Split hybrid statespace loop out into a separate file
This reduces dependencies for the state feedback loop so we can bake
it into the pistol grip controller.
Change-Id: Ic2769123ebe837aec0624e1e5a1eb0bcbac64431
diff --git a/frc971/control_loops/BUILD b/frc971/control_loops/BUILD
index 7272d48..b6f6317 100644
--- a/frc971/control_loops/BUILD
+++ b/frc971/control_loops/BUILD
@@ -18,12 +18,12 @@
)
cc_test(
- name = 'state_feedback_loop_test',
+ name = 'hybrid_state_feedback_loop_test',
srcs = [
- 'state_feedback_loop_test.cc',
+ 'hybrid_state_feedback_loop_test.cc',
],
deps = [
- ':state_feedback_loop',
+ ':hybrid_state_feedback_loop',
'//aos/testing:googletest',
],
)
@@ -109,6 +109,19 @@
'state_feedback_loop.h',
],
deps = [
+ '//aos/common/logging',
+ '//aos/common:macros',
+ '//third_party/eigen',
+ ],
+)
+
+cc_library(
+ name = 'hybrid_state_feedback_loop',
+ hdrs = [
+ 'hybrid_state_feedback_loop.h',
+ ],
+ deps = [
+ ':state_feedback_loop',
'//aos/common/controls:control_loop',
'//aos/common/logging',
'//aos/common:macros',