Split up zeroing library BUILD rules
There was no good reason for one build rule to have both the interface
and a bunch of implementations; split it up and make the relevant users
depend on the libraries directly.
Change-Id: If6a0aa49dd7ea588b7325604658bc0594db4aac0
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2020/BUILD b/y2020/BUILD
index 32d392a..7c04d99 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -77,6 +77,9 @@
"//frc971:constants",
"//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
"//frc971/shooter_interpolation:interpolation",
+ "//frc971/zeroing:absolute_and_absolute_encoder",
+ "//frc971/zeroing:absolute_encoder",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2020/control_loops/drivetrain:polydrivetrain_plants",
"//y2020/control_loops/superstructure/accelerator:accelerator_plants",
"//y2020/control_loops/superstructure/control_panel:control_panel_plants",
diff --git a/y2020/constants.cc b/y2020/constants.cc
index 4d9d066..6218f9b 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -12,6 +12,9 @@
#include "aos/network/team_number.h"
#include "aos/stl_mutex/stl_mutex.h"
+#include "frc971/zeroing/absolute_and_absolute_encoder.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2020/control_loops/superstructure/control_panel/integral_control_panel_plant.h"
#include "y2020/control_loops/superstructure/hood/integral_hood_plant.h"
#include "y2020/control_loops/superstructure/intake/integral_intake_plant.h"
diff --git a/y2020/constants.h b/y2020/constants.h
index 83b2cec..7332b4f 100644
--- a/y2020/constants.h
+++ b/y2020/constants.h
@@ -8,6 +8,9 @@
#include "frc971/constants.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "frc971/shooter_interpolation/interpolation.h"
+#include "frc971/zeroing/absolute_and_absolute_encoder.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2020/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2020/control_loops/superstructure/accelerator/accelerator_plant.h"
#include "y2020/control_loops/superstructure/control_panel/control_panel_plant.h"
diff --git a/y2020/control_loops/superstructure/BUILD b/y2020/control_loops/superstructure/BUILD
index d1f20a2..83af834 100644
--- a/y2020/control_loops/superstructure/BUILD
+++ b/y2020/control_loops/superstructure/BUILD
@@ -83,6 +83,9 @@
"//frc971/control_loops:control_loop",
"//frc971/control_loops:control_loops_fbs",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//frc971/zeroing:absolute_and_absolute_encoder",
+ "//frc971/zeroing:absolute_encoder",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2020:constants",
"//y2020/control_loops/superstructure/hood:hood_encoder_zeroing_estimator",
"//y2020/control_loops/superstructure/shooter",
diff --git a/y2020/control_loops/superstructure/hood/BUILD b/y2020/control_loops/superstructure/hood/BUILD
index 437c67a..7983e62 100644
--- a/y2020/control_loops/superstructure/hood/BUILD
+++ b/y2020/control_loops/superstructure/hood/BUILD
@@ -44,6 +44,7 @@
target_compatible_with = ["@platforms//os:linux"],
deps = [
"//frc971/zeroing",
+ "//frc971/zeroing:absolute_and_absolute_encoder",
"//y2020:constants",
],
)
diff --git a/y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.cc b/y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.cc
index dee4461..249dd00 100644
--- a/y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.cc
+++ b/y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.cc
@@ -2,6 +2,8 @@
#include <cmath>
+#include "frc971/zeroing/absolute_and_absolute_encoder.h"
+
namespace y2020::control_loops::superstructure::hood {
HoodEncoderZeroingEstimator::HoodEncoderZeroingEstimator(
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index 5d371fc..8a00bf0 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -5,6 +5,9 @@
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/input/joystick_state_generated.h"
+#include "frc971/zeroing/absolute_and_absolute_encoder.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2020/constants.h"
#include "y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.h"
#include "y2020/control_loops/superstructure/shooter/shooter.h"