Added superstructure and intake classes.
Created the superstucture, intake, and intake controller class,
had to alter some of the intake python and superstructure queue to fit.
Change-Id: Ieabcf288f6dd50c282a3bcb61ec13062f735872b
diff --git a/y2018/control_loops/superstructure/BUILD b/y2018/control_loops/superstructure/BUILD
index 275d46a..c8b0b84 100644
--- a/y2018/control_loops/superstructure/BUILD
+++ b/y2018/control_loops/superstructure/BUILD
@@ -1,17 +1,62 @@
-package(default_visibility = ['//visibility:public'])
+package(default_visibility = ["//visibility:public"])
-load('//aos/build:queues.bzl', 'queue_library')
-
+load("//aos/build:queues.bzl", "queue_library")
queue_library(
- name = 'superstructure_queue',
- srcs = [
- 'superstructure.q',
- ],
- deps = [
- '//aos/common/controls:control_loop_queues',
- '//frc971/control_loops:profiled_subsystem_queue',
- '//frc971/control_loops:queues',
- ],
+ name = "superstructure_queue",
+ srcs = [
+ "superstructure.q",
+ ],
+ deps = [
+ "//aos/common/controls:control_loop_queues",
+ "//frc971/control_loops:queues",
+ ],
)
+cc_library(
+ name = "superstructure_lib",
+ srcs = [
+ "superstructure.cc",
+ ],
+ hdrs = [
+ "superstructure.h",
+ ],
+ deps = [
+ ":superstructure_queue",
+ "//aos/common/controls:control_loop",
+ "//frc971/control_loops:queues",
+ "//y2018:constants",
+ "//y2018/control_loops/superstructure/intake",
+ ],
+)
+
+cc_test(
+ name = "superstructure_lib_test",
+ srcs = [
+ "superstructure_lib_test.cc",
+ ],
+ deps = [
+ ":superstructure_lib",
+ ":superstructure_queue",
+ "//aos/common:math",
+ "//aos/common:queues",
+ "//aos/common:time",
+ "//aos/common/controls:control_loop_test",
+ "//aos/testing:googletest",
+ "//frc971/control_loops:position_sensor_sim",
+ "//frc971/control_loops:team_number_test_environment",
+ "//y2018/control_loops/superstructure/intake:intake_plants",
+ ],
+)
+
+cc_binary(
+ name = "superstructure",
+ srcs = [
+ "superstructure_main.cc",
+ ],
+ deps = [
+ ":superstructure_lib",
+ ":superstructure_queue",
+ "//aos/linux_code:init",
+ ],
+)