frc971/control_loops/drivetrain/BUILD

package(default_visibility = ['//visibility:public'])

load('//aos/build:queues.bzl', 'queue_library')

cc_binary(
  name = 'replay_drivetrain',
  srcs = [
    'replay_drivetrain.cc',
  ],
  deps = [
    ':drivetrain_queue',
    '//aos/common/controls:replay_control_loop',
    '//aos/linux_code:init',
    '//frc971/queues:gyro',
  ],
)

queue_library(
  name = 'drivetrain_queue',
  srcs = [
    'drivetrain.q',
  ],
  deps = [
    '//aos/common/controls:control_loop_queues',
    '//frc971/control_loops:queues',
  ],
)

cc_library(
  name = 'drivetrain_config',
  hdrs = [
    'drivetrain_config.h',
  ],
  deps = [
    '//frc971/control_loops:state_feedback_loop',
    '//frc971:shifter_hall_effect',
  ],
)

cc_library(
  name = 'gear',
  hdrs = [
    'gear.h',
  ],
)

cc_library(
  name = 'ssdrivetrain',
  srcs = [
    'ssdrivetrain.cc',
  ],
  hdrs = [
    'ssdrivetrain.h',
  ],
  deps = [
    ':drivetrain_queue',
    ':drivetrain_config',
    ':gear',
    '//aos/common/controls:control_loop',
    '//aos/common/controls:polytope',
    '//aos/common/logging:matrix_logging',
    '//aos/common/logging:queue_logging',
    '//aos/common/messages:robot_state',
    '//aos/common/util:log_interval',
    '//aos/common/util:trapezoid_profile',
    '//aos/common:math',
    '//frc971/control_loops:coerce_goal',
    '//frc971/control_loops:state_feedback_loop',
    '//frc971:shifter_hall_effect',
  ],
)

cc_library(
  name = 'polydrivetrain',
  srcs = [
    'polydrivetrain.cc',
  ],
  hdrs = [
    'polydrivetrain.h',
  ],
  deps = [
    ':drivetrain_queue',
    ':drivetrain_config',
    ':gear',
    '//aos/common/controls:polytope',
    '//aos/common:math',
    '//aos/common/messages:robot_state',
    '//frc971/control_loops:state_feedback_loop',
    '//frc971/control_loops:coerce_goal',
    '//aos/common/util:log_interval',
    '//aos/common/logging:queue_logging',
    '//aos/common/logging:matrix_logging',
  ],
)

genrule(
  name = 'genrule_down_estimator',
  visibility = ['//visibility:private'],
  cmd = '$(location //frc971/control_loops/python:down_estimator) $(OUTS)',
  tools = [
    '//frc971/control_loops/python:down_estimator',
  ],
  outs = [
    'down_estimator.h',
    'down_estimator.cc',
  ],
)

cc_library(
  name = 'down_estimator',
  hdrs = [
    'down_estimator.h',
  ],
  srcs = [
    'down_estimator.cc',
  ],
  deps = [
    '//frc971/control_loops:state_feedback_loop',
  ],
)

cc_library(
  name = 'drivetrain_lib',
  srcs = [
    'drivetrain.cc',
  ],
  hdrs = [
    'drivetrain.h',
  ],
  deps = [
    ':down_estimator',
    ':drivetrain_queue',
    ':gear',
    ':polydrivetrain',
    ':ssdrivetrain',
    '//aos/common/controls:control_loop',
    '//frc971/queues:gyro',
    '//frc971/wpilib:imu_queue',
    '//aos/common/util:log_interval',
    '//aos/common/logging:queue_logging',
    '//aos/common/logging:matrix_logging',
  ],
)

cc_test(
  name = 'drivetrain_lib_test',
  srcs = [
    'drivetrain_lib_test.cc',
  ],
  deps = [
    '//aos/testing:googletest',
    ':drivetrain_queue',
    ':drivetrain_lib',
    ':drivetrain_config',
    '//aos/common/controls:control_loop_test',
    '//frc971/control_loops:state_feedback_loop',
    '//frc971/queues:gyro',
    '//aos/common:queues',
    '//y2016:constants',
    '//y2016/control_loops/drivetrain:polydrivetrain_plants',
  ],
)

genrule(
  name = 'genrule_haptic_wheel',
  visibility = ['//visibility:private'],
  cmd = '$(location //frc971/control_loops/python:haptic_wheel) $(OUTS)',
  tools = [
    '//frc971/control_loops/python:haptic_wheel',
  ],
  outs = [
    'haptic_wheel.h',
    'haptic_wheel.cc',
    'integral_haptic_wheel.h',
    'integral_haptic_wheel.cc',
    'haptic_trigger.h',
    'haptic_trigger.cc',
    'integral_haptic_trigger.h',
    'integral_haptic_trigger.cc',
  ],
  restricted_to = ["//tools:k8", "//tools:roborio", "//tools:armhf-debian", "//tools:cortex-m4f"],
)

cc_library(
  name = 'haptic_input_uc',
  hdrs = [
    'haptic_wheel.h',
    'integral_haptic_wheel.h',
    'haptic_trigger.h',
    'integral_haptic_trigger.h',
  ],
  srcs = [
    'haptic_wheel.cc',
    'integral_haptic_wheel.cc',
    'haptic_trigger.cc',
    'integral_haptic_trigger.cc',
  ],
  deps = [
    '//frc971/control_loops:state_feedback_loop_uc',
  ],
  restricted_to = ["//tools:cortex-m4f"],
)

cc_library(
  name = 'haptic_wheel',
  hdrs = [
    'haptic_wheel.h',
    'integral_haptic_wheel.h',
    'haptic_trigger.h',
    'integral_haptic_trigger.h',
  ],
  srcs = [
    'haptic_wheel.cc',
    'integral_haptic_wheel.cc',
    'haptic_trigger.cc',
    'integral_haptic_trigger.cc',
  ],
  deps = [
    '//frc971/control_loops:state_feedback_loop',
  ],
)