Third robot commit.
All tests pass!
Change-Id: I086248537f075fd06afdfb3e94670eb7646aaf6c
diff --git a/y2016_bot3/control_loops/intake/BUILD b/y2016_bot3/control_loops/intake/BUILD
new file mode 100644
index 0000000..887a63c
--- /dev/null
+++ b/y2016_bot3/control_loops/intake/BUILD
@@ -0,0 +1,96 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+ name = 'intake_queue',
+ srcs = [
+ 'intake.q',
+ ],
+ deps = [
+ '//aos/common/controls:control_loop_queues',
+ '//frc971/control_loops:queues',
+ ],
+)
+
+genrule(
+ name = 'genrule_intake',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //y2016_bot3/control_loops/python:intake) $(OUTS)',
+ tools = [
+ '//y2016_bot3/control_loops/python:intake',
+ ],
+ outs = [
+ 'intake_plant.h',
+ 'intake_plant.cc',
+ 'integral_intake_plant.h',
+ 'integral_intake_plant.cc',
+ ],
+)
+
+cc_library(
+ name = 'intake_plants',
+ srcs = [
+ 'intake_plant.cc',
+ 'integral_intake_plant.cc',
+ ],
+ hdrs = [
+ 'intake_plant.h',
+ 'integral_intake_plant.h',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ ],
+)
+
+cc_library(
+ name = 'intake_lib',
+ srcs = [
+ 'intake.cc',
+ 'intake_controls.cc',
+ ],
+ hdrs = [
+ 'intake.h',
+ 'intake_controls.h',
+ ],
+ deps = [
+ ':intake_queue',
+ ':intake_plants',
+ '//aos/common/controls:control_loop',
+ '//aos/common/util:trapezoid_profile',
+ '//aos/common:math',
+ '//y2016_bot3/queues:ball_detector',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/control_loops:simple_capped_state_feedback_loop',
+ '//frc971/zeroing',
+ ],
+)
+
+cc_test(
+ name = 'intake_lib_test',
+ srcs = [
+ 'intake_lib_test.cc',
+ ],
+ deps = [
+ ':intake_queue',
+ ':intake_lib',
+ '//aos/testing:googletest',
+ '//aos/common:queues',
+ '//aos/common/controls:control_loop_test',
+ '//aos/common:math',
+ '//aos/common:time',
+ '//frc971/control_loops:position_sensor_sim',
+ ],
+)
+
+cc_binary(
+ name = 'intake',
+ srcs = [
+ 'intake_main.cc',
+ ],
+ deps = [
+ '//aos/linux_code:init',
+ ':intake_lib',
+ ':intake_queue',
+ ],
+)