Moved bot3 to y2015_bot3
Change-Id: Idebb248ddc3ff658f2404f367dfa4a6dc421e0c1
diff --git a/y2015_bot3/autonomous/BUILD b/y2015_bot3/autonomous/BUILD
new file mode 100644
index 0000000..042dbf3
--- /dev/null
+++ b/y2015_bot3/autonomous/BUILD
@@ -0,0 +1,46 @@
+package(default_visibility = ['//visibility:public'])
+
+load('/aos/build/queues', 'queue_library')
+
+queue_library(
+ name = 'auto_queue',
+ srcs = [
+ 'auto.q',
+ ],
+)
+
+cc_library(
+ name = 'auto_lib',
+ srcs = [
+ 'auto.cc',
+ ],
+ hdrs = [
+ 'auto.h',
+ ],
+ deps = [
+ ':auto_queue',
+ '//aos/common/controls:control_loop',
+ '//y2015_bot3/control_loops/drivetrain:drivetrain_queue',
+ '//y2015_bot3/control_loops/drivetrain:drivetrain_lib',
+ '//y2015_bot3/actors:drivetrain_action_lib',
+ '//y2015_bot3/control_loops/elevator:elevator_queue',
+ '//y2015_bot3/control_loops/intake:intake_queue',
+ '//aos/common:time',
+ '//aos/common/util:phased_loop',
+ '//aos/common/util:trapezoid_profile',
+ '//aos/common/logging',
+ '//aos/common/logging:queue_logging',
+ ],
+)
+
+cc_binary(
+ name = 'auto',
+ srcs = [
+ 'auto_main.cc',
+ ],
+ deps = [
+ '//aos/linux_code:init',
+ ':auto_queue',
+ ':auto_lib',
+ ],
+)
diff --git a/y2015_bot3/autonomous/auto.cc b/y2015_bot3/autonomous/auto.cc
new file mode 100644
index 0000000..9dd2892
--- /dev/null
+++ b/y2015_bot3/autonomous/auto.cc
@@ -0,0 +1,456 @@
+#include <stdio.h>
+
+#include <memory>
+
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/time.h"
+#include "aos/common/util/trapezoid_profile.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
+
+#include "y2015_bot3/autonomous/auto.q.h"
+#include "y2015_bot3/actors/drivetrain_actor.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.q.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain.h"
+#include "y2015_bot3/control_loops/elevator/elevator.q.h"
+#include "y2015_bot3/control_loops/intake/intake.q.h"
+
+using ::aos::time::Time;
+using ::y2015_bot3::control_loops::drivetrain_queue;
+using ::y2015_bot3::control_loops::intake_queue;
+using ::y2015_bot3::control_loops::elevator_queue;
+using ::y2015_bot3::control_loops::kDrivetrainTurnWidth;
+
+namespace y2015_bot3 {
+namespace autonomous {
+
+struct ProfileParams {
+ double velocity;
+ double acceleration;
+};
+
+namespace time = ::aos::time;
+namespace actors = ::frc971::actors;
+
+const ProfileParams kFastDrive = {3.0, 3.5};
+const ProfileParams kLastDrive = {4.0, 4.0};
+const ProfileParams kStackingFirstTurn = {3.0, 7.0};
+const ProfileParams kFinalDriveTurn = {3.0, 5.0};
+const ProfileParams kSlowFirstDriveTurn = {0.75, 1.5};
+const ProfileParams kSlowSecondDriveTurn = {0.6, 1.5};
+const ProfileParams kCanPickupDrive = {1.3, 3.0};
+
+static double left_initial_position, right_initial_position;
+
+bool ShouldExitAuto() {
+ ::y2015_bot3::autonomous::autonomous.FetchLatest();
+ bool ans = !::y2015_bot3::autonomous::autonomous->run_auto;
+ if (ans) {
+ LOG(INFO, "Time to exit auto mode\n");
+ }
+ return ans;
+}
+
+void ResetDrivetrain() {
+ LOG(INFO, "resetting the drivetrain\n");
+ control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ .control_loop_driving(false)
+ .steering(0.0)
+ .throttle(0.0)
+ .left_goal(left_initial_position)
+ .left_velocity_goal(0)
+ .right_goal(right_initial_position)
+ .right_velocity_goal(0)
+ .Send();
+}
+
+void InitializeEncoders() {
+ control_loops::drivetrain_queue.status.FetchAnother();
+ left_initial_position =
+ control_loops::drivetrain_queue.status->filtered_left_position;
+ right_initial_position =
+ control_loops::drivetrain_queue.status->filtered_right_position;
+}
+
+::std::unique_ptr< ::frc971::actors::DrivetrainAction> SetDriveGoal(
+ double distance, const ProfileParams drive_params, double theta,
+ const ProfileParams &turn_params) {
+ LOG(INFO, "Driving to %f\n", distance);
+
+ actors::DrivetrainActionParams params;
+ params.left_initial_position = left_initial_position;
+ params.right_initial_position = right_initial_position;
+ params.y_offset = distance;
+ params.theta_offset = theta;
+ params.maximum_turn_acceleration = turn_params.acceleration;
+ params.maximum_turn_velocity = turn_params.velocity;
+ params.maximum_velocity = drive_params.velocity;
+ params.maximum_acceleration = drive_params.acceleration;
+ auto drivetrain_action = actors::MakeDrivetrainAction(params);
+
+ drivetrain_action->Start();
+ left_initial_position += distance - theta * kDrivetrainTurnWidth / 2.0;
+ right_initial_position += distance + theta * kDrivetrainTurnWidth / 2.0;
+ return ::std::move(drivetrain_action);
+}
+void WaitUntilDoneOrCanceled(
+ ::std::unique_ptr<aos::common::actions::Action> action) {
+ if (!action) {
+ LOG(ERROR, "No action, not waiting\n");
+ return;
+ }
+ while (true) {
+ // Poll the running bit and auto done bits.
