Switch all robots over to use EventLoop
Stop using the old QueueGroup constructor for ControlLoop
Change-Id: I027febf86e75399a97cdb4dc50dbc475705e0393
diff --git a/y2016/control_loops/superstructure/BUILD b/y2016/control_loops/superstructure/BUILD
index 7f08651..6a14a5f 100644
--- a/y2016/control_loops/superstructure/BUILD
+++ b/y2016/control_loops/superstructure/BUILD
@@ -1,118 +1,119 @@
-package(default_visibility = ['//visibility:public'])
+package(default_visibility = ["//visibility:public"])
-load('//aos/build:queues.bzl', 'queue_library')
+load("//aos/build:queues.bzl", "queue_library")
queue_library(
- name = 'superstructure_queue',
- srcs = [
- 'superstructure.q',
- ],
- deps = [
- '//aos/controls:control_loop_queues',
- '//frc971/control_loops:queues',
- ],
+ name = "superstructure_queue",
+ srcs = [
+ "superstructure.q",
+ ],
+ deps = [
+ "//aos/controls:control_loop_queues",
+ "//frc971/control_loops:queues",
+ ],
)
genrule(
- name = 'genrule_intake',
- visibility = ['//visibility:private'],
- cmd = '$(location //y2016/control_loops/python:intake) $(OUTS)',
- tools = [
- '//y2016/control_loops/python:intake',
- ],
- outs = [
- 'intake_plant.h',
- 'intake_plant.cc',
- 'integral_intake_plant.h',
- 'integral_intake_plant.cc',
- ],
+ name = "genrule_intake",
+ outs = [
+ "intake_plant.h",
+ "intake_plant.cc",
+ "integral_intake_plant.h",
+ "integral_intake_plant.cc",
+ ],
+ cmd = "$(location //y2016/control_loops/python:intake) $(OUTS)",
+ tools = [
+ "//y2016/control_loops/python:intake",
+ ],
+ visibility = ["//visibility:private"],
)
genrule(
- name = 'genrule_arm',
- visibility = ['//visibility:private'],
- cmd = '$(location //y2016/control_loops/python:arm) $(OUTS)',
- tools = [
- '//y2016/control_loops/python:arm',
- ],
- outs = [
- 'arm_plant.h',
- 'arm_plant.cc',
- 'integral_arm_plant.h',
- 'integral_arm_plant.cc',
- ],
+ name = "genrule_arm",
+ outs = [
+ "arm_plant.h",
+ "arm_plant.cc",
+ "integral_arm_plant.h",
+ "integral_arm_plant.cc",
+ ],
+ cmd = "$(location //y2016/control_loops/python:arm) $(OUTS)",
+ tools = [
+ "//y2016/control_loops/python:arm",
+ ],
+ visibility = ["//visibility:private"],
)
cc_library(
- name = 'superstructure_plants',
- srcs = [
- 'intake_plant.cc',
- 'arm_plant.cc',
- 'integral_intake_plant.cc',
- 'integral_arm_plant.cc',
- ],
- hdrs = [
- 'intake_plant.h',
- 'arm_plant.h',
- 'integral_intake_plant.h',
- 'integral_arm_plant.h',
- ],
- deps = [
- '//frc971/control_loops:state_feedback_loop',
- ],
+ name = "superstructure_plants",
+ srcs = [
+ "arm_plant.cc",
+ "intake_plant.cc",
+ "integral_arm_plant.cc",
+ "integral_intake_plant.cc",
+ ],
+ hdrs = [
+ "arm_plant.h",
+ "intake_plant.h",
+ "integral_arm_plant.h",
+ "integral_intake_plant.h",
+ ],
+ deps = [
+ "//frc971/control_loops:state_feedback_loop",
+ ],
)
cc_library(
- name = 'superstructure_lib',
- srcs = [
- 'superstructure.cc',
- 'superstructure_controls.cc',
- ],
- hdrs = [
- 'superstructure.h',
- 'superstructure_controls.h',
- ],
- deps = [
- ':superstructure_queue',
- ':superstructure_plants',
- '//aos/controls:control_loop',
- '//aos/util:trapezoid_profile',
- '//aos:math',
- '//frc971/control_loops:profiled_subsystem',
- '//frc971/control_loops:simple_capped_state_feedback_loop',
- '//frc971/control_loops:state_feedback_loop',
- '//frc971/zeroing',
- '//y2016/queues:ball_detector',
- '//y2016:constants',
- ],
+ name = "superstructure_lib",
+ srcs = [
+ "superstructure.cc",
+ "superstructure_controls.cc",
+ ],
+ hdrs = [
+ "superstructure.h",
+ "superstructure_controls.h",
+ ],
+ deps = [
+ ":superstructure_plants",
+ ":superstructure_queue",
+ "//aos:math",
+ "//aos/controls:control_loop",
+ "//aos/util:trapezoid_profile",
+ "//frc971/control_loops:profiled_subsystem",
+ "//frc971/control_loops:simple_capped_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ "//frc971/zeroing",
+ "//y2016:constants",
+ "//y2016/queues:ball_detector",
+ ],
)
cc_test(
- name = 'superstructure_lib_test',
- srcs = [
- 'superstructure_lib_test.cc',
- ],
- deps = [
- ':superstructure_queue',
- ':superstructure_lib',
- '//aos/testing:googletest',
- '//aos:queues',
- '//aos/controls:control_loop_test',
- '//aos:math',
- '//aos/time:time',
- '//frc971/control_loops:position_sensor_sim',
- '//frc971/control_loops:team_number_test_environment',
- ],
+ name = "superstructure_lib_test",
+ srcs = [
+ "superstructure_lib_test.cc",
+ ],
+ deps = [
+ ":superstructure_lib",
+ ":superstructure_queue",
+ "//aos:math",
+ "//aos:queues",
+ "//aos/controls:control_loop_test",
+ "//aos/testing:googletest",
+ "//aos/time",
+ "//frc971/control_loops:position_sensor_sim",
+ "//frc971/control_loops:team_number_test_environment",
+ ],
)
cc_binary(
- name = 'superstructure',
- srcs = [
- 'superstructure_main.cc',
- ],
- deps = [
- '//aos:init',
- ':superstructure_lib',
- ':superstructure_queue',
- ],
+ name = "superstructure",
+ srcs = [
+ "superstructure_main.cc",
+ ],
+ deps = [
+ ":superstructure_lib",
+ ":superstructure_queue",
+ "//aos:init",
+ "//aos/events:shm-event-loop",
+ ],
)