Add intake and turret code plus superstructure tests
Signed-off-by: Milo Lin <100027790@mvla.net>
Change-Id: I9885bd1e839ba0356147606415ae915cd295faf6
Change-Id: I33bc83673645869e255136198c0789f722c881a0
Signed-off-by: Siddhartha Chatterjee <ninja.siddhartha@gmail.com>
Signed-off-by: Griffin Bui <griffinbui+gerrit@gmail.com>
Signed-off-by: Henry Speiser <henry@speiser.net>
diff --git a/y2022/control_loops/superstructure/turret/BUILD b/y2022/control_loops/superstructure/turret/BUILD
new file mode 100644
index 0000000..c2948d7
--- /dev/null
+++ b/y2022/control_loops/superstructure/turret/BUILD
@@ -0,0 +1,34 @@
+package(default_visibility = ["//y2022:__subpackages__"])
+
+genrule(
+ name = "genrule_turret",
+ outs = [
+ "turret_plant.h",
+ "turret_plant.cc",
+ "integral_turret_plant.h",
+ "integral_turret_plant.cc",
+ ],
+ cmd = "$(location //y2022/control_loops/python:turret) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
+ tools = [
+ "//y2022/control_loops/python:turret",
+ ],
+)
+
+cc_library(
+ name = "turret_plants",
+ srcs = [
+ "integral_turret_plant.cc",
+ "turret_plant.cc",
+ ],
+ hdrs = [
+ "integral_turret_plant.h",
+ "turret_plant.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)