Moved wrist loop to a subfolder.
diff --git a/frc971/atom_code/atom_code.gyp b/frc971/atom_code/atom_code.gyp
index e0f9bb2..8004da3 100644
--- a/frc971/atom_code/atom_code.gyp
+++ b/frc971/atom_code/atom_code.gyp
@@ -6,8 +6,8 @@
'dependencies': [
'<(AOS)/build/aos_all.gyp:Atom',
'../control_loops/control_loops.gyp:DriveTrain',
- '../control_loops/control_loops.gyp:wrist',
- '../control_loops/control_loops.gyp:wrist_lib_test',
+ '../control_loops/wrist/wrist.gyp:wrist',
+ '../control_loops/wrist/wrist.gyp:wrist_lib_test',
'../input/input.gyp:JoystickReader',
'../input/input.gyp:SensorReader',
'../input/input.gyp:GyroReader',
diff --git a/frc971/control_loops/control_loops.gyp b/frc971/control_loops/control_loops.gyp
index bada490..18df792 100644
--- a/frc971/control_loops/control_loops.gyp
+++ b/frc971/control_loops/control_loops.gyp
@@ -2,7 +2,6 @@
'variables': {
'loop_files': [
'DriveTrain.q',
- 'wrist_motor.q',
]
},
'targets': [
@@ -38,53 +37,6 @@
'includes': ['../../aos/build/queues.gypi'],
},
{
- 'target_name': 'wrist_lib',
- 'type': 'static_library',
- 'sources': [
- 'wrist.cc',
- 'wrist_motor_plant.cc',
- ],
- 'dependencies': [
- '<(AOS)/build/aos.gyp:libaos',
- 'control_loops',
- '<(AOS)/common/common.gyp:controls',
- '<(DEPTH)/frc971/frc971.gyp:common',
- 'state_feedback_loop',
- ],
- 'export_dependent_settings': [
- 'state_feedback_loop',
- '<(AOS)/common/common.gyp:controls',
- 'control_loops',
- ],
- },
- {
- 'target_name': 'wrist_lib_test',
- 'type': 'executable',
- 'sources': [
- 'wrist_lib_test.cc',
- ],
- 'dependencies': [
- '<(EXTERNALS):gtest',
- '<(AOS)/build/aos.gyp:libaos',
- 'control_loops',
- 'wrist_lib',
- '<(AOS)/common/common.gyp:queue_testutils',
- 'state_feedback_loop',
- ],
- },
- {
- 'target_name': 'wrist',
- 'type': 'executable',
- 'sources': [
- 'wrist_main.cc',
- ],
- 'dependencies': [
- '<(AOS)/build/aos.gyp:libaos',
- 'wrist_lib',
- 'control_loops',
- ],
- },
- {
'target_name': 'DriveTrain',
'type': 'executable',
'sources': [
diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index aa177ed..6704526 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -16,12 +16,13 @@
self._namespace_end = ("} // namespace frc971\n"
"} // namespace control_loops\n")
- self._header_start = ("#ifndef FRC971_CONTROL_LOOPS_%s_MOTOR_PLANT_H_\n"
- "#define FRC971_CONTROL_LOOPS_%s_MOTOR_PLANT_H_\n\n"
- % (self._name.upper(), self._name.upper()))
+ self._header_start = ("#ifndef FRC971_CONTROL_LOOPS_%s_%s_MOTOR_PLANT_H_\n"
+ "#define FRC971_CONTROL_LOOPS_%s_%s_MOTOR_PLANT_H_\n\n"
+ % (self._name.upper(), self._name.upper(),
+ self._name.upper(), self._name.upper()))
- self._header_end = ("#endif // FRC971_CONTROL_LOOPS_%s_MOTOR_PLANT_H_\n"
- % (self._name.upper()))
+ self._header_end = ("#endif // FRC971_CONTROL_LOOPS_%s_%s_MOTOR_PLANT_H_\n"
+ % (self._name.upper(), self._name.upper()))
def ContinuousToDiscrete(self, A_continuous, B_continuous, dt, C):
"""Calculates the discrete time values for A and B as well as initializing
diff --git a/frc971/control_loops/wrist.cc b/frc971/control_loops/wrist/wrist.cc
similarity index 98%
