Updated constants and wpilib_interface.
Updated wpilib_interface and the constants files to have the
superstructure components.
Updated the linear_system codegen to output free speed in radians.
Updated the intake python file with the correct gear ratio.
Created the superstructure plants.
Change-Id: I5a2b54fe3de8d9ae9b0f79820465a2f97baed22d
diff --git a/y2019/control_loops/superstructure/stilts/BUILD b/y2019/control_loops/superstructure/stilts/BUILD
new file mode 100644
index 0000000..6beea39
--- /dev/null
+++ b/y2019/control_loops/superstructure/stilts/BUILD
@@ -0,0 +1,32 @@
+package(default_visibility = ["//y2019:__subpackages__"])
+
+genrule(
+ name = "genrule_stilts",
+ outs = [
+ "stilts_plant.h",
+ "stilts_plant.cc",
+ "integral_stilts_plant.h",
+ "integral_stilts_plant.cc",
+ ],
+ cmd = "$(location //y2019/control_loops/python:stilts) $(OUTS)",
+ tools = [
+ "//y2019/control_loops/python:stilts",
+ ],
+)
+
+cc_library(
+ name = "stilts_plants",
+ srcs = [
+ "stilts_plant.cc",
+ "integral_stilts_plant.cc",
+ ],
+ hdrs = [
+ "stilts_plant.h",
+ "integral_stilts_plant.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)