commit a9550c0b62dcfccb17eaa340f947acf8bd486fd8
author Austin Schuh <austin.linux@gmail.com> Sat Oct 19 13:48:10 2024 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Oct 26 14:54:23 2024 -0700
tree ed3a4e13946e32b28530dc08116bf7c172ecd4f8
parent 3d220cb1fd6b88e5a62f9948d67140cb39384453

Make JAX dynamics code not depend on casadi code

Fewer dependencies is better.

Change-Id: I60f931347d27b75038387fde11a42ee98c9c1b99
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

frc971/control_loops/swerve/BUILD

diff --git a/frc971/control_loops/swerve/BUILD b/frc971/control_loops/swerve/BUILD
index 1b8dcc3..513bf1b 100644
--- a/frc971/control_loops/swerve/BUILD
+++ b/frc971/control_loops/swerve/BUILD
@@ -144,12 +144,14 @@
         "dynamics.cc",
         "dynamics.h",
         "dynamics.py",
+        "dynamics_constants.py",
     ],
     args = [
         "--output_base=$(BINDIR)/",
         "--cc_output_path=$(location :dynamics.cc)",
         "--h_output_path=$(location :dynamics.h)",
         "--casadi_py_output_path=$(location :dynamics.py)",
+        "--constants_output_path=$(location :dynamics_constants.py)",
     ],
     tool = ":generate_physics",
 )
@@ -204,10 +206,10 @@
 py_library(
     name = "jax_dynamics",
     srcs = [
+        "dynamics_constants.py",
         "jax_dynamics.py",
     ],
     deps = [
-        ":dynamics",
         "//frc971/control_loops/python:controls",
         "@pip//jax",
     ],