Swap y2023 wrist over to the constants.json
There are a couple of awkward constants that show up in json_codegen.cc
as still being managed from the C++ end; there are also a couple of
codegen'd constants from the wrist python code that we use in
constants.h. However, this does move *all* of the per-robot
configuration into the constants JSON file and should allow us to remove
the superstructure's dependency on the constants.h (if the arm were also
converted over).
Change-Id: Id9fc1e80830af823d96e5f3c1e469495eba454a4
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2023/control_loops/superstructure/wrist/BUILD b/y2023/control_loops/superstructure/wrist/BUILD
index 694d95f..212c203 100644
--- a/y2023/control_loops/superstructure/wrist/BUILD
+++ b/y2023/control_loops/superstructure/wrist/BUILD
@@ -5,8 +5,10 @@
outs = [
"wrist_plant.h",
"wrist_plant.cc",
+ "wrist_plant.json",
"integral_wrist_plant.h",
"integral_wrist_plant.cc",
+ "integral_wrist_plant.json",
],
cmd = "$(location //y2023/control_loops/python:wrist) $(OUTS)",
target_compatible_with = ["@platforms//os:linux"],
@@ -32,3 +34,9 @@
"//frc971/control_loops:state_feedback_loop",
],
)
+
+filegroup(
+ name = "wrist_json",
+ srcs = ["integral_wrist_plant.json"],
+ visibility = ["//visibility:public"],
+)