Add drivetrain_main for 2019 robot
Needs masses and controller still tuned.
Change-Id: I29d62286b2941238abb9770a21e764148fbb688b
diff --git a/y2019/control_loops/drivetrain/BUILD b/y2019/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..4d7e616
--- /dev/null
+++ b/y2019/control_loops/drivetrain/BUILD
@@ -0,0 +1,81 @@
+load("//aos/build:queues.bzl", "queue_library")
+
+genrule(
+ name = "genrule_drivetrain",
+ outs = [
+ "drivetrain_dog_motor_plant.h",
+ "drivetrain_dog_motor_plant.cc",
+ "kalman_drivetrain_motor_plant.h",
+ "kalman_drivetrain_motor_plant.cc",
+ ],
+ cmd = "$(location //y2019/control_loops/python:drivetrain) $(OUTS)",
+ tools = [
+ "//y2019/control_loops/python:drivetrain",
+ ],
+)
+
+genrule(
+ name = "genrule_polydrivetrain",
+ outs = [
+ "polydrivetrain_dog_motor_plant.h",
+ "polydrivetrain_dog_motor_plant.cc",
+ "polydrivetrain_cim_plant.h",
+ "polydrivetrain_cim_plant.cc",
+ "hybrid_velocity_drivetrain.h",
+ "hybrid_velocity_drivetrain.cc",
+ ],
+ cmd = "$(location //y2019/control_loops/python:polydrivetrain) $(OUTS)",
+ tools = [
+ "//y2019/control_loops/python:polydrivetrain",
+ ],
+)
+
+cc_library(
+ name = "polydrivetrain_plants",
+ srcs = [
+ "drivetrain_dog_motor_plant.cc",
+ "hybrid_velocity_drivetrain.cc",
+ "kalman_drivetrain_motor_plant.cc",
+ "polydrivetrain_dog_motor_plant.cc",
+ ],
+ hdrs = [
+ "drivetrain_dog_motor_plant.h",
+ "hybrid_velocity_drivetrain.h",
+ "kalman_drivetrain_motor_plant.h",
+ "polydrivetrain_dog_motor_plant.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)
+
+cc_library(
+ name = "drivetrain_base",
+ srcs = [
+ "drivetrain_base.cc",
+ ],
+ hdrs = [
+ "drivetrain_base.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":polydrivetrain_plants",
+ "//frc971:shifter_hall_effect",
+ "//frc971/control_loops/drivetrain:drivetrain_config",
+ ],
+)
+
+cc_binary(
+ name = "drivetrain",
+ srcs = [
+ "drivetrain_main.cc",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":drivetrain_base",
+ "//aos:init",
+ "//frc971/control_loops/drivetrain:drivetrain_lib",
+ ],
+)