Add the controller python used for designing the intake
When we were sizing the motor for the intake, we used this initial
design for the controller and for the mechanism (stolen from 2016) to
work out the numbers. Let's check it in as a starting point for
designing the controller.
Signed-off-by: Milo Lin <100027790@mvla.net>
Change-Id: I1343afe246264b58fd50efcf05bd48cc4dde4ee3
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/control_loops/python/BUILD b/y2022/control_loops/python/BUILD
index e0b0daa..bc2b624 100644
--- a/y2022/control_loops/python/BUILD
+++ b/y2022/control_loops/python/BUILD
@@ -48,10 +48,26 @@
],
)
+py_binary(
+ name = "intake",
+ srcs = [
+ "intake.py",
+ ],
+ legacy_create_init = False,
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:angular_system",
+ "//frc971/control_loops/python:controls",
+ ],
+)
+
py_library(
name = "python_init",
srcs = ["__init__.py"],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
- deps = ["//y2020/control_loops:python_init"],
+ deps = ["//y2022/control_loops:python_init"],
)