commit 093535c2c3b82fefdc45e143e981a99442d35b19
author Austin Schuh <austin.linux@gmail.com> Sat Mar 05 23:21:00 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 12 17:13:21 2016 -0800
tree 5f04496c73452dbbb8d520f863ed04d50c511d42
parent 5b1a4cd5817927e9f7c17e0f39c406427755669f

Added position control and profiling to drivetrain.

Change-Id: I09ad01c46b23f1c7b6e8530bc10b03a733245b95

frc971/control_loops/drivetrain/BUILD

diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index ee1efdd..73fb9a5 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -37,6 +37,13 @@
 )
 
 cc_library(
+  name = 'gear',
+  hdrs = [
+    'gear.h',
+  ],
+)
+
+cc_library(
   name = 'ssdrivetrain',
   srcs = [
     'ssdrivetrain.cc',
@@ -47,15 +54,18 @@
   deps = [
     ':drivetrain_queue',
     ':drivetrain_config',
+    ':gear',
+    '//aos/common/controls:control_loop',
     '//aos/common/controls:polytope',
-    '//aos/common:math',
-    '//aos/common/messages:robot_state',
-    '//frc971/control_loops:state_feedback_loop',
-    '//frc971/control_loops:coerce_goal',
-    '//frc971:shifter_hall_effect',
-    '//aos/common/util:log_interval',
-    '//aos/common/logging:queue_logging',
     '//aos/common/logging:matrix_logging',
+    '//aos/common/logging:queue_logging',
+    '//aos/common/messages:robot_state',
+    '//aos/common/util:log_interval',
+    '//aos/common/util:trapezoid_profile',
+    '//aos/common:math',
+    '//frc971/control_loops:coerce_goal',
+    '//frc971/control_loops:state_feedback_loop',
+    '//frc971:shifter_hall_effect',
   ],
 )
 
@@ -70,6 +80,7 @@
   deps = [
     ':drivetrain_queue',
     ':drivetrain_config',
+    ':gear',
     '//aos/common/controls:polytope',
     '//aos/common:math',
     '//aos/common/messages:robot_state',
@@ -91,6 +102,7 @@
   ],
   deps = [
     ':drivetrain_queue',
+    ':gear',
     ':polydrivetrain',
     ':ssdrivetrain',
     '//aos/common/controls:control_loop',