| milind-u | 3738518 | 2023-02-20 15:07:28 -0800 | [diff] [blame] | 1 | cc_library( |
| 2 | name = "arm", |
| 3 | srcs = [ |
| 4 | "arm.cc", |
| 5 | ], |
| 6 | hdrs = [ |
| 7 | "arm.h", |
| 8 | ], |
| 9 | target_compatible_with = ["@platforms//os:linux"], |
| 10 | visibility = ["//visibility:public"], |
| 11 | deps = [ |
| 12 | ":generated_graph", |
| 13 | "//frc971/control_loops/double_jointed_arm:demo_path", |
| 14 | "//frc971/control_loops/double_jointed_arm:ekf", |
| 15 | "//frc971/control_loops/double_jointed_arm:graph", |
| 16 | "//frc971/control_loops/double_jointed_arm:trajectory", |
| 17 | "//frc971/zeroing", |
| 18 | "//y2023:constants", |
| 19 | "//y2023/control_loops/superstructure:superstructure_position_fbs", |
| 20 | "//y2023/control_loops/superstructure:superstructure_status_fbs", |
| 21 | "//y2023/control_loops/superstructure/arm:arm_constants", |
| 22 | ], |
| 23 | ) |
| 24 | |
| 25 | genrule( |
| 26 | name = "generated_graph_genrule", |
| 27 | outs = [ |
| 28 | "generated_graph.h", |
| 29 | "generated_graph.cc", |
| 30 | ], |
| 31 | cmd = "$(location //y2023/control_loops/python:graph_codegen) $(OUTS)", |
| 32 | target_compatible_with = ["@platforms//os:linux"], |
| 33 | tools = [ |
| 34 | "//y2023/control_loops/python:graph_codegen", |
| 35 | ], |
| 36 | ) |
| 37 | |
| 38 | cc_library( |
| 39 | name = "generated_graph", |
| 40 | srcs = [ |
| 41 | "generated_graph.cc", |
| 42 | ], |
| 43 | hdrs = ["generated_graph.h"], |
| 44 | copts = [ |
| 45 | "-O1", |
| 46 | ], |
| 47 | target_compatible_with = ["@platforms//os:linux"], |
| 48 | visibility = ["//visibility:public"], |
| 49 | deps = [ |
| 50 | ":arm_constants", |
| 51 | "//frc971/control_loops/double_jointed_arm:graph", |
| 52 | "//frc971/control_loops/double_jointed_arm:trajectory", |
| 53 | ], |
| 54 | ) |
| 55 | |
| 56 | cc_library( |
| 57 | name = "arm_constants", |
| 58 | hdrs = ["arm_constants.h"], |
| 59 | target_compatible_with = ["@platforms//os:linux"], |
| 60 | visibility = ["//visibility:public"], |
| 61 | deps = [ |
| 62 | "//frc971/control_loops/double_jointed_arm:dynamics", |
| 63 | ], |
| 64 | ) |
| milind-u | 0a7d28d | 2023-02-20 17:44:37 -0800 | [diff] [blame^] | 65 | |
| 66 | cc_binary( |
| 67 | name = "arm_design", |
| 68 | srcs = [ |
| 69 | "arm_design.cc", |
| 70 | ], |
| 71 | target_compatible_with = ["@platforms//os:linux"], |
| 72 | deps = [ |
| 73 | ":arm_constants", |
| 74 | "//aos:init", |
| 75 | "//frc971/analysis:in_process_plotter", |
| 76 | "//frc971/control_loops:dlqr", |
| 77 | "//frc971/control_loops:jacobian", |
| 78 | "//frc971/control_loops/double_jointed_arm:dynamics", |
| 79 | ], |
| 80 | ) |