rename from frc971/control_loops/wrist.cc
rename to frc971/control_loops/wrist/wrist.cc
index 5bdce25..4e116c7 100644
--- a/frc971/control_loops/wrist.cc
+++ b/frc971/control_loops/wrist/wrist.cc
@@ -1,4 +1,4 @@
-#include "frc971/control_loops/wrist.h"
+#include "frc971/control_loops/wrist/wrist.h"
#include <stdio.h>
@@ -11,7 +11,7 @@
#include "aos/common/logging/logging.h"
#include "frc971/constants.h"
-#include "frc971/control_loops/wrist_motor_plant.h"
+#include "frc971/control_loops/wrist/wrist_motor_plant.h"
namespace frc971 {
namespace control_loops {
diff --git a/frc971/control_loops/wrist/wrist.gyp b/frc971/control_loops/wrist/wrist.gyp
new file mode 100644
index 0000000..7c16577
--- /dev/null
+++ b/frc971/control_loops/wrist/wrist.gyp
@@ -0,0 +1,70 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'wrist_loop',
+ 'type': 'static_library',
+ 'sources': ['wrist_motor.q'],
+ 'variables': {
+ 'header_path': 'frc971/control_loops/wrist',
+ },
+ 'dependencies': [
+ '<(AOS)/build/aos.gyp:libaos',
+ '<(AOS)/common/common.gyp:control_loop_queues',
+ '<(AOS)/common/common.gyp:queues',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/build/aos.gyp:libaos',
+ '<(AOS)/common/common.gyp:control_loop_queues',
+ '<(AOS)/common/common.gyp:queues',
+ ],
+ 'includes': ['../../../aos/build/queues.gypi'],
+ },
+ {
+ 'target_name': 'wrist_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'wrist.cc',
+ 'wrist_motor_plant.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/build/aos.gyp:libaos',
+ 'wrist_loop',
+ '<(AOS)/common/common.gyp:controls',
+ '<(DEPTH)/frc971/frc971.gyp:common',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ ],
+ 'export_dependent_settings': [
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ '<(AOS)/common/common.gyp:controls',
+ 'wrist_loop',
+ ],
+ },
+ {
+ 'target_name': 'wrist_lib_test',
+ 'type': 'executable',
+ 'sources': [
+ 'wrist_lib_test.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):gtest',
+ '<(AOS)/build/aos.gyp:libaos',
+ 'wrist_loop',
+ 'wrist_lib',
+ '<(AOS)/common/common.gyp:queue_testutils',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+ ],
+ },
+ {
+ 'target_name': 'wrist',
+ 'type': 'executable',
+ 'sources': [
+ 'wrist_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/build/aos.gyp:libaos',
+ 'wrist_lib',
+ 'wrist_loop',
+ ],
+ },
+ ],
+}
diff --git a/frc971/control_loops/wrist.h b/frc971/control_loops/wrist/wrist.h
similarity index 96%
rename from frc971/control_loops/wrist.h
rename to frc971/control_loops/wrist/wrist.h
index 99d9920..250f536 100644
--- a/frc971/control_loops/wrist.h
+++ b/frc971/control_loops/wrist/wrist.h
@@ -5,8 +5,8 @@
#include "aos/common/control_loop/ControlLoop.h"
#include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/control_loops/wrist_motor.q.h"
-#include "frc971/control_loops/wrist_motor_plant.h"
+#include "frc971/control_loops/wrist/wrist_motor.q.h"
+#include "frc971/control_loops/wrist/wrist_motor_plant.h"
namespace frc971 {
namespace control_loops {
diff --git a/frc971/control_loops/wrist_lib_test.cc b/frc971/control_loops/wrist/wrist_lib_test.cc
