commit 9d92e6bdeb9790ec502b2b9cb37ec60be179adb1
author Austin Schuh <austin.linux@gmail.com> Tue Oct 17 01:19:38 2017 -0700
committer Austin Schuh <austin.linux@gmail.com> Tue Oct 17 23:31:33 2017 -0700
tree f95f69c82fb2377fcf839e6b2f4db435b1fe11e7
parent 1fe4fb4a39a25b6f27c2a432eacd97381c8704a7

Upgraded to bazel 0.6.1

Enable cpu environments so we can drop the NO_BUILD_* files!!!

Change-Id: I904612c5dcc1a1cd285e160c0836b7249ab5ce72

y2016_bot3/control_loops/intake/intake.cc

diff --git a/y2016_bot3/control_loops/intake/intake.cc b/y2016_bot3/control_loops/intake/intake.cc
index 6fee1d2..3479ab5 100644
--- a/y2016_bot3/control_loops/intake/intake.cc
+++ b/y2016_bot3/control_loops/intake/intake.cc
@@ -170,8 +170,10 @@
   // Calculate the loops for a cycle.
   {
     Eigen::Matrix<double, 3, 1> error = intake_.controller().error();
-    status->intake.position_power = intake_.controller().K(0, 0) * error(0, 0);
-    status->intake.velocity_power = intake_.controller().K(0, 1) * error(1, 0);
+    status->intake.position_power =
+        intake_.controller().controller().K(0, 0) * error(0, 0);
+    status->intake.velocity_power =
+        intake_.controller().controller().K(0, 1) * error(1, 0);
   }
 
   intake_.Update(disable);

y2016_bot3/control_loops/intake/intake_lib_test.cc

diff --git a/y2016_bot3/control_loops/intake/intake_lib_test.cc b/y2016_bot3/control_loops/intake/intake_lib_test.cc
index 48b6946..0ec036b 100644
--- a/y2016_bot3/control_loops/intake/intake_lib_test.cc
+++ b/y2016_bot3/control_loops/intake/intake_lib_test.cc
@@ -28,10 +28,10 @@
   explicit IntakePlant(StateFeedbackPlant<2, 1, 1> &&other)
       : StateFeedbackPlant<2, 1, 1>(::std::move(other)) {}
 
-  void CheckU() override {
-    for (int i = 0; i < kNumInputs; ++i) {
-      assert(U(i, 0) <= U_max(i, 0) + 0.00001 + voltage_offset_);
-      assert(U(i, 0) >= U_min(i, 0) - 0.00001 + voltage_offset_);
+  void CheckU(const Eigen::Matrix<double, 1, 1> &U) override {
+    if (U(0, 0) > U_max(0, 0) + 0.00001 + voltage_offset_ ||
+        U(0, 0) < U_min(0, 0) - 0.00001 + voltage_offset_) {
+      LOG(FATAL, "U out of range\n");
     }
   }
 
@@ -94,8 +94,8 @@
     EXPECT_TRUE(intake_queue_.output.FetchLatest());
 
     // Feed voltages into physics simulation.
-    intake_plant_->mutable_U() << intake_queue_.output->voltage_intake +
-                                      intake_plant_->voltage_offset();
+    Eigen::Matrix<double, 1, 1> U;
+    U << intake_queue_.output->voltage_intake + intake_plant_->voltage_offset();
 
     // Verify that the correct power limits are being respected depending on
     // which mode we are in.
@@ -110,7 +110,7 @@
 
     // Use the plant to generate the next physical state given the voltages to
     // the motors.
-    intake_plant_->Update();
+    intake_plant_->Update(U);
 
     const double angle_intake = intake_plant_->Y(0, 0);
 

y2016_bot3/control_loops/python/BUILD

diff --git a/y2016_bot3/control_loops/python/BUILD b/y2016_bot3/control_loops/python/BUILD
index 1c2ef63..00cb7e7 100644
--- a/y2016_bot3/control_loops/python/BUILD
+++ b/y2016_bot3/control_loops/python/BUILD
@@ -10,6 +10,7 @@
     '//external:python-glog',
     '//frc971/control_loops/python:controls',
   ],
+  restricted_to = ['//tools:k8'],
 )
 
 py_binary(
@@ -23,6 +24,7 @@
     '//external:python-glog',
     '//frc971/control_loops/python:controls',
   ],
+  restricted_to = ['//tools:k8'],
 )
 
 py_library(
@@ -36,6 +38,7 @@
     '//external:python-glog',
     '//frc971/control_loops/python:controls',
   ],
+  restricted_to = ['//tools:k8'],
 )
 
 py_binary(
@@ -49,6 +52,7 @@
     '//external:python-glog',
     '//frc971/control_loops/python:controls',
   ],
+  restricted_to = ['//tools:k8'],
 )
 
 py_library(
@@ -62,4 +66,5 @@
     '//external:python-glog',
     '//frc971/control_loops/python:controls',
   ],
+  restricted_to = ['//tools:k8'],
 )