Refactor year-agnostic catapult code to frc971
This breaks up the y2022 catapult code into multiple files and moves
them into the frc971 folder. Year-specific parameters are now
provided via the constructors, and the goal message is moved into
frc971 as well.
Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: I4ea720ae62a7c6c229d6c24a1f08edd7bc5b9728
diff --git a/y2022/control_loops/superstructure/catapult/BUILD b/y2022/control_loops/superstructure/catapult/BUILD
index 36e34bd..84827bf 100644
--- a/y2022/control_loops/superstructure/catapult/BUILD
+++ b/y2022/control_loops/superstructure/catapult/BUILD
@@ -29,35 +29,15 @@
],
)
-cc_library(
- name = "catapult",
- srcs = [
- "catapult.cc",
- ],
- hdrs = [
- "catapult.h",
- ],
- visibility = ["//visibility:public"],
- deps = [
- ":catapult_plants",
- "//aos:realtime",
- "//frc971/zeroing:pot_and_absolute_encoder",
- "//third_party/osqp-cpp",
- "//y2022:constants",
- "//y2022/control_loops/superstructure:superstructure_goal_fbs",
- "//y2022/control_loops/superstructure:superstructure_position_fbs",
- "//y2022/control_loops/superstructure:superstructure_status_fbs",
- ],
-)
-
cc_test(
name = "catapult_test",
srcs = [
"catapult_test.cc",
],
deps = [
- ":catapult",
+ ":catapult_plants",
"//aos/testing:googletest",
+ "//frc971/control_loops/catapult",
],
)
@@ -67,7 +47,8 @@
"catapult_main.cc",
],
deps = [
- ":catapult",
+ ":catapult_plants",
"//aos:init",
+ "//frc971/control_loops/catapult",
],
)