Import shooter from 2013
Taken from commit a085044
I liberally delete some things in the Python code to get
things compiling. I also added TODOs where I am unsure whether
my changes are appropriate.
Change-Id: I4f3ae9b69ca9c2b1917e73136c766275a44d3665
diff --git a/y2016/control_loops/shooter/BUILD b/y2016/control_loops/shooter/BUILD
new file mode 100644
index 0000000..6c15f15
--- /dev/null
+++ b/y2016/control_loops/shooter/BUILD
@@ -0,0 +1,86 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+ name = 'shooter_queue',
+ srcs = [
+ 'shooter.q',
+ ],
+ deps = [
+ '//aos/common/controls:control_loop_queues',
+ '//frc971/control_loops:queues',
+ ],
+)
+
+genrule(
+ name = 'genrule_shooter',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //y2016/control_loops/python:shooter) $(OUTS)',
+ tools = [
+ '//y2016/control_loops/python:shooter',
+ ],
+ outs = [
+ 'shooter_plant.h',
+ 'shooter_plant.cc',
+ ],
+)
+
+cc_library(
+ name = 'shooter_plants',
+ srcs = [
+ 'shooter_plant.cc',
+ ],
+ hdrs = [
+ 'shooter_plant.h',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ ],
+)
+
+cc_library(
+ name = 'shooter_lib',
+ srcs = [
+ 'shooter.cc',
+ ],
+ hdrs = [
+ 'shooter.h',
+ ],
+ deps = [
+ ':shooter_queue',
+ ':shooter_plants',
+ '//aos/common/controls:control_loop',
+ '//aos/common/util:log_interval',
+ '//aos/common/logging:queue_logging',
+ '//aos/common/logging:matrix_logging',
+ ],
+)
+
+cc_test(
+ name = 'shooter_lib_test',
+ srcs = [
+ 'shooter_lib_test.cc',
+ ],
+ deps = [
+ ':shooter_queue',
+ ':shooter_lib',
+ '//aos/testing:googletest',
+ '//aos/common:queues',
+ '//aos/common/controls:control_loop_test',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/control_loops:team_number_test_environment',
+ ],
+)
+
+cc_binary(
+ name = 'shooter',
+ srcs = [
+ 'shooter_main.cc',
+ ],
+ deps = [
+ '//aos/linux_code:init',
+ ':shooter_lib',
+ ':shooter_queue',
+ ],
+)