commit 0a7d28d3a3eee658a85c7545e912cc99b67d3627
author milind-u <milind.upadhyay@gmail.com> Mon Feb 20 17:44:37 2023 -0800
committer milind-u <milind.upadhyay@gmail.com> Mon Feb 20 21:33:13 2023 -0800
tree c9936657704c7dc7f676bf2a13aade3e3b92015d
parent 18934ebb612f26bf4220c7a724521dd8a2e51dd8

Add 2023 arm design code

The C++ was better for design than the python...

Change-Id: Ic606a8a728527668b7335eb7a94cbfd69e272774
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Signed-off-by: Xander Yee <xander.yee@gmail.com>

y2023/control_loops/superstructure/arm/BUILD

diff --git a/y2023/control_loops/superstructure/arm/BUILD b/y2023/control_loops/superstructure/arm/BUILD
index dc52f02..c125fac 100644
--- a/y2023/control_loops/superstructure/arm/BUILD
+++ b/y2023/control_loops/superstructure/arm/BUILD
@@ -62,3 +62,19 @@
         "//frc971/control_loops/double_jointed_arm:dynamics",
     ],
 )
+
+cc_binary(
+    name = "arm_design",
+    srcs = [
+        "arm_design.cc",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        ":arm_constants",
+        "//aos:init",
+        "//frc971/analysis:in_process_plotter",
+        "//frc971/control_loops:dlqr",
+        "//frc971/control_loops:jacobian",
+        "//frc971/control_loops/double_jointed_arm:dynamics",
+    ],
+)