commit 219ace54f1fffcdbae9c62b20b88b5e872263352
author Austin Schuh <austin.linux@gmail.com> Mon Feb 07 21:54:16 2022 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Feb 11 22:26:35 2022 -0800
tree cebc6e4e5557e1f647552131053fba56c08cf41e
parent 0a8b501c61e73da025b73e09e7374ddc5a08efbd

Add the controller python used for designing the turret

When we were sizing the motor for the turret, we used this initial
design for the controller and for the mechanism to work out the
numbers.  Let's check it in as a starting point for designing
the controller.

Change-Id: I1e7cd71eb48fa864bdbbc1671b3cd72d5d240eae
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/control_loops/python/BUILD

diff --git a/y2022/control_loops/python/BUILD b/y2022/control_loops/python/BUILD
index bc2b624..4049acc 100644
--- a/y2022/control_loops/python/BUILD
+++ b/y2022/control_loops/python/BUILD
@@ -64,6 +64,22 @@
     ],
 )
 
+py_binary(
+    name = "turret",
+    srcs = [
+        "turret.py",
+    ],
+    legacy_create_init = False,
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    deps = [
+        ":python_init",
+        "//external:python-gflags",
+        "//external:python-glog",
+        "//frc971/control_loops/python:angular_system",
+        "//frc971/control_loops/python:controls",
+    ],
+)
+
 py_library(
     name = "python_init",
     srcs = ["__init__.py"],