commit ec635d2559c61c56bd42b1d36a14732d0bcd50f8
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Aug 12 18:39:24 2023 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Aug 25 16:18:28 2023 -0700
tree fe2da5cc9322273e0c5ecdaefdaf70d0137cb5ed
parent bdc6a794d1d9c7682e9720fad7c1b02e95493a9b

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>

y2022_bot3/BUILD

diff --git a/y2022_bot3/BUILD b/y2022_bot3/BUILD
index 29debe7..125ff44 100644
--- a/y2022_bot3/BUILD
+++ b/y2022_bot3/BUILD
@@ -116,6 +116,7 @@
         "//frc971/control_loops:pose",
         "//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
         "//frc971/shooter_interpolation:interpolation",
+        "//frc971/zeroing:pot_and_absolute_encoder",
         "//y2022_bot3/control_loops/drivetrain:polydrivetrain_plants",
         "//y2022_bot3/control_loops/superstructure/climber:climber_plants",
         "//y2022_bot3/control_loops/superstructure/intake:intake_plants",

y2022_bot3/constants.cc

diff --git a/y2022_bot3/constants.cc b/y2022_bot3/constants.cc
index 7ec5187..82982aa 100644
--- a/y2022_bot3/constants.cc
+++ b/y2022_bot3/constants.cc
@@ -12,6 +12,7 @@
 
 #include "aos/mutex/mutex.h"
 #include "aos/network/team_number.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
 #include "y2022_bot3/control_loops/superstructure/climber/integral_climber_plant.h"
 #include "y2022_bot3/control_loops/superstructure/intake/integral_intake_plant.h"
 

y2022_bot3/constants.h

diff --git a/y2022_bot3/constants.h b/y2022_bot3/constants.h
index 2ced38d..a87930f 100644
--- a/y2022_bot3/constants.h
+++ b/y2022_bot3/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_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 #include "y2022_bot3/control_loops/superstructure/climber/climber_plant.h"
 #include "y2022_bot3/control_loops/superstructure/intake/intake_plant.h"

y2022_bot3/control_loops/superstructure/BUILD

diff --git a/y2022_bot3/control_loops/superstructure/BUILD b/y2022_bot3/control_loops/superstructure/BUILD
index 7d89a0a..5b44e2a 100644
--- a/y2022_bot3/control_loops/superstructure/BUILD
+++ b/y2022_bot3/control_loops/superstructure/BUILD
@@ -75,6 +75,7 @@
         "//aos/events:event_loop",
         "//frc971/control_loops:control_loop",
         "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+        "//frc971/zeroing:pot_and_absolute_encoder",
         "//y2022_bot3:constants",
     ],
 )

y2022_bot3/control_loops/superstructure/superstructure.h

diff --git a/y2022_bot3/control_loops/superstructure/superstructure.h b/y2022_bot3/control_loops/superstructure/superstructure.h
index 4f33c3c..13d5dec 100644
--- a/y2022_bot3/control_loops/superstructure/superstructure.h
+++ b/y2022_bot3/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_bot3/constants.h"
 #include "y2022_bot3/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2022_bot3/control_loops/superstructure/superstructure_output_generated.h"