commit 2060ee62bcdd1410fd4c288831348d12b8d25bb3
author Ravago Jones <ravagojones@gmail.com> Fri Feb 03 18:12:24 2023 -0800
committer Ravago Jones <ravagojones@gmail.com> Sun Feb 12 14:27:37 2023 -0800
tree 6a39959d53a48232db755ee33e92014ac3b11e60
parent 9cf2c3ea4c751809acc43b0779e070f2e040047f

Add 2023 drivetrain writer to wpilib_interface

Uses ctre phoenixpro to write to the falcons on CAN

Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I43bb89c893b4cae58c309bb29727490a1cccd526

y2023/BUILD

diff --git a/y2023/BUILD b/y2023/BUILD
index cf5d60f..274480b 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -3,6 +3,36 @@
 load("//tools/build_rules:template.bzl", "jinja2_template")
 
 robot_downloader(
+    binaries = [
+        "//aos/network:web_proxy_main",
+        "//aos/events/logging:log_cat",
+    ],
+    data = [
+        ":aos_config",
+        ":message_bridge_client.sh",
+        "@ctre_phoenix_api_cpp_athena//:shared_libraries",
+        "@ctre_phoenix_cci_athena//:shared_libraries",
+        "@ctre_phoenixpro_api_cpp_athena//:shared_libraries",
+        "@ctre_phoenixpro_tools_athena//:shared_libraries",
+    ],
+    dirs = [
+        "//y2023/www:www_files",
+    ],
+    start_binaries = [
+        "//aos/events/logging:logger_main",
+        "//aos/network:web_proxy_main",
+        ":joystick_reader",
+        ":wpilib_interface",
+        "//aos/network:message_bridge_client",
+        "//aos/network:message_bridge_server",
+        "//y2023/control_loops/drivetrain:drivetrain",
+        "//y2023/control_loops/drivetrain:trajectory_generator",
+        "//y2023/control_loops/superstructure:superstructure",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+)
+
+robot_downloader(
     name = "pi_download",
     binaries = [
         "//y2020/vision:calibration",
@@ -146,6 +176,7 @@
         "//aos/network:timestamp_fbs",
         "//y2019/control_loops/drivetrain:target_selector_fbs",
         "//y2023/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2023/control_loops/drivetrain:drivetrain_can_position_fbs",
         "//y2023/control_loops/superstructure:superstructure_output_fbs",
         "//y2023/control_loops/superstructure:superstructure_position_fbs",
         "//y2023/control_loops/superstructure:superstructure_status_fbs",
@@ -202,6 +233,7 @@
         ":constants",
         "//aos:init",
         "//aos:math",
+        "//aos/containers:sized_array",
         "//aos/events:shm_event_loop",
         "//aos/logging",
         "//aos/stl_mutex",
@@ -228,7 +260,9 @@
         "//frc971/wpilib:wpilib_interface",
         "//frc971/wpilib:wpilib_robot_base",
         "//third_party:phoenix",
+        "//third_party:phoenixpro",
         "//third_party:wpilib",
+        "//y2023/control_loops/drivetrain:drivetrain_can_position_fbs",
         "//y2023/control_loops/superstructure:superstructure_output_fbs",
         "//y2023/control_loops/superstructure:superstructure_position_fbs",
     ],