Moved angle adjust loop stuff to a new directory.
diff --git a/frc971/atom_code/atom_code.gyp b/frc971/atom_code/atom_code.gyp
index 05fc9b8..5b9ff68 100644
--- a/frc971/atom_code/atom_code.gyp
+++ b/frc971/atom_code/atom_code.gyp
@@ -11,6 +11,8 @@
'../control_loops/control_loops.gyp:hall_effect_lib_test',
'../control_loops/control_loops.gyp:angle_adjust_lib_test',
'../control_loops/control_loops.gyp:angle_adjust',
+ '../control_loops/control_loops.gyp:wrist',
+ '../control_loops/control_loops.gyp:wrist_lib_test',
'../input/input.gyp:JoystickReader',
'../input/input.gyp:SensorReader',
'../input/input.gyp:GyroReader',
diff --git a/frc971/control_loops/angle_adjust.cc b/frc971/control_loops/angle_adjust/angle_adjust.cc
similarity index 97%
rename from frc971/control_loops/angle_adjust.cc
rename to frc971/control_loops/angle_adjust/angle_adjust.cc
index a99e9ec..8291595 100644
--- a/frc971/control_loops/angle_adjust.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust.cc
@@ -1,4 +1,4 @@
-#include "frc971/control_loops/angle_adjust.h"
+#include "frc971/control_loops/angle_adjust/angle_adjust.h"
#include "frc971/control_loops/hall_effect_loop.h"
#include "frc971/control_loops/hall_effect_loop-inl.h"
@@ -11,7 +11,7 @@
#include "aos/common/logging/logging.h"
#include "frc971/constants.h"
-#include "frc971/control_loops/angle_adjust_motor_plant.h"
+#include "frc971/control_loops/angle_adjust/angle_adjust_motor_plant.h"
namespace frc971 {
namespace control_loops {
diff --git a/frc971/control_loops/angle_adjust/angle_adjust.gyp b/frc971/control_loops/angle_adjust/angle_adjust.gyp
new file mode 100644
index 0000000..1a0af94
--- /dev/null
+++ b/frc971/control_loops/angle_adjust/angle_adjust.gyp
@@ -0,0 +1,69 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'angle_adjust_loop',
+ 'type': 'static_library',
+ 'sources': ['angle_adjust_motor.q'],
+ 'variables': {
+ 'header_path': 'frc971/control_loops/angle_adjust',
+ },
+ 'dependencies': [
+ '<(AOS)/common/common.gyp:control_loop_queues',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/common.gyp:control_loop_queues',
+ ],
+ 'includes': ['../../../aos/build/queues.gypi'],
+ },
+ {
+ 'target_name': 'angle_adjust_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'angle_adjust.cc',
+ 'angle_adjust_motor_plant.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/build/aos.gyp:libaos',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:control_loops',
+ '<(AOS)/common/common.gyp:controls',
+ '<(DEPTH)/frc971/frc971.gyp:common',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ 'angle_adjust_loop',
+ ],
+ 'export_dependent_settings': [
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ '<(AOS)/common/common.gyp:controls',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:control_loops',
+ 'angle_adjust_loop',
+ ],
+ },
+ {
+ 'target_name': 'angle_adjust_lib_test',
+ 'type': 'executable',
+ 'sources': [
+ 'angle_adjust_lib_test.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):gtest',
+ '<(AOS)/build/aos.gyp:libaos',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:control_loops',
+ 'angle_adjust_lib',
+ '<(AOS)/common/common.gyp:queue_testutils',
+ 'angle_adjust_loop',
+ ],
+ },
+ {
+ 'target_name': 'angle_adjust',
+ 'type': 'executable',
+ 'sources': [
+ 'angle_adjust_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/build/aos.gyp:libaos',
+ 'angle_adjust_lib',
+ 'angle_adjust_loop',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:control_loops',
+ ],
+ },
+ ],
+}
diff --git a/frc971/control_loops/angle_adjust.h b/frc971/control_loops/angle_adjust/angle_adjust.h
similarity index 94%
rename from frc971/control_loops/angle_adjust.h
rename to frc971/control_loops/angle_adjust/angle_adjust.h
index 43af550..a1ae134 100644
--- a/frc971/control_loops/angle_adjust.h
+++ b/frc971/control_loops/angle_adjust/angle_adjust.h
@@ -6,8 +6,8 @@
#include "aos/common/control_loop/ControlLoop.h"
#include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/control_loops/angle_adjust_motor.q.h"
-#include "frc971/control_loops/angle_adjust_motor_plant.h"
+#include "frc971/control_loops/angle_adjust/angle_adjust_motor.q.h"
