Add StaticZeroingSingleDOFProfiledSubsystem
Change-Id: I7ad67ed8719a229f4f08d8255d4675fa3ee49f18
diff --git a/frc971/control_loops/BUILD b/frc971/control_loops/BUILD
index d12d3da..37957ec 100644
--- a/frc971/control_loops/BUILD
+++ b/frc971/control_loops/BUILD
@@ -341,3 +341,75 @@
"//aos/testing:googletest",
],
)
+
+cc_library(
+ name = "capped_test_plant",
+ testonly = True,
+ srcs = [
+ "capped_test_plant.cc",
+ ],
+ hdrs = [
+ "capped_test_plant.h",
+ ],
+ deps = [
+ ":state_feedback_loop",
+ "//aos/testing:googletest",
+ ],
+)
+
+cc_library(
+ name = "static_zeroing_single_dof_profiled_subsystem",
+ srcs = [
+ "static_zeroing_single_dof_profiled_subsystem.cc",
+ ],
+ hdrs = [
+ "static_zeroing_single_dof_profiled_subsystem.h",
+ ],
+ deps = [
+ "//frc971/control_loops:profiled_subsystem",
+ ],
+)
+
+genrule(
+ name = "genrule_static_zeroing_single_dof_profiled_subsystem_test",
+ outs = [
+ "static_zeroing_single_dof_profiled_subsystem_test_plant.h",
+ "static_zeroing_single_dof_profiled_subsystem_test_plant.cc",
+ "static_zeroing_single_dof_profiled_subsystem_test_integral_plant.h",
+ "static_zeroing_single_dof_profiled_subsystem_test_integral_plant.cc",
+ ],
+ cmd = "$(location //frc971/control_loops/python:static_zeroing_single_dof_profiled_subsystem_test) $(OUTS)",
+ tools = [
+ "//frc971/control_loops/python:static_zeroing_single_dof_profiled_subsystem_test",
+ ],
+)
+
+cc_library(
+ name = "static_zeroing_single_dof_profiled_subsystem_test_plants",
+ srcs = [
+ "static_zeroing_single_dof_profiled_subsystem_test_integral_plant.cc",
+ "static_zeroing_single_dof_profiled_subsystem_test_plant.cc",
+ ],
+ hdrs = [
+ "static_zeroing_single_dof_profiled_subsystem_test_integral_plant.h",
+ "static_zeroing_single_dof_profiled_subsystem_test_plant.h",
+ ],
+ deps = [
+ ":state_feedback_loop",
+ ],
+)
+
+cc_test(
+ name = "static_zeroing_single_dof_profiled_subsystem_test",
+ srcs = [
+ "static_zeroing_single_dof_profiled_subsystem_test.cc",
+ ],
+ deps = [
+ ":capped_test_plant",
+ ":position_sensor_sim",
+ ":static_zeroing_single_dof_profiled_subsystem",
+ ":static_zeroing_single_dof_profiled_subsystem_test_plants",
+ "//aos/controls:control_loop_test",
+ "//aos/testing:googletest",
+ ],
+)