+ ::aos::time::PhasedLoopXMS(5, 2500);
+ if (!action->Running() || ShouldExitAuto()) {
+ return;
+ }
+ }
+}
+
+void WaitUntilNear(double distance) {
+ while (true) {
+ if (ShouldExitAuto()) return;
+ control_loops::drivetrain_queue.status.FetchAnother();
+ double left_error = ::std::abs(
+ left_initial_position -
+ control_loops::drivetrain_queue.status->filtered_left_position);
+ double right_error = ::std::abs(
+ right_initial_position -
+ control_loops::drivetrain_queue.status->filtered_right_position);
+ const double kPositionThreshold = 0.05 + distance;
+ if (right_error < kPositionThreshold && left_error < kPositionThreshold) {
+ LOG(INFO, "At the goal\n");
+ return;
+ }
+ }
+}
+
+void GrabberForTime(double voltage, double wait_time) {
+ ::aos::time::Time now = ::aos::time::Time::Now();
+ ::aos::time::Time end_time = now + time::Time::InSeconds(wait_time);
+ LOG(INFO, "Starting to grab at %f for %f seconds\n", voltage, wait_time);
+
+ while (true) {
+ autonomous::can_grabber_control.MakeWithBuilder()
+ .can_grabber_voltage(voltage).can_grabbers(false).Send();
+
+ // Poll the running bit and auto done bits.
+ if (ShouldExitAuto()) {
+ return;
+ }
+ if (::aos::time::Time::Now() > end_time) {
+ LOG(INFO, "Done grabbing\n");
+ return;
+ }
+ ::aos::time::PhasedLoopXMS(5, 2500);
+ }
+}
+
+// Auto methods.
+void CanGrabberAuto() {
+ ResetDrivetrain();
+
+ // Launch can grabbers.
+ //GrabberForTime(12.0, 0.26);
+ GrabberForTime(6.0, 0.40);
+ if (ShouldExitAuto()) return;
+ InitializeEncoders();
+ ResetDrivetrain();
+ if (ShouldExitAuto()) return;
+ // Send our intake goals.
+ if (!intake_queue.goal.MakeWithBuilder().movement(0.0).claw_closed(true)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+ {
+ auto new_elevator_goal = elevator_queue.goal.MakeMessage();
+ new_elevator_goal->max_velocity = 0.0;
+ new_elevator_goal->max_acceleration = 0.0;
+ new_elevator_goal->height = 0.030;
+ new_elevator_goal->velocity = 0.0;
+ new_elevator_goal->passive_support = true;
+ new_elevator_goal->can_support = false;
+
+ if (new_elevator_goal.Send()) {
+ LOG(DEBUG, "sending goals: elevator: %f\n", 0.03);
+ } else {
+ LOG(ERROR, "Sending elevator goal failed.\n");
+ }
+ }
+
+ const double kMoveBackDistance = 1.75;
+ //const double kMoveBackDistance = 0.0;
+
+ // Drive backwards, and pulse the can grabbers again to tip the cans.
+ control_loops::drivetrain_queue.goal.MakeWithBuilder()
+ .control_loop_driving(true)
+ .steering(0.0)
+ .throttle(0.0)
+ .left_goal(left_initial_position + kMoveBackDistance)
+ .left_velocity_goal(0)
+ .right_goal(right_initial_position + kMoveBackDistance)
+ .right_velocity_goal(0)
+ .Send();
+ GrabberForTime(12.0, 0.02);
+ if (ShouldExitAuto()) return;
+
+ // We shouldn't need as much power at this point, so lower the can grabber
+ // voltages to avoid damaging the motors due to stalling.
