Add y2023 folder
2022 Bot specific things were removed
Change-Id: I6563d477a65bf2eae5d39933003742bd372cf82e
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Signed-off-by: Xander Yee <xander.yee@gmail.com>
diff --git a/y2023/BUILD b/y2023/BUILD
index 60764ce..dc3bb67 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -5,24 +5,36 @@
robot_downloader(
name = "pi_download",
binaries = [
+ "//y2020/vision:calibration",
"//y2023/vision:viewer",
"//y2022/localizer:imu_main",
"//y2022/localizer:localizer_main",
+ "//aos/network:web_proxy_main",
"//aos/events/logging:log_cat",
],
data = [
":aos_config",
+ ":message_bridge_client.sh",
+ "//y2022/www:www_files",
+ "@ctre_phoenix_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenix_cci_athena//:shared_libraries",
],
dirs = [
- "//y2022/www:www_files",
+ "//y2023/www:www_files",
],
start_binaries = [
- "//aos/events/logging:logger_main",
"//aos/network:message_bridge_client",
"//aos/network:message_bridge_server",
"//aos/network:web_proxy_main",
"//aos/starter:irq_affinity",
"//y2023/vision:camera_reader",
+ "//aos/events/logging:logger_main",
+ ":joystick_reader",
+ ":wpilib_interface",
+ "//y2023/autonomous:binaries",
+ "//y2023/control_loops/drivetrain:drivetrain",
+ "//y2023/control_loops/drivetrain:trajectory_generator",
+ "//y2023/control_loops/superstructure:superstructure",
],
target_compatible_with = ["//tools/platforms/hardware:raspberry_pi"],
target_type = "pi",
@@ -60,7 +72,9 @@
"//aos/network:message_bridge_server_fbs",
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
+ "//y2022/localizer:localizer_output_fbs",
"//frc971/vision:vision_fbs",
+ "//y2023/vision:calibration_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
@@ -86,6 +100,9 @@
"//aos/network:message_bridge_server_fbs",
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
+ "//y2022/localizer:localizer_status_fbs",
+ "//y2022/localizer:localizer_output_fbs",
+ "//y2022/localizer:localizer_visualization_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
@@ -104,6 +121,7 @@
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
"//frc971/vision:vision_fbs",
+ "//y2023/vision:calibration_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
@@ -123,6 +141,10 @@
"//aos/network:message_bridge_server_fbs",
"//aos/network:timestamp_fbs",
"//y2019/control_loops/drivetrain:target_selector_fbs",
+ "//y2023/control_loops/superstructure:superstructure_goal_fbs",
+ "//y2023/control_loops/superstructure:superstructure_output_fbs",
+ "//y2023/control_loops/superstructure:superstructure_position_fbs",
+ "//y2023/control_loops/superstructure:superstructure_status_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
deps = [
@@ -143,3 +165,108 @@
)
for num in range(1, 6)
]
+
+cc_library(
+ name = "constants",
+ srcs = [
+ "constants.cc",
+ ],
+ hdrs = [
+ "constants.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/mutex",
+ "//aos/network:team_number",
+ "//frc971:constants",
+ "//frc971/control_loops:pose",
+ "//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
+ "//frc971/shooter_interpolation:interpolation",
+ "//y2023/control_loops/drivetrain:polydrivetrain_plants",
+ "@com_github_google_glog//:glog",
+ "@com_google_absl//absl/base",
+ ],
+)
+
+cc_binary(
+ name = "wpilib_interface",
+ srcs = [
+ "wpilib_interface.cc",
+ ],
+ target_compatible_with = ["//tools/platforms/hardware:roborio"],
+ deps = [
+ ":constants",
+ "//aos:init",
+ "//aos:math",
+ "//aos/events:shm_event_loop",
+ "//aos/logging",
+ "//aos/stl_mutex",
+ "//aos/time",
+ "//aos/util:log_interval",
+ "//aos/util:phased_loop",
+ "//aos/util:wrapping_counter",
+ "//frc971/autonomous:auto_mode_fbs",
+ "//frc971/control_loops:control_loop",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
+ "//frc971/input:robot_state_fbs",
+ "//frc971/queues:gyro_fbs",
+ "//frc971/wpilib:ADIS16448",
+ "//frc971/wpilib:buffered_pcm",
+ "//frc971/wpilib:drivetrain_writer",
+ "//frc971/wpilib:encoder_and_potentiometer",
+ "//frc971/wpilib:interrupt_edge_counting",
+ "//frc971/wpilib:joystick_sender",
+ "//frc971/wpilib:logging_fbs",
+ "//frc971/wpilib:loop_output_handler",
+ "//frc971/wpilib:pdp_fetcher",
+ "//frc971/wpilib:sensor_reader",
+ "//frc971/wpilib:wpilib_interface",
+ "//frc971/wpilib:wpilib_robot_base",
+ "//third_party:phoenix",
+ "//third_party:wpilib",
+ "//y2023/control_loops/superstructure:superstructure_output_fbs",
+ "//y2023/control_loops/superstructure:superstructure_position_fbs",
+ ],
+)
+
+cc_binary(
+ name = "joystick_reader",
+ srcs = [
+ ":joystick_reader.cc",
+ ],
+ deps = [
+ ":constants",
+ "//aos:init",
+ "//aos/actions:action_lib",
+ "//aos/logging",
+ "//frc971/autonomous:auto_fbs",
+ "//frc971/autonomous:base_autonomous_actor",
+ "//frc971/control_loops:profiled_subsystem_fbs",
+ "//frc971/input:action_joystick_input",
+ "//frc971/input:drivetrain_input",
+ "//frc971/input:joystick_input",
+ "//y2023/control_loops/drivetrain:drivetrain_base",
+ "//y2023/control_loops/superstructure:superstructure_goal_fbs",
+ "//y2023/control_loops/superstructure:superstructure_status_fbs",
+ ],
+)
+
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+sh_binary(
+ name = "log_web_proxy",
+ srcs = ["log_web_proxy.sh"],
+ data = [
+ ":aos_config",
+ "//aos/network:log_web_proxy_main",
+ "//y2023/www:field_main_bundle.min.js",
+ "//y2023/www:files",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)