| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 1 | package(default_visibility = ['//visibility:public']) |
| 2 | |
| Austin Schuh | f073651 | 2015-09-07 01:22:16 -0700 | [diff] [blame] | 3 | load('/aos/build/queues', 'queue_library') |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 4 | |
| 5 | cc_binary( |
| 6 | name = 'replay_drivetrain', |
| 7 | srcs = [ |
| 8 | 'replay_drivetrain.cc', |
| 9 | ], |
| 10 | deps = [ |
| 11 | ':drivetrain_queue', |
| 12 | '//aos/common/controls:replay_control_loop', |
| 13 | '//aos/linux_code:init', |
| 14 | ], |
| 15 | ) |
| 16 | |
| 17 | queue_library( |
| 18 | name = 'drivetrain_queue', |
| 19 | srcs = [ |
| 20 | 'drivetrain.q', |
| 21 | ], |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame^] | 22 | deps = [ |
| 23 | '//aos/common/controls:control_loop_queues', |
| 24 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 25 | ) |
| 26 | |
| 27 | cc_library( |
| 28 | name = 'polydrivetrain_plants', |
| 29 | srcs = [ |
| 30 | 'polydrivetrain_dog_motor_plant.cc', |
| 31 | 'drivetrain_dog_motor_plant.cc', |
| 32 | ], |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame^] | 33 | hdrs = [ |
| 34 | 'polydrivetrain_dog_motor_plant.h', |
| 35 | 'drivetrain_dog_motor_plant.h', |
| 36 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 37 | deps = [ |
| 38 | '//frc971/control_loops:state_feedback_loop', |
| 39 | ], |
| 40 | ) |
| 41 | |
| 42 | cc_library( |
| 43 | name = 'drivetrain_lib', |
| 44 | srcs = [ |
| 45 | 'drivetrain.cc', |
| 46 | 'polydrivetrain_cim_plant.cc', |
| 47 | ], |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame^] | 48 | hdrs = [ |
| 49 | 'drivetrain.h', |
| 50 | 'polydrivetrain_cim_plant.h', |
| 51 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 52 | deps = [ |
| 53 | ':drivetrain_queue', |
| 54 | '//aos/common/controls:control_loop', |
| 55 | '//y2014:constants', |
| 56 | '//aos/common/controls:polytope', |
| 57 | '//frc971/control_loops:state_feedback_loop', |
| 58 | '//frc971/control_loops:coerce_goal', |
| 59 | '//frc971/queues:gyro', |
| 60 | '//aos/common/util:log_interval', |
| 61 | '//aos/common/logging:queue_logging', |
| 62 | '//aos/common/logging:matrix_logging', |
| 63 | ], |
| 64 | ) |
| 65 | |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame^] | 66 | cc_test( |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 67 | name = 'drivetrain_lib_test', |
| 68 | srcs = [ |
| 69 | 'drivetrain_lib_test.cc', |
| 70 | ], |
| 71 | deps = [ |
| 72 | '//third_party/gtest', |
| 73 | ':drivetrain_queue', |
| 74 | ':drivetrain_lib', |
| 75 | '//aos/common/controls:control_loop_test', |
| 76 | '//frc971/control_loops:state_feedback_loop', |
| 77 | '//frc971/queues:gyro', |
| 78 | '//aos/common:queues', |
| 79 | ], |
| 80 | ) |
| 81 | |
| 82 | cc_binary( |
| 83 | name = 'drivetrain', |
| 84 | srcs = [ |
| 85 | 'drivetrain_main.cc', |
| 86 | ], |
| 87 | deps = [ |
| 88 | '//aos/linux_code:init', |
| 89 | ':drivetrain_lib', |
| 90 | ':drivetrain_queue', |
| 91 | ], |
| 92 | ) |