similarity index 98%
rename from frc971/control_loops/wrist_lib_test.cc
rename to frc971/control_loops/wrist/wrist_lib_test.cc
index 2e329af..8e852c1 100644
--- a/frc971/control_loops/wrist_lib_test.cc
+++ b/frc971/control_loops/wrist/wrist_lib_test.cc
@@ -5,8 +5,8 @@
#include "gtest/gtest.h"
#include "aos/common/queue.h"
#include "aos/common/queue_testutils.h"
-#include "frc971/control_loops/wrist_motor.q.h"
-#include "frc971/control_loops/wrist.h"
+#include "frc971/control_loops/wrist/wrist_motor.q.h"
+#include "frc971/control_loops/wrist/wrist.h"
#include "frc971/constants.h"
diff --git a/frc971/control_loops/wrist_main.cc b/frc971/control_loops/wrist/wrist_main.cc
similarity index 76%
rename from frc971/control_loops/wrist_main.cc
rename to frc971/control_loops/wrist/wrist_main.cc
index 0c0b66d..8585180 100644
--- a/frc971/control_loops/wrist_main.cc
+++ b/frc971/control_loops/wrist/wrist_main.cc
@@ -1,4 +1,4 @@
-#include "frc971/control_loops/wrist.h"
+#include "frc971/control_loops/wrist/wrist.h"
#include "aos/aos_core.h"
diff --git a/frc971/control_loops/wrist_motor.q b/frc971/control_loops/wrist/wrist_motor.q
similarity index 100%
rename from frc971/control_loops/wrist_motor.q
rename to frc971/control_loops/wrist/wrist_motor.q
diff --git a/frc971/control_loops/wrist_motor_plant.cc b/frc971/control_loops/wrist/wrist_motor_plant.cc
similarity index 93%
rename from frc971/control_loops/wrist_motor_plant.cc
rename to frc971/control_loops/wrist/wrist_motor_plant.cc
index 56e141f..3998cae 100644
--- a/frc971/control_loops/wrist_motor_plant.cc
+++ b/frc971/control_loops/wrist/wrist_motor_plant.cc
@@ -1,4 +1,4 @@
-#include "frc971/control_loops/wrist_motor_plant.h"
+#include "frc971/control_loops/wrist/wrist_motor_plant.h"
#include "frc971/control_loops/state_feedback_loop.h"
diff --git a/frc971/control_loops/wrist/wrist_motor_plant.h b/frc971/control_loops/wrist/wrist_motor_plant.h
new file mode 100644
index 0000000..f2b3ac9
--- /dev/null
+++ b/frc971/control_loops/wrist/wrist_motor_plant.h
@@ -0,0 +1,16 @@
+#ifndef FRC971_CONTROL_LOOPS_WRIST_WRIST_MOTOR_PLANT_H_
+#define FRC971_CONTROL_LOOPS_WRIST_WRIST_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlant<2, 1, 1> MakeWristPlant();
+
+StateFeedbackLoop<2, 1, 1> MakeWristLoop();
+
+} // namespace frc971
+} // namespace control_loops
+
+#endif // FRC971_CONTROL_LOOPS_WRIST_WRIST_MOTOR_PLANT_H_
diff --git a/frc971/control_loops/wrist_motor_plant.h b/frc971/control_loops/wrist_motor_plant.h
deleted file mode 100644
index c692770..0000000
--- a/frc971/control_loops/wrist_motor_plant.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#ifndef FRC971_CONTROL_LOOPS_WRIST_MOTOR_PLANT_H_
-#define FRC971_CONTROL_LOOPS_WRIST_MOTOR_PLANT_H_
-
-#include "frc971/control_loops/state_feedback_loop.h"
-
-namespace frc971 {
-namespace control_loops {
-
-StateFeedbackPlant<2, 1, 1> MakeWristPlant();
-
-StateFeedbackLoop<2, 1, 1> MakeWristLoop();
-
-} // namespace frc971
-} // namespace control_loops
-
-#endif // FRC971_CONTROL_LOOPS_WRIST_MOTOR_PLANT_H_