Swap y2024 drivetrain to use ConstantsFetcher
Simultaneously, remove the line following configuration from the y2024
drivetrain, since that code will not be relevant to this year.
Change-Id: I536bd2dd18080bbaae5d83cb151bbd2353d7896c
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/control_loops/drivetrain/BUILD b/y2024/control_loops/drivetrain/BUILD
index a362cb9..e9f93ca 100644
--- a/y2024/control_loops/drivetrain/BUILD
+++ b/y2024/control_loops/drivetrain/BUILD
@@ -1,4 +1,5 @@
load("//aos:config.bzl", "aos_config")
+load("//tools/build_rules:template.bzl", "jinja2_template")
load("//frc971/control_loops/drivetrain:drivetrain_config.bzl", "drivetrain_config")
genrule(
@@ -73,7 +74,9 @@
deps = [
":polydrivetrain_plants",
"//frc971:shifter_hall_effect",
+ "//frc971/constants:constants_sender_lib",
"//frc971/control_loops/drivetrain:drivetrain_config",
+ "//y2024/constants:constants_fbs",
],
)
@@ -117,11 +120,23 @@
":drivetrain_base",
"//aos:init",
"//aos/events:shm_event_loop",
+ "//frc971/constants:constants_sender_lib",
"//frc971/control_loops/drivetrain:trajectory_generator",
+ "//y2024/constants:constants_fbs",
],
)
drivetrain_config(
- name = "drivetrain_config",
- out = "drivetrain_config.json",
+ name = "drivetrain_loop_config",
+ out = "drivetrain_loop_config.json",
+)
+
+jinja2_template(
+ name = "drivetrain_config.json",
+ src = "drivetrain_config.jinja2.json",
+ includes = [
+ ":drivetrain_loop_config.json",
+ ],
+ parameters = {},
+ visibility = ["//visibility:public"],
)