Split out statespace drivetrain code.
Change-Id: I02900583abfab39b2d85473bd245ffd6bf421d58
diff --git a/y2014/control_loops/drivetrain/BUILD b/y2014/control_loops/drivetrain/BUILD
index 97fe62c..fa29692 100644
--- a/y2014/control_loops/drivetrain/BUILD
+++ b/y2014/control_loops/drivetrain/BUILD
@@ -79,6 +79,28 @@
)
cc_library(
+ name = 'ssdrivetrain',
+ srcs = [
+ 'ssdrivetrain.cc',
+ ],
+ hdrs = [
+ 'ssdrivetrain.h',
+ ],
+ deps = [
+ ':drivetrain_queue',
+ '//y2014:constants',
+ '//aos/common/controls:polytope',
+ '//aos/common:math',
+ '//aos/common/messages:robot_state',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/control_loops:coerce_goal',
+ '//aos/common/util:log_interval',
+ '//aos/common/logging:queue_logging',
+ '//aos/common/logging:matrix_logging',
+ ],
+)
+
+cc_library(
name = 'polydrivetrain',
srcs = [
'polydrivetrain.cc',
@@ -111,11 +133,9 @@
deps = [
':drivetrain_queue',
':polydrivetrain',
+ ':ssdrivetrain',
'//aos/common/controls:control_loop',
'//y2014:constants',
- '//aos/common:math',
- '//frc971/control_loops:state_feedback_loop',
- '//frc971/control_loops:coerce_goal',
'//frc971/queues:gyro',
'//aos/common/util:log_interval',
'//aos/common/logging:queue_logging',