Added intake joint fourbar loop and python
Change-Id: If695e044916ee29d0633349d922b556f19f4dd79
diff --git a/y2020/control_loops/superstructure/intake/BUILD b/y2020/control_loops/superstructure/intake/BUILD
new file mode 100644
index 0000000..2133204
--- /dev/null
+++ b/y2020/control_loops/superstructure/intake/BUILD
@@ -0,0 +1,32 @@
+package(default_visibility = ["//y2020:__subpackages__"])
+
+genrule(
+ name = "genrule_intake",
+ outs = [
+ "intake_plant.h",
+ "intake_plant.cc",
+ "integral_intake_plant.h",
+ "integral_intake_plant.cc",
+ ],
+ cmd = "$(location //y2020/control_loops/python:intake) $(OUTS)",
+ tools = [
+ "//y2020/control_loops/python:intake",
+ ],
+)
+
+cc_library(
+ name = "intake_plants",
+ srcs = [
+ "intake_plant.cc",
+ "integral_intake_plant.cc",
+ ],
+ hdrs = [
+ "intake_plant.h",
+ "integral_intake_plant.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)