Move aos/controls to frc971/control_loops
Also put what was aos/controls/control_loops.fbs in y2012/control_loops
because that's the only user.
Change-Id: I8f402b0708103077e135a41e55ef5e4f23681d87
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>
diff --git a/frc971/control_loops/BUILD b/frc971/control_loops/BUILD
index 11c93dc..3341402 100644
--- a/frc971/control_loops/BUILD
+++ b/frc971/control_loops/BUILD
@@ -4,6 +4,110 @@
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
cc_library(
+ name = "control_loop_test",
+ testonly = True,
+ srcs = [
+ "control_loop_test.cc",
+ ],
+ hdrs = [
+ "control_loop_test.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos:flatbuffers",
+ "//aos:json_to_flatbuffer",
+ "//aos/events:simulated_event_loop",
+ "//aos/testing:googletest",
+ "//aos/testing:test_logging",
+ "//aos/time",
+ "//frc971/input:joystick_state_fbs",
+ "//frc971/input:robot_state_fbs",
+ ],
+)
+
+cc_library(
+ name = "polytope",
+ hdrs = [
+ "polytope.h",
+ ],
+ deps = [
+ "@org_tuxfamily_eigen//:eigen",
+ ] + select({
+ "@platforms//os:linux": [
+ "//aos/logging",
+ "//third_party/cddlib",
+ "@com_github_google_glog//:glog",
+ ],
+ "//conditions:default": [],
+ }),
+)
+
+cc_test(
+ name = "polytope_test",
+ srcs = [
+ "polytope_test.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":polytope",
+ "//aos/testing:googletest",
+ "//aos/testing:test_logging",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_library(
+ name = "control_loop",
+ srcs = [
+ "control_loop.cc",
+ "control_loop-tmpl.h",
+ ],
+ hdrs = [
+ "control_loop.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/events:event_loop",
+ "//aos/events:shm_event_loop",
+ "//aos/logging",
+ "//aos/time",
+ "//aos/util:log_interval",
+ "//frc971/input:joystick_state_fbs",
+ "//frc971/input:robot_state_fbs",
+ ],
+)
+
+cc_library(
+ name = "quaternion_utils",
+ srcs = [
+ "quaternion_utils.cc",
+ ],
+ hdrs = [
+ "quaternion_utils.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "@com_github_google_glog//:glog",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_test(
+ name = "quarternion_utils_test",
+ srcs = [
+ "quaternion_utils_test.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":quaternion_utils",
+ "//aos/testing:googletest",
+ "//aos/testing:random_seed",
+ "@com_github_google_glog//:glog",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_library(
name = "team_number_test_environment",
testonly = True,
srcs = [
@@ -130,7 +234,7 @@
"//conditions:default": [],
}),
deps = [
- "//aos/controls:polytope",
+ "//frc971/control_loops:polytope",
"@org_tuxfamily_eigen//:eigen",
],
)
@@ -146,7 +250,7 @@
target_compatible_with = ["@platforms//os:linux"],
deps = [
":coerce_goal",
- "//aos/controls:polytope",
+ "//frc971/control_loops:polytope",
"//aos/testing:googletest",
"@org_tuxfamily_eigen//:eigen",
],
@@ -176,7 +280,7 @@
":c2d",
":state_feedback_loop",
"//aos:macros",
- "//aos/controls:control_loop",
+ "//frc971/control_loops:control_loop",
"//aos/logging",
"@org_tuxfamily_eigen//:eigen",
],
@@ -263,7 +367,7 @@
":profiled_subsystem_fbs",
":simple_capped_state_feedback_loop",
":state_feedback_loop",
- "//aos/controls:control_loop",
+ "//frc971/control_loops:control_loop",
"//aos/util:trapezoid_profile",
"//frc971/zeroing",
],
@@ -509,7 +613,7 @@
":static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_position_fbs",
":static_zeroing_single_dof_profiled_subsystem_test_subsystem_goal_fbs",
":static_zeroing_single_dof_profiled_subsystem_test_subsystem_output_fbs",
- "//aos/controls:control_loop_test",
+ "//frc971/control_loops:control_loop_test",
"//aos/testing:googletest",
],
)