+ GrabberForTime(4.0, 0.75);
+ if (ShouldExitAuto()) return;
+ GrabberForTime(-3.0, 0.25);
+ if (ShouldExitAuto()) return;
+ GrabberForTime(-12.0, 1.0);
+ if (ShouldExitAuto()) return;
+ GrabberForTime(-3.0, 12.0);
+}
+
+const ProfileParams kElevatorProfile = {1.0, 5.0};
+
+static double elevator_goal_height = 0.0;
+
+void SetElevatorHeight(double height, const ProfileParams params,
+ bool can_open = false, bool support_open = true) {
+ // Send our elevator goals, with limits set in the profile params.
+ auto new_elevator_goal = elevator_queue.goal.MakeMessage();
+ elevator_goal_height = height;
+ new_elevator_goal->max_velocity = params.velocity;
+ new_elevator_goal->max_acceleration = params.acceleration;
+ new_elevator_goal->height = elevator_goal_height;
+ new_elevator_goal->velocity = 0.0;
+ new_elevator_goal->passive_support = support_open;
+ new_elevator_goal->can_support = can_open;
+
+ if (new_elevator_goal.Send()) {
+ LOG(DEBUG, "sending goals: elevator: %f\n", elevator_goal_height);
+ } else {
+ LOG(ERROR, "Sending elevator goal failed.\n");
+ }
+}
+
+void WaitForElevator() {
+ while (true) {
+ if (ShouldExitAuto()) return;
+ control_loops::elevator_queue.status.FetchAnother();
+
+ constexpr double kProfileError = 1e-5;
+ constexpr double kEpsilon = 0.03;
+
+ if (::std::abs(control_loops::elevator_queue.status->goal_height -
+ elevator_goal_height) <
+ kProfileError &&
+ ::std::abs(control_loops::elevator_queue.status->goal_velocity) <
+ kProfileError) {
+ LOG(INFO, "Profile done.\n");
+ if (::std::abs(control_loops::elevator_queue.status->height -
+ elevator_goal_height) <
+ kEpsilon) {
+ LOG(INFO, "Near goal, done.\n");
+ return;
+ }
+ }
+ }
+}
+
+void WaitUntilElevatorBelow(double height) {
+ while (true) {
+ if (ShouldExitAuto()) return;
+ control_loops::elevator_queue.status.FetchAnother();
+
+ if (control_loops::elevator_queue.status->goal_height < height) {
+ LOG(INFO, "Profile below.\n");
+ if (control_loops::elevator_queue.status->height < height) {
+ LOG(INFO, "Elevator below goal, done.\n");
+ return;
+ }
+ }
+ }
+}
+
+void WaitUntilElevatorAbove(double height) {
+ while (true) {
+ if (ShouldExitAuto()) return;
+ control_loops::elevator_queue.status.FetchAnother();
+
+ if (control_loops::elevator_queue.status->goal_height > height) {
+ LOG(INFO, "Profile above.\n");
+ if (control_loops::elevator_queue.status->height > height) {
+ LOG(INFO, "Elevator above goal, done.\n");
+ return;
+ }
+ }
+ }
+}
+
+void LiftTote(double final_height = 0.48) {
+ // Send our intake goals.
+ if (!intake_queue.goal.MakeWithBuilder().movement(10.0).claw_closed(true)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+
+ while (true) {
+ elevator_queue.status.FetchAnother();
+ if (!elevator_queue.status.get()) {
+ LOG(ERROR, "Got no elevator status packet.\n");
+ }
+ if (ShouldExitAuto()) return;
+ if (elevator_queue.status->has_tote) {
+ break;
+ }
+ }
+ if (!intake_queue.goal.MakeWithBuilder().movement(0.0).claw_closed(true)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+ SetElevatorHeight(0.02, kElevatorProfile, false, false);
+ WaitUntilElevatorBelow(0.05);
+ if (ShouldExitAuto()) return;
+
+ SetElevatorHeight(final_height, kElevatorProfile, false, false);
+}
+
+void TripleCanAuto() {
+ ::aos::time::Time start_time = ::aos::time::Time::Now();
+
+ ::std::unique_ptr<::frc971::actors::DrivetrainAction> drive;
+ InitializeEncoders();
+ ResetDrivetrain();
+
+ SetElevatorHeight(0.03, kElevatorProfile, false, true);
+
+
+ LiftTote();
+ if (ShouldExitAuto()) return;
+
+ // The amount to turn out for going around the first can.
