Add python code for the superstructure.
Change-Id: Iba34fa2c7d1f17db6bc157bc3c534d53f48cda9c
diff --git a/y2016/control_loops/superstructure/BUILD b/y2016/control_loops/superstructure/BUILD
index 720319b..183c3c0 100644
--- a/y2016/control_loops/superstructure/BUILD
+++ b/y2016/control_loops/superstructure/BUILD
@@ -13,6 +13,74 @@
],
)
+genrule(
+ name = 'genrule_intake',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //y2016/control_loops/python:intake) $(OUTS)',
+ tools = [
+ '//y2016/control_loops/python:intake',
+ ],
+ outs = [
+ 'intake_plant.h',
+ 'intake_plant.cc',
+ 'integral_intake_plant.h',
+ 'integral_intake_plant.cc',
+ ],
+)
+
+genrule(
+ name = 'genrule_shoulder',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //y2016/control_loops/python:shoulder) $(OUTS)',
+ tools = [
+ '//y2016/control_loops/python:shoulder',
+ ],
+ outs = [
+ 'shoulder_plant.h',
+ 'shoulder_plant.cc',
+ 'integral_shoulder_plant.h',
+ 'integral_shoulder_plant.cc',
+ ],
+)
+
+genrule(
+ name = 'genrule_wrist',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //y2016/control_loops/python:wrist) $(OUTS)',
+ tools = [
+ '//y2016/control_loops/python:wrist',
+ ],
+ outs = [
+ 'wrist_plant.h',
+ 'wrist_plant.cc',
+ 'integral_wrist_plant.h',
+ 'integral_wrist_plant.cc',
+ ],
+)
+
+cc_library(
+ name = 'superstructure_plants',
+ srcs = [
+ 'intake_plant.cc',
+ 'shoulder_plant.cc',
+ 'wrist_plant.cc',
+ 'integral_intake_plant.cc',
+ 'integral_shoulder_plant.cc',
+ 'integral_wrist_plant.cc',
+ ],
+ hdrs = [
+ 'intake_plant.h',
+ 'shoulder_plant.h',
+ 'wrist_plant.h',
+ 'integral_intake_plant.h',
+ 'integral_shoulder_plant.h',
+ 'integral_wrist_plant.h',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ ],
+)
+
cc_library(
name = 'superstructure_lib',
srcs = [