Pulled polydrivetrain out into a separate file.
Change-Id: I315e25dddce79b1db5316634a3934b5e6738fa12
diff --git a/y2014/control_loops/drivetrain/BUILD b/y2014/control_loops/drivetrain/BUILD
index 21d3051..77631af 100644
--- a/y2014/control_loops/drivetrain/BUILD
+++ b/y2014/control_loops/drivetrain/BUILD
@@ -78,6 +78,28 @@
)
cc_library(
+ name = 'polydrivetrain',
+ srcs = [
+ 'polydrivetrain.cc',
+ ],
+ hdrs = [
+ 'polydrivetrain.h',
+ ],
+ deps = [
+ ':drivetrain_queue',
+ '//y2014:constants',
+ '//aos/common/controls:polytope',
+ '//aos/common:math',
+ '//aos/common/messages:robot_state',
+ '//frc971/control_loops:state_feedback_loop',
+ '//frc971/control_loops:coerce_goal',
+ '//aos/common/util:log_interval',
+ '//aos/common/logging:queue_logging',
+ '//aos/common/logging:matrix_logging',
+ ],
+)
+
+cc_library(
name = 'drivetrain_lib',
srcs = [
'drivetrain.cc',
@@ -87,9 +109,9 @@
],
deps = [
':drivetrain_queue',
+ ':polydrivetrain',
'//aos/common/controls:control_loop',
'//y2014:constants',
- '//aos/common/controls:polytope',
'//aos/common:math',
'//frc971/control_loops:state_feedback_loop',
'//frc971/control_loops:coerce_goal',