Add shooter class and python.
Change-Id: I27b4c8f282a0b80344a7df59cf3b04569d9c8110
diff --git a/y2020/control_loops/superstructure/shooter/BUILD b/y2020/control_loops/superstructure/shooter/BUILD
new file mode 100644
index 0000000..d63231b
--- /dev/null
+++ b/y2020/control_loops/superstructure/shooter/BUILD
@@ -0,0 +1,58 @@
+package(default_visibility = ["//visibility:public"])
+
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+
+cc_library(
+ name = "shooter_plants",
+ srcs = [
+ "//y2020/control_loops/superstructure/accelerator:accelerator_integral_plant.cc",
+ "//y2020/control_loops/superstructure/accelerator:accelerator_plant.cc",
+ "//y2020/control_loops/superstructure/finisher:finisher_integral_plant.cc",
+ "//y2020/control_loops/superstructure/finisher:finisher_plant.cc",
+ ],
+ hdrs = [
+ "//y2020/control_loops/superstructure/accelerator:accelerator_integral_plant.h",
+ "//y2020/control_loops/superstructure/accelerator:accelerator_plant.h",
+ "//y2020/control_loops/superstructure/finisher:finisher_integral_plant.h",
+ "//y2020/control_loops/superstructure/finisher:finisher_plant.h",
+ ],
+ deps = [
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)
+
+cc_library(
+ name = "shooter",
+ srcs = [
+ "shooter.cc",
+ ],
+ hdrs = [
+ "shooter.h",
+ ],
+ deps = [
+ ":flywheel_controller",
+ "//aos/controls:control_loop",
+ "//frc971/control_loops:profiled_subsystem",
+ "//y2020/control_loops/superstructure:superstructure_goal_fbs",
+ "//y2020/control_loops/superstructure:superstructure_output_fbs",
+ "//y2020/control_loops/superstructure:superstructure_position_fbs",
+ "//y2020/control_loops/superstructure:superstructure_status_fbs",
+ ],
+)
+
+cc_library(
+ name = "flywheel_controller",
+ srcs = [
+ "flywheel_controller.cc",
+ ],
+ hdrs = [
+ "flywheel_controller.h",
+ ],
+ deps = [
+ ":shooter_plants",
+ "//aos/controls:control_loop",
+ "//frc971/control_loops:profiled_subsystem",
+ "//y2020/control_loops/superstructure:superstructure_goal_fbs",
+ "//y2020/control_loops/superstructure:superstructure_status_fbs",
+ ],
+)