commit cb091717cd465dfca867172266b68108c74b8251
author Austin Schuh <austin.linux@gmail.com> Wed Feb 21 20:01:55 2018 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 03 00:00:56 2018 -0800
tree c0f957acb0e86cf94e4f2b4089963e767922e371
parent f853bded2f6c029448a01389fd481aeec43a0db1

Arm works

Added gravity and calibrated it.  Terifying...

Change-Id: I70babb1cd3b83ddd7a81f06fb2a75cefd55bcdb8

y2018/control_loops/superstructure/arm/BUILD

diff --git a/y2018/control_loops/superstructure/arm/BUILD b/y2018/control_loops/superstructure/arm/BUILD
index 57b60e6..997d940 100644
--- a/y2018/control_loops/superstructure/arm/BUILD
+++ b/y2018/control_loops/superstructure/arm/BUILD
@@ -9,6 +9,7 @@
     visibility = ["//visibility:public"],
     deps = [
         ":dynamics",
+        "//aos/common/logging",
         "//frc971/control_loops:dlqr",
         "//frc971/control_loops:jacobian",
         "//third_party/eigen",
@@ -42,6 +43,7 @@
     deps = [
         "//frc971/control_loops:runge_kutta",
         "//third_party/eigen",
+        "//third_party/gflags",
     ],
 )
 
@@ -76,6 +78,7 @@
         ":ekf",
         ":trajectory",
         "//third_party/eigen",
+        "//third_party/gflags",
         "//third_party/matplotlib-cpp",
     ],
 )
@@ -110,3 +113,24 @@
         "//aos/testing:googletest",
     ],
 )
+
+cc_library(
+    name = "arm",
+    srcs = [
+        "arm.cc",
+    ],
+    hdrs = [
+        "arm.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":demo_path",
+        ":ekf",
+        ":graph",
+        ":trajectory",
+        "//aos/common/logging:queue_logging",
+        "//frc971/zeroing",
+        "//y2018:constants",
+        "//y2018/control_loops/superstructure:superstructure_queue",
+    ],
+)