Update bot3 drivetrain and get defense bot working.
Change-Id: I0e3d5c0e768ee77eaeaf0a963f15c3172389ea6e
diff --git a/y2014_bot3/control_loops/drivetrain/BUILD b/y2014_bot3/control_loops/drivetrain/BUILD
index 32afd4b..6bd7e33 100644
--- a/y2014_bot3/control_loops/drivetrain/BUILD
+++ b/y2014_bot3/control_loops/drivetrain/BUILD
@@ -2,45 +2,6 @@
load('/aos/build/queues', 'queue_library')
-cc_binary(
- name = 'replay_drivetrain',
- srcs = [
- 'replay_drivetrain.cc',
- ],
- deps = [
- ':drivetrain_queue',
- '//aos/common/controls:replay_control_loop',
- '//aos/linux_code:init',
- ],
-)
-
-queue_library(
- name = 'drivetrain_queue',
- srcs = [
- 'drivetrain.q',
- ],
- deps = [
- '//aos/common/controls:control_loop_queues',
- ],
-)
-
-cc_library(
- name = 'polydrivetrain_plants',
- srcs = [
- 'polydrivetrain_dog_motor_plant.cc',
- 'drivetrain_dog_motor_plant.cc',
- 'polydrivetrain_cim_plant.cc',
- ],
- hdrs = [
- 'polydrivetrain_dog_motor_plant.h',
- 'drivetrain_dog_motor_plant.h',
- 'polydrivetrain_cim_plant.h',
- ],
- deps = [
- '//frc971/control_loops:state_feedback_loop',
- ],
-)
-
genrule(
name = 'genrule_drivetrain',
visibility = ['//visibility:private'],
@@ -51,47 +12,55 @@
outs = [
'drivetrain_dog_motor_plant.h',
'drivetrain_dog_motor_plant.cc',
+ 'kalman_drivetrain_motor_plant.h',
+ 'kalman_drivetrain_motor_plant.cc',
+ ],
+)
+
+genrule(
+ name = 'genrule_polydrivetrain',
+ visibility = ['//visibility:private'],
+ cmd = '$(location //y2014_bot3/control_loops/python:polydrivetrain) $(OUTS)',
+ tools = [
+ '//y2014_bot3/control_loops/python:polydrivetrain',
+ ],
+ outs = [
+ 'polydrivetrain_dog_motor_plant.h',
+ 'polydrivetrain_dog_motor_plant.cc',
+ 'polydrivetrain_cim_plant.h',
+ 'polydrivetrain_cim_plant.cc',
],
)
cc_library(
- name = 'drivetrain_lib',
- hdrs = [
- 'drivetrain.h',
- ],
+ name = 'polydrivetrain_plants',
srcs = [
- 'drivetrain.cc',
+ '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 = [
- ':polydrivetrain_plants',
- ':drivetrain_queue',
- '//aos/common/controls:control_loop',
- '//aos/common/controls:polytope',
'//frc971/control_loops:state_feedback_loop',
- '//frc971/control_loops:coerce_goal',
- '//frc971/queues:gyro',
- '//aos/common/logging:queue_logging',
- '//aos/common/logging:matrix_logging',
- '//aos/common:math',
- '//aos/common/util:log_interval',
- '//frc971:shifter_hall_effect',
],
)
-cc_test(
- name = 'drivetrain_lib_test',
+cc_library(
+ name = 'drivetrain_base',
srcs = [
- 'drivetrain_lib_test.cc',
+ 'drivetrain_base.cc',
+ ],
+ hdrs = [
+ 'drivetrain_base.h',
],
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',
- '//aos/common/network:team_number',
+ ':polydrivetrain_plants',
+ '//frc971/control_loops/drivetrain:drivetrain_config',
+ '//frc971:shifter_hall_effect',
],
)
@@ -101,8 +70,8 @@
'drivetrain_main.cc',
],
deps = [
- ':drivetrain_lib',
- ':drivetrain_queue',
+ ':drivetrain_base',
'//aos/linux_code:init',
+ '//frc971/control_loops/drivetrain:drivetrain_lib',
],
)