commit 473a5652493bf7bda719e2f35e8a0caeb8505337
author Austin Schuh <austin.linux@gmail.com> Sun Feb 05 01:30:42 2017 -0800
committer Brian Silverman <bsilver16384@gmail.com> Sun Feb 05 15:48:00 2017 -0800
tree e3d7d9fb6ec069255eda9c1bb1858cf5e6e14bca
parent 48d60c18aa8fb192e3902634d348ffdc885cfea7

Factored out 1 DOF profiled subsystem from 2016

This should make all the motion profiled zeroing easy.

Change-Id: I1941ee8e5b4e14e611bb2f0df86c60e9c055d7af

frc971/control_loops/BUILD

diff --git a/frc971/control_loops/BUILD b/frc971/control_loops/BUILD
index 2075ca7..8ceeace 100644
--- a/frc971/control_loops/BUILD
+++ b/frc971/control_loops/BUILD
@@ -147,3 +147,20 @@
     '//third_party/eigen',
   ],
 )
+
+cc_library(
+  name = 'profiled_subsystem',
+  srcs = [
+    'profiled_subsystem.cc',
+  ],
+  hdrs = [
+    'profiled_subsystem.h',
+  ],
+  deps = [
+    ':simple_capped_state_feedback_loop',
+    ':state_feedback_loop',
+    '//aos/common/controls:control_loop',
+    '//aos/common/util:trapezoid_profile',
+    '//frc971/zeroing:zeroing',
+  ],
+)