Add arm code to 2023
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: If97b4dd4c8fb16371e21ac6e9667a2d52b1b53a6
diff --git a/y2023/control_loops/superstructure/arm/BUILD b/y2023/control_loops/superstructure/arm/BUILD
new file mode 100644
index 0000000..dc52f02
--- /dev/null
+++ b/y2023/control_loops/superstructure/arm/BUILD
@@ -0,0 +1,64 @@
+cc_library(
+ name = "arm",
+ srcs = [
+ "arm.cc",
+ ],
+ hdrs = [
+ "arm.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":generated_graph",
+ "//frc971/control_loops/double_jointed_arm:demo_path",
+ "//frc971/control_loops/double_jointed_arm:ekf",
+ "//frc971/control_loops/double_jointed_arm:graph",
+ "//frc971/control_loops/double_jointed_arm:trajectory",
+ "//frc971/zeroing",
+ "//y2023:constants",
+ "//y2023/control_loops/superstructure:superstructure_position_fbs",
+ "//y2023/control_loops/superstructure:superstructure_status_fbs",
+ "//y2023/control_loops/superstructure/arm:arm_constants",
+ ],
+)
+
+genrule(
+ name = "generated_graph_genrule",
+ outs = [
+ "generated_graph.h",
+ "generated_graph.cc",
+ ],
+ cmd = "$(location //y2023/control_loops/python:graph_codegen) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
+ tools = [
+ "//y2023/control_loops/python:graph_codegen",
+ ],
+)
+
+cc_library(
+ name = "generated_graph",
+ srcs = [
+ "generated_graph.cc",
+ ],
+ hdrs = ["generated_graph.h"],
+ copts = [
+ "-O1",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":arm_constants",
+ "//frc971/control_loops/double_jointed_arm:graph",
+ "//frc971/control_loops/double_jointed_arm:trajectory",
+ ],
+)
+
+cc_library(
+ name = "arm_constants",
+ hdrs = ["arm_constants.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops/double_jointed_arm:dynamics",
+ ],
+)