commit 70810b9b466595f25c48ab2c424d5be7b0a92264
author Austin Schuh <austin.linux@gmail.com> Sat Nov 26 14:55:34 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Dec 04 19:32:16 2016 -0800
tree 8a6da56280260fd4ab05eb11fa0aa43d0d03a769
parent d6c364e3242284550936273fe15fe69eaac95a80

Upgraded //y2015 to use the common drive code.

This is a fixup from changing the call signature of DoCoerceGoal

Change-Id: I8536f4cd793370cec8d369a00e4fc34b35442fd3

y2015/control_loops/drivetrain/BUILD

diff --git a/y2015/control_loops/drivetrain/BUILD b/y2015/control_loops/drivetrain/BUILD
index 9dd71f0..1057339 100644
--- a/y2015/control_loops/drivetrain/BUILD
+++ b/y2015/control_loops/drivetrain/BUILD
@@ -2,25 +2,33 @@
 
 load('/aos/build/queues', 'queue_library')
 
-cc_binary(
-  name = 'replay_drivetrain',
-  srcs = [
-    'replay_drivetrain.cc',
+genrule(
+  name = 'genrule_drivetrain',
+  visibility = ['//visibility:private'],
+  cmd = '$(location //y2015/control_loops/python:drivetrain) $(OUTS)',
+  tools = [
+    '//y2015/control_loops/python:drivetrain',
   ],
-  deps = [
-    ':drivetrain_queue',
-    '//aos/common/controls:replay_control_loop',
-    '//aos/linux_code:init',
+  outs = [
+    'drivetrain_dog_motor_plant.h',
+    'drivetrain_dog_motor_plant.cc',
+    'kalman_drivetrain_motor_plant.h',
+    'kalman_drivetrain_motor_plant.cc',
   ],
 )
 
-queue_library(
-  name = 'drivetrain_queue',
-  srcs = [
-    'drivetrain.q',
+genrule(
+  name = 'genrule_polydrivetrain',
+  visibility = ['//visibility:private'],
+  cmd = '$(location //y2015/control_loops/python:polydrivetrain) $(OUTS)',
+  tools = [
+    '//y2015/control_loops/python:polydrivetrain',
   ],
-  deps = [
-    '//aos/common/controls:control_loop_queues',
+  outs = [
+    'polydrivetrain_dog_motor_plant.h',
+    'polydrivetrain_dog_motor_plant.cc',
+    'polydrivetrain_cim_plant.h',
+    'polydrivetrain_cim_plant.cc',
   ],
 )
 
@@ -29,10 +37,12 @@
   srcs = [
     'polydrivetrain_dog_motor_plant.cc',
     'drivetrain_dog_motor_plant.cc',
+    'kalman_drivetrain_motor_plant.cc',
   ],
   hdrs = [
     'polydrivetrain_dog_motor_plant.h',
     'drivetrain_dog_motor_plant.h',
+    'kalman_drivetrain_motor_plant.h',
   ],
   deps = [
     '//frc971/control_loops:state_feedback_loop',
@@ -40,43 +50,18 @@
 )
 
 cc_library(
-  name = 'drivetrain_lib',
+  name = 'drivetrain_base',
   srcs = [
-    'drivetrain.cc',
-    'polydrivetrain_cim_plant.cc',
+    'drivetrain_base.cc',
   ],
   hdrs = [
-    'drivetrain.h',
-    'polydrivetrain_cim_plant.h',
+    'drivetrain_base.h',
   ],
   deps = [
-    ':drivetrain_queue',
-    '//aos/common/controls:control_loop',
-    '//y2015:constants',
-    '//aos/common/controls:polytope',
-    '//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',
-    '//aos/common/logging:matrix_logging',
-  ],
-)
-
-cc_test(
-  name = 'drivetrain_lib_test',
-  srcs = [
-    'drivetrain_lib_test.cc',
-  ],
-  deps = [
-    '//aos/testing:googletest',
-    ':drivetrain_queue',
-    ':drivetrain_lib',
-    '//aos/common/controls:control_loop_test',
-    '//frc971/control_loops:state_feedback_loop',
-    '//frc971/queues:gyro',
-    '//aos/common:queues',
+    ':polydrivetrain_plants',
+    '//frc971/control_loops/drivetrain:drivetrain_config',
+    '//frc971:shifter_hall_effect',
+    '//y2016:constants',
   ],
 )
 
@@ -86,8 +71,8 @@
     'drivetrain_main.cc',
   ],
   deps = [
+    ':drivetrain_base',
     '//aos/linux_code:init',
-    ':drivetrain_lib',
-    ':drivetrain_queue',
+    '//frc971/control_loops/drivetrain:drivetrain_lib',
   ],
 )