loops::ClawGroup::Position *position,
+ control_loops::ClawGroup::Output *output,
::aos::control_loops::Status *status) {
// Disable the motors now so that all early returns will return with the