Added angle adjust control loop.
diff --git a/frc971/control_loops/control_loops.gyp b/frc971/control_loops/control_loops.gyp
index db77a2c..3766af4 100644
--- a/frc971/control_loops/control_loops.gyp
+++ b/frc971/control_loops/control_loops.gyp
@@ -2,6 +2,7 @@
'variables': {
'loop_files': [
'DriveTrain.q',
+ 'angle_adjust_motor.q',
]
},
'targets': [
@@ -50,6 +51,52 @@
],
},
{
+ 'target_name': 'angle_adjust_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'angle_adjust.cc',
+ 'angle_adjust_motor_plant.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/build/aos.gyp:libaos',
+ 'control_loops',
+ '<(AOS)/common/common.gyp:controls',
+ '<(DEPTH)/frc971/frc971.gyp:common',
+ 'state_feedback_loop',
+ ],
+ 'export_dependent_settings': [
+ 'state_feedback_loop',
+ '<(AOS)/common/common.gyp:controls',
+ 'control_loops',
+ ],
+ },
+ {
+ 'target_name': 'angle_adjust_lib_test',
+ 'type': 'executable',
+ 'sources': [
+ 'angle_adjust_lib_test.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):gtest',
+ '<(AOS)/build/aos.gyp:libaos',
+ 'control_loops',
+ 'angle_adjust_lib',
+ '<(AOS)/common/common.gyp:queue_testutils',
+ ],
+ },
+ {
+ 'target_name': 'angle_adjust',
+ 'type': 'executable',
+ 'sources': [
+ 'angle_adjust_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/build/aos.gyp:libaos',
+ 'angle_adjust_lib',
+ 'control_loops',
+ ],
+ },
+ {
'target_name': 'DriveTrain',
'type': 'executable',
'sources': [