+ const double kFirstTurn = 0.5;
+
+ drive = SetDriveGoal(0.0, kFastDrive, kFirstTurn, kStackingFirstTurn);
+
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ drive = SetDriveGoal(2.0, kFastDrive, -kFirstTurn * 2.0, kSlowFirstDriveTurn);
+
+ WaitUntilNear(1.5);
+ if (ShouldExitAuto()) return;
+
+ if (!intake_queue.goal.MakeWithBuilder().movement(0.0).claw_closed(false)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ drive = SetDriveGoal(0.0, kFastDrive, kFirstTurn, kStackingFirstTurn);
+ LiftTote();
+ if (ShouldExitAuto()) return;
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ // The amount to turn out for going around the second can.
+ const double kSecondTurn = 0.35;
+ const double kSecondTurnExtraOnSecond = 0.10;
+
+ drive = SetDriveGoal(0.0, kFastDrive, kSecondTurn, kStackingFirstTurn);
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ drive =
+ SetDriveGoal(2.05, kFastDrive, -kSecondTurn * 2.0 - kSecondTurnExtraOnSecond, kSlowSecondDriveTurn);
+ WaitUntilNear(1.5);
+
+ if (!intake_queue.goal.MakeWithBuilder().movement(0.0).claw_closed(false)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ drive = SetDriveGoal(0.0, kFastDrive, kSecondTurn + kSecondTurnExtraOnSecond, kStackingFirstTurn);
+
+ LiftTote(0.18);
+
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ drive = SetDriveGoal(0.3, kFastDrive, -1.7, kFinalDriveTurn);
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ if (!intake_queue.goal.MakeWithBuilder().movement(0.0).claw_closed(false)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+ drive = SetDriveGoal(2.95, kLastDrive, 0.0, kFinalDriveTurn);
+
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ SetElevatorHeight(0.03, kElevatorProfile, true, true);
+ WaitForElevator();
+ if (ShouldExitAuto()) return;
+
+ drive = SetDriveGoal(-2.25, kFastDrive, 0.0, kFinalDriveTurn);
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ drive = SetDriveGoal(0.0, kFastDrive, 1.80, kFinalDriveTurn);
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ if (!intake_queue.goal.MakeWithBuilder().movement(10.0).claw_closed(true)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+ SetElevatorHeight(0.03, kElevatorProfile, false, true);
+
+ drive = SetDriveGoal(1.0, kCanPickupDrive, 0.0, kFinalDriveTurn);
+ WaitUntilDoneOrCanceled(::std::move(drive));
+ if (ShouldExitAuto()) return;
+
+ SetElevatorHeight(0.03, kElevatorProfile, true, true);
+
+ while (true) {
+ elevator_queue.status.FetchAnother();
+ if (!elevator_queue.status.get()) {
+ LOG(ERROR, "Got no elevator status packet.\n");
+ }
+ if (ShouldExitAuto()) return;
+ if (elevator_queue.status->has_tote) {
+ LOG(INFO, "Got the tote!\n");
+ break;
+ }
+ if ((::aos::time::Time::Now() - start_time) > time::Time::InSeconds(15.0)) {
+ LOG(INFO, "Out of time\n");
+ break;
+ }
+ }
+
+ ::aos::time::Time end_time = ::aos::time::Time::Now();
+ LOG(INFO, "Ended auto with %f to spare\n",
+ (time::Time::InSeconds(15.0) - (end_time - start_time)).ToSeconds());
+ if (!intake_queue.goal.MakeWithBuilder().movement(0.0).claw_closed(true)
+ .Send()) {
+ LOG(ERROR, "Sending intake goal failed.\n");
+ }
+}
+
+void HandleAuto() {
+ ::aos::time::Time start_time = ::aos::time::Time::Now();
+ LOG(INFO, "Starting auto mode at %f\n", start_time.ToSeconds());
+
+ // TODO(comran): Add various options for different autos down below.
