started working on a skeleton for the 2014 control loops
diff --git a/frc971/control_loops/wrists/wrists.h b/frc971/control_loops/wrists/wrists.h
new file mode 100644
index 0000000..1c1fdf4
--- /dev/null
+++ b/frc971/control_loops/wrists/wrists.h
@@ -0,0 +1,63 @@
+#ifndef FRC971_CONTROL_LOOPS_WRIST_WRIST_H_
+#define FRC971_CONTROL_LOOPS_WRIST_WRIST_H_
+
+#include <memory>
+
+#include "aos/common/control_loop/ControlLoop.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/control_loops/wrists/wrists.q.h"
+#include "frc971/control_loops/wrists/top_wrist_motor_plant.h"
+#include "frc971/control_loops/wrists/bottom_wrist_motor_plant.h"
+
+#include "frc971/control_loops/zeroed_joint.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace testing {
+class WristTest_NoWindupPositive_Test;
+class WristTest_NoWindupNegative_Test;
+};
+
+class WristMotor
+ : public aos::control_loops::ControlLoop<control_loops::WristLoop> {
+ public:
+ explicit WristMotor(
+ control_loops::WristLoop *my_wrist = &control_loops::wrist);
+
+ // True if the goal was moved to avoid goal windup.
+ bool capped_goal() const { return zeroed_joint_.capped_goal(); }
+
+ // True if the wrist is zeroing.
+ bool is_zeroing() const { return zeroed_joint_.is_zeroing(); }
+
+ // True if the wrist is zeroing.
+ bool is_moving_off() const { return zeroed_joint_.is_moving_off(); }
+
+ // True if the state machine is uninitialized.
+ bool is_uninitialized() const { return zeroed_joint_.is_uninitialized(); }
+
+ // True if the state machine is ready.
+ bool is_ready() const { return zeroed_joint_.is_ready(); }
+
+ protected:
+ virtual void RunIteration(
+ const ::aos::control_loops::Goal *goal,
+ const control_loops::WristLoop::Position *position,
+ ::aos::control_loops::Output *output,
+ ::aos::control_loops::Status *status);
+
+ private:
+ // Friend the test classes for acces to the internal state.
+ friend class testing::WristTest_NoWindupPositive_Test;
+ friend class testing::WristTest_NoWindupNegative_Test;
+
+ // The zeroed joint to use.
+ ZeroedJoint<1> zeroed_joint_;
+
+ DISALLOW_COPY_AND_ASSIGN(WristMotor);
+};
+
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_WRIST_WRIST_H_