Add Extend Constants
Signed-off-by: Mirabel Wang <mirabel.17.wang@gmail.com>
Change-Id: Iac9692569b52fb9fd121cb3ab45e513202ddbba6
diff --git a/y2024/control_loops/superstructure/extend/BUILD b/y2024/control_loops/superstructure/extend/BUILD
new file mode 100644
index 0000000..7a28bde
--- /dev/null
+++ b/y2024/control_loops/superstructure/extend/BUILD
@@ -0,0 +1,42 @@
+package(default_visibility = ["//y2024:__subpackages__"])
+
+genrule(
+ name = "genrule_extend",
+ outs = [
+ "extend_plant.h",
+ "extend_plant.cc",
+ "extend_plant.json",
+ "integral_extend_plant.h",
+ "integral_extend_plant.cc",
+ "integral_extend_plant.json",
+ ],
+ cmd = "$(location //y2024/control_loops/python:extend) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
+ tools = [
+ "//y2024/control_loops/python:extend",
+ ],
+)
+
+cc_library(
+ name = "extend_plants",
+ srcs = [
+ "extend_plant.cc",
+ "integral_extend_plant.cc",
+ ],
+ hdrs = [
+ "extend_plant.h",
+ "integral_extend_plant.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)
+
+filegroup(
+ name = "extend_json",
+ srcs = ["integral_extend_plant.json"],
+ visibility = ["//visibility:public"],
+)