+ //CanGrabberAuto();
+ TripleCanAuto();
+}
+
+} // namespace autonomous
+} // namespace y2015_bot3
diff --git a/y2015_bot3/autonomous/auto.h b/y2015_bot3/autonomous/auto.h
new file mode 100644
index 0000000..bbc5d32
--- /dev/null
+++ b/y2015_bot3/autonomous/auto.h
@@ -0,0 +1,12 @@
+#ifndef Y2015_BOT3_AUTONOMOUS_AUTO_H_
+#define Y2015_BOT3_AUTONOMOUS_AUTO_H_
+
+namespace y2015_bot3 {
+namespace autonomous {
+
+void HandleAuto();
+
+} // namespace autonomous
+} // namespace y2015_bot3
+
+#endif // Y2015_BOT3_AUTONOMOUS_AUTO_H_
diff --git a/y2015_bot3/autonomous/auto.q b/y2015_bot3/autonomous/auto.q
new file mode 100644
index 0000000..2fbf41b
--- /dev/null
+++ b/y2015_bot3/autonomous/auto.q
@@ -0,0 +1,15 @@
+package y2015_bot3.autonomous;
+
+message AutoControl {
+ // True if auto mode should be running, false otherwise.
+ bool run_auto;
+};
+queue AutoControl autonomous;
+
+message CanGrabberControl {
+ // Voltage to send out to can grabbers.
+ double can_grabber_voltage;
+ // Can grabbers fired
+ bool can_grabbers;
+};
+queue CanGrabberControl can_grabber_control;
diff --git a/y2015_bot3/autonomous/auto_main.cc b/y2015_bot3/autonomous/auto_main.cc
new file mode 100644
index 0000000..1556561
--- /dev/null
+++ b/y2015_bot3/autonomous/auto_main.cc
@@ -0,0 +1,42 @@
+#include <stdio.h>
+
+#include "aos/common/time.h"
+#include "aos/linux_code/init.h"
+#include "aos/common/logging/logging.h"
+#include "y2015_bot3/autonomous/auto.q.h"
+#include "y2015_bot3/autonomous/auto.h"
+
+using ::aos::time::Time;
+
+int main(int /*argc*/, char * /*argv*/[]) {
+ ::aos::Init();
+
+ LOG(INFO, "Auto main started\n");
+ ::y2015_bot3::autonomous::autonomous.FetchLatest();
+ while (!::y2015_bot3::autonomous::autonomous.get()) {
+ ::y2015_bot3::autonomous::autonomous.FetchNextBlocking();
+ LOG(INFO, "Got another auto packet\n");
+ }
+
+ while (true) {
+ while (!::y2015_bot3::autonomous::autonomous->run_auto) {
+ ::y2015_bot3::autonomous::autonomous.FetchNextBlocking();
+ LOG(INFO, "Got another auto packet\n");
+ }
+ LOG(INFO, "Starting auto mode\n");
+ ::aos::time::Time start_time = ::aos::time::Time::Now();
+ ::y2015_bot3::autonomous::HandleAuto();
+
+ ::aos::time::Time elapsed_time = ::aos::time::Time::Now() - start_time;
+ LOG(INFO, "Auto mode exited in %f, waiting for it to finish.\n",
+ elapsed_time.ToSeconds());
+ while (::y2015_bot3::autonomous::autonomous->run_auto) {
+ ::y2015_bot3::autonomous::autonomous.FetchNextBlocking();
+ LOG(INFO, "Got another auto packet\n");
+ }
+ LOG(INFO, "Waiting for auto to start back up.\n");
+ }
+ ::aos::Cleanup();
+ return 0;
+}
+
diff --git a/y2015_bot3/autonomous/autonomous.gyp b/y2015_bot3/autonomous/autonomous.gyp
new file mode 100644
index 0000000..11dd524
--- /dev/null
+++ b/y2015_bot3/autonomous/autonomous.gyp
@@ -0,0 +1,49 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'auto_queue',
+ 'type': 'static_library',
+ 'sources': ['auto.q'],
+ 'variables': {
+ 'header_path': 'bot3/autonomous',
+ },
+ 'includes': ['../../aos/build/queues.gypi'],
+ },
+ {
+ 'target_name': 'auto_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'auto.cc',
+ ],
+ 'dependencies': [
+ 'auto_queue',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ '<(DEPTH)/bot3/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
+ '<(DEPTH)/bot3/control_loops/drivetrain/drivetrain.gyp:drivetrain_lib',
+ '<(DEPTH)/bot3/actors/actors.gyp:drivetrain_action_lib',
+ '<(DEPTH)/bot3/control_loops/elevator/elevator.gyp:elevator_queue',
+ '<(DEPTH)/bot3/control_loops/intake/intake.gyp:intake_queue',
+ '<(AOS)/common/common.gyp:time',
+ '<(AOS)/common/util/util.gyp:phased_loop',
+ '<(AOS)/common/util/util.gyp:trapezoid_profile',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/logging/logging.gyp:queue_logging',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ ],
+ },
+ {
+ 'target_name': 'auto_bot3',
+ 'type': 'executable',
+ 'sources': [
+ 'auto_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ 'auto_queue',
+ 'auto_lib',
+ ],
+ },
+ ],
+}