Make a mutual drivetrain between robots.
Change-Id: I23cc9634d9af5d0482dc5a5501dccc064b7b53d3
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..369de78
--- /dev/null
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -0,0 +1,121 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', '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',
+ ],
+)
+
+cc_library(
+ name = 'drivetrain_config',
+ hdrs = [
+ 'drivetrain_config.h',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971:shifter_hall_effect',
+ ],
+)
+
+cc_library(
+ name = 'ssdrivetrain',
+ srcs = [
+ 'ssdrivetrain.cc',
+ ],
+ hdrs = [
+ 'ssdrivetrain.h',
+ ],
+ deps = [
+ ':drivetrain_queue',
+ ':drivetrain_config',
+ '//aos/common/controls:polytope',
+ '//aos/common:math',
+ '//aos/common/messages:robot_state',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/control_loops:coerce_goal',
+ '//frc971:shifter_hall_effect',
+ '//aos/common/util:log_interval',
+ '//aos/common/logging:queue_logging',
+ '//aos/common/logging:matrix_logging',
+ ],
+)
+
+cc_library(
+ name = 'polydrivetrain',
+ srcs = [
+ 'polydrivetrain.cc',
+ ],
+ hdrs = [
+ 'polydrivetrain.h',
+ ],
+ deps = [
+ ':drivetrain_queue',
+ ':drivetrain_config',
+ '//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',
+ ],
+)
+
+cc_library(
+ name = 'drivetrain_lib',
+ srcs = [
+ 'drivetrain.cc',
+ ],
+ hdrs = [
+ 'drivetrain.h',
+ ],
+ deps = [
+ ':drivetrain_queue',
+ ':polydrivetrain',
+ ':ssdrivetrain',
+ '//aos/common/controls:control_loop',
+ '//frc971/queues:gyro',
+ '//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',
+ '//y2014:constants',
+ '//y2014/control_loops/drivetrain:polydrivetrain_plants',
+ ],
+)