Nav Walker for Wordpress + Foundation 4 for your top nav menu.

readme.md

Adding a Foundation Top Bar to WordPress

Foundation_Walker_Nav_Menu.php should be required in the WordPress functions.php file.

The code in foundation-topbar.php should be added below the body tag in header.php

Setup a menu in WordPress admin under Appearance > Menus

Use the 'label' class on a menu item to create a menu section title

Foundation Top Bar Doc: http://foundation.zurb.com/docs/components/top-bar.html

foundation-topbar.php

        <div class="top-bar-container fixed contain-to-grid">
            <nav class="top-bar">
                <ul class="title-area">
                    <li class="name">
                        <h1><a href="<?php echo home_url(); ?>"><?php bloginfo('name'); ?></a></h1>
                    </li>          
                    <li class="toggle-topbar menu-icon"><a href="#"><span>Menu</span></a></li>
                </ul>
                <section class="top-bar-section">
                    <?php foundation_top_bar(array('theme_location' => 'your_theme_location')); ?>
                    <?php foundation_top_bar(array('theme_location' => 'your_theme_location_right'), true); ?>
                </section>
            </nav>
        </div>

Foundation_Walker_Nav_Menu.php

<?php

// You'll want to include this file from functions.php, and add both theme support and register_nav_menus calls there
//
// add_theme_support('menus');
// register_nav_menus(array(
//  'top-bar-l' => 'Left Top Bar', // registers the menu in the WordPress admin menu editor
//  'top-bar-r' => 'Right Top Bar'
// ));

class Foundation_Walker_Nav_Menu extends Walker_Nav_Menu {
	function display_element($element, &$children_elements, $max_depth, $depth=0, $args, &$output) {
		$element->has_children = !empty($children_elements[$element->ID]);
		$element->classes[] = ($element->current || $element->current_item_ancestor) ? 'active' : '';
		$element->classes[] = ($element->has_children) ? 'has-dropdown' : '';
		parent::display_element($element, $children_elements, $max_depth, $depth, $args, $output);
	}

	function start_el(&$output, $item, $depth, $args) {
		$item_html = '';
		parent::start_el($item_html, $item, $depth, $args);	
		
		$output .= ($depth == 0 && strlen($output)) ? '<li class="divider"></li>' : '';
		
		$classes = empty($item->classes) ? array() : (array)$item->classes;	
		
		if(in_array('label', $classes)) {
			$output .= '<li class="divider"></li>';
			$item_html = preg_replace('/<a[^>]*>(.*)<\/a>/iU', '<label>$1</label>', $item_html);
		}
		if (in_array('divider', $classes)) {
			$item_html = preg_replace( '/<a[^>]*>( .* )<\/a>/iU', '', $item_html );
		}
		
		$output .= $item_html;
	}
	
	function start_lvl(&$output, $depth = 0, $args = array()) {
		$output .= "\n<ul class=\"sub-menu dropdown\">\n";
	}
}

function foundation_top_bar($options = array(), $is_right = false) {
	$options += array(
		'container' => false,
		'menu_class' => '',
		'before' => '',                                 // before each link <a> 
		'after' => '',                                  // after each link </a>
		'link_before' => '',                            // before each link text
		'link_after' => '',                             // after each link text
		'depth' => 5,                                   // limit the depth of the nav
		'fallback_cb' => false,                         // fallback function (see below)
		'walker' => new Foundation_Walker_Nav_Menu()
	);
	
	$options['menu_class'] += ' ' . ($is_right ? 'right' : 'left');
	
	return wp_nav_menu($options);
}