commit 07d41ed707b5ff0e9ca317ef84015b4ff6b7411d
author justinT21 <jjturcot@gmail.com> Wed Jul 31 21:12:31 2024 -0700
committer justinT21 <jjturcot@gmail.com> Sat Aug 03 13:48:19 2024 -0700
tree 266ffc41c8929d4731cddb22c0ce2efb8a58666e
parent b65288d645c4516c2d2edda0818140a90e1c910b

Add debug script and break out test utils

Signed-off-by: justinT21 <jjturcot@gmail.com>
Change-Id: I5913be5bf7aed9ef9f274d3ad4ced61b1738ca71

frc971/control_loops/swerve/BUILD

diff --git a/frc971/control_loops/swerve/BUILD b/frc971/control_loops/swerve/BUILD
index 29dbf76..3755ab4 100644
--- a/frc971/control_loops/swerve/BUILD
+++ b/frc971/control_loops/swerve/BUILD
@@ -170,7 +170,7 @@
 )
 
 cc_library(
-    name = "dynamics",
+    name = "eigen_dynamics",
     srcs = ["dynamics.cc"],
     hdrs = ["dynamics.h"],
     deps = [
@@ -196,14 +196,49 @@
 py_test(
     name = "physics_test",
     srcs = [
-        "bigcaster_dynamics.py",
-        "dynamics.py",
-        "nocaster_dynamics.py",
         "physics_test.py",
     ],
     target_compatible_with = ["@platforms//cpu:x86_64"],
     deps = [
+        ":physics_test_utils",
         "@pip//casadi",
         "@pip//numpy",
     ],
 )
+
+py_library(
+    name = "dynamics",
+    srcs = [
+        "bigcaster_dynamics.py",
+        "dynamics.py",
+        "nocaster_dynamics.py",
+    ],
+    deps = [
+        "@pip//casadi",
+    ],
+)
+
+py_library(
+    name = "physics_test_utils",
+    srcs = [
+        "physics_test_utils.py",
+    ],
+    deps = [
+        ":dynamics",
+        "@pip//casadi",
+        "@pip//numpy",
+    ],
+)
+
+py_binary(
+    name = "physics_debug",
+    srcs = [
+        "physics_debug.py",
+    ],
+    deps = [
+        ":physics_test_utils",
+        "@pip//matplotlib",
+        "@pip//pygobject",
+        "@pip//scipy",
+    ],
+)