commit 4b63ae50b323ec1e32d9a05039518a55152feec4
author Sabina Davis <sabina1109@gmail.com> Sun Jan 27 16:15:25 2019 -0800
committer Sabina Davis <sabina1109@gmail.com> Sat Feb 09 20:49:39 2019 -0800
tree 7cd02a14214ddeb73f482be98a28511d0382b833
parent bd232291f835e0de7c2bbc51a1ccccd645332531

Added Collision Avoidance.

Prioritizes the intake and ensures no collisions.

Change-Id: I4d70097e5fe3a075e847b5c7481848b551e3c9ec

y2019/control_loops/superstructure/BUILD

diff --git a/y2019/control_loops/superstructure/BUILD b/y2019/control_loops/superstructure/BUILD
index 5d07e17..453c680 100644
--- a/y2019/control_loops/superstructure/BUILD
+++ b/y2019/control_loops/superstructure/BUILD
@@ -39,3 +39,31 @@
         "//aos/events:shm-event-loop",
     ],
 )
+
+cc_library(
+    name = "collision_avoidance",
+    srcs = [
+        "collision_avoidance.cc",
+    ],
+    hdrs = [
+        "collision_avoidance.h",
+    ],
+    deps = [
+        ":superstructure_queue",
+        "//aos/controls:control_loop_queues",
+        "//frc971:constants",
+    ],
+)
+
+cc_test(
+    name = "collision_avoidance_tests",
+    srcs = [
+        "collision_avoidance_tests.cc",
+    ],
+    deps = [
+        ":collision_avoidance",
+        ":superstructure_queue",
+        "//aos:math",
+        "//aos/testing:googletest",
+    ],
+)