Adds third robot drivetrain and python files
Change-Id: I9fd85d28478054fe66b152e68b50ff567e9811e2
diff --git a/y2018_bot3/control_loops/drivetrain/BUILD b/y2018_bot3/control_loops/drivetrain/BUILD
new file mode 100644
index 0000000..19edec6
--- /dev/null
+++ b/y2018_bot3/control_loops/drivetrain/BUILD
@@ -0,0 +1,73 @@
+load('//aos/build:queues.bzl', 'queue_library')
+
+genrule(
+ name = 'genrule_drivetrain',
+ cmd = '$(location //y2018_bot3/control_loops/python:drivetrain) $(OUTS)',
+ tools = [
+ '//y2018_bot3/control_loops/python:drivetrain',
+ ],
+ outs = [
+ 'drivetrain_dog_motor_plant.h',
+ 'drivetrain_dog_motor_plant.cc',
+ 'kalman_drivetrain_motor_plant.h',
+ 'kalman_drivetrain_motor_plant.cc',
+ ],
+)
+
+genrule(
+ name = 'genrule_polydrivetrain',
+ cmd = '$(location //y2018_bot3/control_loops/python:polydrivetrain) $(OUTS)',
+ tools = [
+ '//y2018_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 = 'polydrivetrain_plants',
+ srcs = [
+ '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 = [
+ '//frc971/control_loops:state_feedback_loop',
+ ],
+)
+
+cc_library(
+ name = 'drivetrain_base',
+ srcs = [
+ 'drivetrain_base.cc',
+ ],
+ hdrs = [
+ 'drivetrain_base.h',
+ ],
+ deps = [
+ ':polydrivetrain_plants',
+ '//frc971/control_loops/drivetrain:drivetrain_config',
+ '//frc971:shifter_hall_effect',
+ ],
+)
+
+cc_binary(
+ name = 'drivetrain',
+ srcs = [
+ 'drivetrain_main.cc',
+ ],
+ deps = [
+ ':drivetrain_base',
+ '//aos/linux_code:init',
+ '//frc971/control_loops/drivetrain:drivetrain_lib',
+ ],
+)