Add shooter superstructure code
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Change-Id: I559d79e1308c8ec6d434235e16f0273b4ce09f0d
diff --git a/y2024/control_loops/superstructure/BUILD b/y2024/control_loops/superstructure/BUILD
index 28e4d00..0493c9b 100644
--- a/y2024/control_loops/superstructure/BUILD
+++ b/y2024/control_loops/superstructure/BUILD
@@ -81,6 +81,7 @@
data = [
],
deps = [
+ ":shooter",
":superstructure_goal_fbs",
":superstructure_output_fbs",
":superstructure_position_fbs",
@@ -140,6 +141,52 @@
],
)
+cc_library(
+ name = "shooter",
+ srcs = [
+ "shooter.cc",
+ ],
+ hdrs = [
+ "shooter.h",
+ ],
+ deps = [
+ ":aiming",
+ ":superstructure_can_position_fbs",
+ ":superstructure_goal_fbs",
+ ":superstructure_position_fbs",
+ ":superstructure_status_fbs",
+ "//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
+ "//frc971/control_loops/catapult",
+ "//frc971/control_loops/catapult:catapult_goal_fbs",
+ "//frc971/shooter_interpolation:interpolation",
+ "//frc971/zeroing:pot_and_absolute_encoder",
+ "//y2024:constants",
+ "//y2024/constants:constants_fbs",
+ "//y2024/control_loops/superstructure/altitude:altitude_plants",
+ "//y2024/control_loops/superstructure/catapult:catapult_plants",
+ "//y2024/control_loops/superstructure/turret:turret_plants",
+ ],
+)
+
+cc_library(
+ name = "aiming",
+ srcs = [
+ "aiming.cc",
+ ],
+ hdrs = [
+ "aiming.h",
+ ],
+ deps = [
+ ":superstructure_status_fbs",
+ "//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
+ "//frc971/control_loops/aiming",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//y2024:constants",
+ "//y2024/constants:constants_fbs",
+ "//y2024/control_loops/drivetrain:drivetrain_base",
+ ],
+)
+
cc_binary(
name = "superstructure_replay",
srcs = ["superstructure_replay.cc"],