+#include "frc971/control_loops/angle_adjust/angle_adjust_motor_plant.h"
#include "frc971/control_loops/hall_effect_loop.h"
namespace frc971 {
diff --git a/frc971/control_loops/angle_adjust_lib_test.cc b/frc971/control_loops/angle_adjust/angle_adjust_lib_test.cc
similarity index 98%
rename from frc971/control_loops/angle_adjust_lib_test.cc
rename to frc971/control_loops/angle_adjust/angle_adjust_lib_test.cc
index 3eda6da..749f905 100644
--- a/frc971/control_loops/angle_adjust_lib_test.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust_lib_test.cc
@@ -6,8 +6,8 @@
#include "gtest/gtest.h"
#include "aos/common/queue.h"
#include "aos/common/queue_testutils.h"
-#include "frc971/control_loops/angle_adjust_motor.q.h"
-#include "frc971/control_loops/angle_adjust.h"
+#include "frc971/control_loops/angle_adjust/angle_adjust_motor.q.h"
+#include "frc971/control_loops/angle_adjust/angle_adjust.h"
#include "frc971/control_loops/hall_effect_loop.h"
#include "frc971/constants.h"
diff --git a/frc971/control_loops/angle_adjust/angle_adjust_main.cc b/frc971/control_loops/angle_adjust/angle_adjust_main.cc
new file mode 100644
index 0000000..142a8c7
--- /dev/null
+++ b/frc971/control_loops/angle_adjust/angle_adjust_main.cc
@@ -0,0 +1,5 @@
+#include "frc971/control_loops/angle_adjust/angle_adjust.h"
+
+#include "aos/aos_core.h"
+
+AOS_RUN_LOOP(frc971::control_loops::AngleAdjustMotor);
diff --git a/frc971/control_loops/angle_adjust_motor.q b/frc971/control_loops/angle_adjust/angle_adjust_motor.q
similarity index 100%
rename from frc971/control_loops/angle_adjust_motor.q
rename to frc971/control_loops/angle_adjust/angle_adjust_motor.q
diff --git a/frc971/control_loops/angle_adjust_motor_plant.cc b/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc
similarity index 92%
rename from frc971/control_loops/angle_adjust_motor_plant.cc
rename to frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc
index 4862516..a3c89a7 100644
--- a/frc971/control_loops/angle_adjust_motor_plant.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc
@@ -1,4 +1,4 @@
-#include "frc971/control_loops/angle_adjust_motor_plant.h"
+#include "frc971/control_loops/angle_adjust/angle_adjust_motor_plant.h"
#include "frc971/control_loops/state_feedback_loop.h"
diff --git a/frc971/control_loops/angle_adjust_motor_plant.h b/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.h
similarity index 100%
rename from frc971/control_loops/angle_adjust_motor_plant.h
rename to frc971/control_loops/angle_adjust/angle_adjust_motor_plant.h
diff --git a/frc971/control_loops/angle_adjust_main.cc b/frc971/control_loops/angle_adjust_main.cc
deleted file mode 100644
index 68226be..0000000
--- a/frc971/control_loops/angle_adjust_main.cc
+++ /dev/null
@@ -1,5 +0,0 @@
-#include "frc971/control_loops/angle_adjust.h"
-
-#include "aos/aos_core.h"
-
-AOS_RUN_LOOP(frc971::control_loops::AngleAdjustMotor);
diff --git a/frc971/control_loops/control_loops.gyp b/frc971/control_loops/control_loops.gyp
index 3766af4..d176f63 100644
--- a/frc971/control_loops/control_loops.gyp
+++ b/frc971/control_loops/control_loops.gyp
@@ -2,7 +2,6 @@
'variables': {
'loop_files': [
'DriveTrain.q',
- 'angle_adjust_motor.q',
]
},
'targets': [
@@ -51,11 +50,11 @@
],
},
{
- 'target_name': 'angle_adjust_lib',
+ 'target_name': 'wrist_lib',
'type': 'static_library',
'sources': [
- 'angle_adjust.cc',
- 'angle_adjust_motor_plant.cc',
+ 'wrist.cc',
+ 'wrist_motor_plant.cc',
],
'dependencies': [
'<(AOS)/build/aos.gyp:libaos',
@@ -71,28 +70,29 @@
],
},
{
- 'target_name': 'angle_adjust_lib_test',
+ 'target_name': 'wrist_lib_test',
'type': 'executable',
'sources': [
- 'angle_adjust_lib_test.cc',
+ 'wrist_lib_test.cc',
],
'dependencies': [
'<(EXTERNALS):gtest',
'<(AOS)/build/aos.gyp:libaos',
'control_loops',
- 'angle_adjust_lib',
+ 'wrist_lib',
'<(AOS)/common/common.gyp:queue_testutils',
+ 'state_feedback_loop',
],
},
{
- 'target_name': 'angle_adjust',
+ 'target_name': 'wrist',
'type': 'executable',
'sources': [
- 'angle_adjust_main.cc',
+ 'wrist_main.cc',
],
'dependencies': [
'<(AOS)/build/aos.gyp:libaos',
- 'angle_adjust_lib',
+ 'wrist_lib',
'control_loops',
],
},