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/y2022/BUILD b/y2022/BUILD
index f25925e..8d9d901 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -224,6 +224,7 @@
"//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
"//frc971/shooter_interpolation:interpolation",
"//frc971/wpilib:wpilib_utils",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2022/control_loops/drivetrain:polydrivetrain_plants",
"//y2022/control_loops/superstructure/catapult:catapult_plants",
"//y2022/control_loops/superstructure/climber:climber_plants",
diff --git a/y2022/constants.cc b/y2022/constants.cc
index ff1c738..8ba3367 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -13,6 +13,7 @@
#include "aos/mutex/mutex.h"
#include "aos/network/team_number.h"
#include "frc971/wpilib/wpilib_utils.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2022/control_loops/superstructure/catapult/integral_catapult_plant.h"
#include "y2022/control_loops/superstructure/climber/integral_climber_plant.h"
#include "y2022/control_loops/superstructure/intake/integral_intake_plant.h"
diff --git a/y2022/constants.h b/y2022/constants.h
index 62b9b4a..f27b6cd 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -9,6 +9,7 @@
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "frc971/shooter_interpolation/interpolation.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2022/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
#include "y2022/control_loops/superstructure/climber/climber_plant.h"
diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index e0db64c..e370f0e 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -86,6 +86,7 @@
"//aos/events:event_loop",
"//frc971/control_loops:control_loop",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2022:constants",
"//y2022/control_loops/superstructure/catapult",
"//y2022/control_loops/superstructure/turret:aiming",
diff --git a/y2022/control_loops/superstructure/catapult/BUILD b/y2022/control_loops/superstructure/catapult/BUILD
index a43925e..36e34bd 100644
--- a/y2022/control_loops/superstructure/catapult/BUILD
+++ b/y2022/control_loops/superstructure/catapult/BUILD
@@ -41,6 +41,7 @@
deps = [
":catapult_plants",
"//aos:realtime",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//third_party/osqp-cpp",
"//y2022:constants",
"//y2022/control_loops/superstructure:superstructure_goal_fbs",
diff --git a/y2022/control_loops/superstructure/catapult/catapult.h b/y2022/control_loops/superstructure/catapult/catapult.h
index a4c82de..d30e8f5 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.h
+++ b/y2022/control_loops/superstructure/catapult/catapult.h
@@ -5,6 +5,7 @@
#include "glog/logging.h"
#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "osqp++.h"
#include "y2022/constants.h"
#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index 5e3415c..36269e9 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -4,6 +4,7 @@
#include "aos/events/event_loop.h"
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2022/constants.h"
#include "y2022/control_loops/superstructure/catapult/catapult.h"
#include "y2022/control_loops/superstructure/collision_avoidance.h"