Tuned and connected down estimator.
Change-Id: I2182af89a664a376103b49c54b96e0a2368ffb3c
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 72a32cc..05fc4a3 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -93,6 +93,32 @@
],
)
+genrule(
+ name = 'genrule_down_estimator',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //frc971/control_loops/python:down_estimator) $(OUTS)',
+ tools = [
+ '//frc971/control_loops/python:down_estimator',
+ ],
+ outs = [
+ 'down_estimator.h',
+ 'down_estimator.cc',
+ ],
+)
+
+cc_library(
+ name = 'down_estimator',
+ hdrs = [
+ 'down_estimator.h',
+ ],
+ srcs = [
+ 'down_estimator.cc',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ ],
+)
+
cc_library(
name = 'drivetrain_lib',
srcs = [
@@ -102,12 +128,14 @@
'drivetrain.h',
],
deps = [
+ ':down_estimator',
':drivetrain_queue',
':gear',
':polydrivetrain',
':ssdrivetrain',
'//aos/common/controls:control_loop',
'//frc971/queues:gyro',
+ '//frc971/wpilib:imu_queue',
'//aos/common/util:log_interval',
'//aos/common/logging:queue_logging',
'//aos/common/logging:matrix_logging',