Removed Common
Change-Id: I01ea8f07220375c2ad9bc0092281d4f27c642303
diff --git a/aos/controls/BUILD b/aos/controls/BUILD
new file mode 100644
index 0000000..d529f04
--- /dev/null
+++ b/aos/controls/BUILD
@@ -0,0 +1,104 @@
+package(default_visibility = ["//visibility:public"])
+
+load("//aos/build:queues.bzl", "queue_library")
+load("//tools:environments.bzl", "mcu_cpus")
+
+cc_library(
+ name = "replay_control_loop",
+ hdrs = [
+ "replay_control_loop.h",
+ ],
+ deps = [
+ ":control_loop",
+ "//aos:queues",
+ "//aos/time:time",
+ "//aos/logging:queue_logging",
+ "//aos/logging:replay",
+ ],
+)
+
+cc_library(
+ name = "control_loop_test",
+ testonly = True,
+ srcs = [
+ "control_loop_test.cc",
+ ],
+ hdrs = [
+ "control_loop_test.h",
+ ],
+ deps = [
+ "//aos/time:time",
+ "//aos/logging:queue_logging",
+ "//aos/robot_state:robot_state",
+ "//aos/testing:googletest",
+ "//aos/testing:test_shm",
+ ],
+)
+
+cc_library(
+ name = "polytope_uc",
+ hdrs = [
+ "polytope.h",
+ ],
+ restricted_to = mcu_cpus,
+ deps = [
+ "//third_party/eigen",
+ ],
+)
+
+cc_library(
+ name = "polytope",
+ hdrs = [
+ "polytope.h",
+ ],
+ deps = [
+ "//aos/logging",
+ "//aos/logging:matrix_logging",
+ "//third_party/cddlib",
+ "//third_party/eigen",
+ ],
+)
+
+cc_test(
+ name = "polytope_test",
+ srcs = [
+ "polytope_test.cc",
+ ],
+ deps = [
+ ":polytope",
+ "//aos/testing:googletest",
+ "//aos/testing:test_logging",
+ "//third_party/eigen",
+ "//third_party/googletest:googlemock",
+ ],
+)
+
+queue_library(
+ name = "control_loop_queues",
+ srcs = [
+ "control_loops.q",
+ ],
+ compatible_with = [
+ "//tools:armhf-debian",
+ ],
+)
+
+cc_library(
+ name = "control_loop",
+ srcs = [
+ "control_loop.cc",
+ "control_loop-tmpl.h",
+ ],
+ hdrs = [
+ "control_loop.h",
+ ],
+ deps = [
+ ":control_loop_queues",
+ "//aos:queues",
+ "//aos/time:time",
+ "//aos/logging",
+ "//aos/logging:queue_logging",
+ "//aos/robot_state:robot_state",
+ "//aos/util:log_interval",
+ ],
+)