Add turret to intake collision avoidance
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Idca062b4ff7ddca289581baf032736dadbf71e8c
diff --git a/y2024/control_loops/superstructure/BUILD b/y2024/control_loops/superstructure/BUILD
index 0493c9b..6150caa 100644
--- a/y2024/control_loops/superstructure/BUILD
+++ b/y2024/control_loops/superstructure/BUILD
@@ -81,6 +81,7 @@
data = [
],
deps = [
+ ":collision_avoidance_lib",
":shooter",
":superstructure_goal_fbs",
":superstructure_output_fbs",
@@ -113,6 +114,36 @@
],
)
+cc_library(
+ name = "collision_avoidance_lib",
+ srcs = ["collision_avoidance.cc"],
+ hdrs = ["collision_avoidance.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":superstructure_goal_fbs",
+ ":superstructure_status_fbs",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops:profiled_subsystem_fbs",
+ "//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
+ "@com_github_google_glog//:glog",
+ "@com_google_absl//absl/functional:bind_front",
+ ],
+)
+
+cc_test(
+ name = "collision_avoidance_test",
+ srcs = ["collision_avoidance_test.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":collision_avoidance_lib",
+ ":superstructure_goal_fbs",
+ ":superstructure_status_fbs",
+ "//aos:flatbuffers",
+ "//aos:math",
+ "//aos/testing:googletest",
+ ],
+)
+
cc_test(
name = "superstructure_lib_test",
srcs = [
@@ -151,6 +182,7 @@
],
deps = [
":aiming",
+ ":collision_avoidance_lib",
":superstructure_can_position_fbs",
":superstructure_goal_fbs",
":superstructure_position_fbs",