Added shooter loop.
Still needs to actually be tested and tuned on a robot. Passes all of its tests.
diff --git a/frc971/control_loops/control_loops.gyp b/frc971/control_loops/control_loops.gyp
index 18df792..788deff 100644
--- a/frc971/control_loops/control_loops.gyp
+++ b/frc971/control_loops/control_loops.gyp
@@ -2,6 +2,7 @@
'variables': {
'loop_files': [
'DriveTrain.q',
+ 'shooter_motor.q',
]
},
'targets': [
@@ -37,6 +38,48 @@
'includes': ['../../aos/build/queues.gypi'],
},
{
+ 'target_name': 'shooter_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'shooter.cc',
+ 'shooter_motor_plant.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/build/aos.gyp:libaos',
+ 'control_loops',
+ '<(AOS)/common/common.gyp:controls',
+ '<(DEPTH)/frc971/frc971.gyp:common',
+ '<(EXTERNALS):eigen',
+ ],
+ },
+ {
+ 'target_name': 'shooter_lib_test',
+ 'type': 'executable',
+ 'sources': [
+ 'shooter_lib_test.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):gtest',
+ '<(AOS)/build/aos.gyp:libaos',
+ 'control_loops',
+ 'shooter_lib',
+ '<(AOS)/common/common.gyp:queue_testutils',
+ '<(EXTERNALS):eigen',
+ ],
+ },
+ {
+ 'target_name': 'shooter',
+ 'type': 'executable',
+ 'sources': [
+ 'shooter_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/build/aos.gyp:libaos',
+ 'shooter_lib',
+ 'control_loops',
+ ],
+ },
+ {
'target_name': 'DriveTrain',
'type': 'executable',
'sources': [