Make a mutual drivetrain between robots.
Change-Id: I23cc9634d9af5d0482dc5a5501dccc064b7b53d3
diff --git a/y2014/control_loops/drivetrain/BUILD b/y2014/control_loops/drivetrain/BUILD
index 54d6581..9d7edb6 100644
--- a/y2014/control_loops/drivetrain/BUILD
+++ b/y2014/control_loops/drivetrain/BUILD
@@ -2,29 +2,6 @@
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',
- ],
-)
-
genrule(
name = 'genrule_drivetrain',
visibility = ['//visibility:private'],
@@ -73,83 +50,17 @@
)
cc_library(
- name = 'ssdrivetrain',
+ name = 'drivetrain_base',
srcs = [
- 'ssdrivetrain.cc',
+ 'drivetrain_base.cc',
],
hdrs = [
- 'ssdrivetrain.h',
+ 'drivetrain_base.h',
],
deps = [
- ':drivetrain_queue',
+ ':polydrivetrain_plants',
'//y2014:constants',
- '//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 = 'polydrivetrain',
- srcs = [
- 'polydrivetrain.cc',
- ],
- hdrs = [
- 'polydrivetrain.h',
- ],
- deps = [
- ':drivetrain_queue',
- '//y2014:constants',
- '//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',
- '//y2014:constants',
- '//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',
- '//aos/common/controls:control_loop_test',
- '//frc971/control_loops:state_feedback_loop',
- '//frc971/queues:gyro',
- '//aos/common:queues',
+ '//frc971/control_loops/drivetrain:drivetrain_config',
],
)
@@ -159,8 +70,8 @@
'drivetrain_main.cc',
],
deps = [
+ ':drivetrain_base',
'//aos/linux_code:init',
- ':drivetrain_lib',
- ':drivetrain_queue',
+ '//frc971/control_loops/drivetrain:drivetrain_lib',
],
)