Convert bot3 to Bazel too
Change-Id: I330e334977ea0ba6c2b9febf1647d5d9b5cd2d4f
diff --git a/bot3/control_loops/elevator/BUILD b/bot3/control_loops/elevator/BUILD
new file mode 100644
index 0000000..c3cb1ac
--- /dev/null
+++ b/bot3/control_loops/elevator/BUILD
@@ -0,0 +1,63 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+ name = 'elevator_queue',
+ srcs = [
+ 'elevator.q',
+ ],
+ deps = [
+ '//aos/common/controls:control_loop_queues',
+ '//frc971/control_loops:queues',
+ ],
+)
+
+cc_library(
+ name = 'elevator_lib',
+ srcs = [
+ 'elevator.cc',
+ 'elevator_motor_plant.cc',
+ 'integral_elevator_motor_plant.cc',
+ ],
+ hdrs = [
+ 'elevator.h',
+ 'elevator_motor_plant.h',
+ 'integral_elevator_motor_plant.h',
+ ],
+ deps = [
+ ':elevator_queue',
+ '//aos/common/logging',
+ '//aos/common/controls:control_loop_queues',
+ '//aos/common/controls:control_loop',
+ '//aos/common/util:trapezoid_profile',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/control_loops/voltage_cap:voltage_cap',
+ ],
+)
+
+cc_test(
+ name = 'elevator_lib_test',
+ srcs = [
+ 'elevator_lib_test.cc',
+ ],
+ deps = [
+ '//third_party/googletest',
+ ':elevator_lib',
+ '//bot3/control_loops:position_sensor_sim',
+ '//frc971/control_loops:state_feedback_loop',
+ '//aos/common/controls:control_loop_test',
+ '//aos/common:time',
+ ],
+)
+
+cc_binary(
+ name = 'elevator',
+ srcs = [
+ 'elevator_main.cc',
+ ],
+ deps = [
+ '//aos/linux_code:init',
+ ':elevator_lib',
+ ],
+)
diff --git a/bot3/control_loops/elevator/elevator_lib_test.cc b/bot3/control_loops/elevator/elevator_lib_test.cc
index 66b7845..76a2c54 100644
--- a/bot3/control_loops/elevator/elevator_lib_test.cc
+++ b/bot3/control_loops/elevator/elevator_lib_test.cc
@@ -593,6 +593,7 @@
RunIteration(true);
EXPECT_NEAR(0.0, plant_.GetVoltage(), voltage_range);
}
+}
} // namespace testing
} // namespace control_loops