| Brian Silverman | 4a93ed5 | 2015-10-12 13:48:49 -0400 | [diff] [blame] | 1 | package(default_visibility = ['//visibility:public']) |
| 2 | |
| 3 | load('/aos/build/queues', 'queue_library') |
| 4 | |
| 5 | cc_binary( |
| 6 | name = 'replay_drivetrain_bot3', |
| 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 | ], |
| 22 | deps = [ |
| 23 | '//aos/common/controls:control_loop_queues', |
| 24 | ], |
| 25 | ) |
| 26 | |
| 27 | cc_library( |
| 28 | name = 'polydrivetrain_plants', |
| 29 | srcs = [ |
| 30 | 'polydrivetrain_dog_motor_plant.cc', |
| 31 | 'drivetrain_dog_motor_plant.cc', |
| 32 | ], |
| 33 | hdrs = [ |
| 34 | 'polydrivetrain_dog_motor_plant.h', |
| 35 | 'drivetrain_dog_motor_plant.h', |
| 36 | ], |
| 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 | 'drivetrain_dog_motor_plant.cc', |
| 48 | 'polydrivetrain_dog_motor_plant.cc', |
| 49 | ], |
| 50 | hdrs = [ |
| 51 | 'drivetrain.h', |
| 52 | 'polydrivetrain_cim_plant.h', |
| 53 | 'drivetrain_dog_motor_plant.h', |
| 54 | 'polydrivetrain_dog_motor_plant.h', |
| 55 | ], |
| 56 | deps = [ |
| 57 | ':drivetrain_queue', |
| 58 | '//aos/common/controls:control_loop', |
| 59 | '//aos/common/controls:polytope', |
| 60 | '//frc971/control_loops:state_feedback_loop', |
| 61 | '//frc971/control_loops:coerce_goal', |
| 62 | '//frc971/queues:gyro', |
| Austin Schuh | 044e18b | 2015-10-21 20:17:09 -0700 | [diff] [blame] | 63 | '//frc971:shifter_hall_effect', |
| Brian Silverman | 4a93ed5 | 2015-10-12 13:48:49 -0400 | [diff] [blame] | 64 | '//aos/common/util:log_interval', |
| Austin Schuh | 044e18b | 2015-10-21 20:17:09 -0700 | [diff] [blame] | 65 | '//aos/common:math', |
| Brian Silverman | 4a93ed5 | 2015-10-12 13:48:49 -0400 | [diff] [blame] | 66 | '//aos/common/logging:queue_logging', |
| 67 | '//aos/common/logging:matrix_logging', |
| 68 | ], |
| 69 | ) |
| 70 | |
| 71 | cc_binary( |
| 72 | name = 'drivetrain_lib_test_bot3', |
| 73 | srcs = [ |
| 74 | 'drivetrain_lib_test.cc', |
| 75 | ], |
| 76 | deps = [ |
| 77 | '//third_party/googletest', |
| 78 | ':drivetrain_queue', |
| 79 | ':drivetrain_lib', |
| 80 | '//aos/common/controls:control_loop_test', |
| 81 | '//frc971/control_loops:state_feedback_loop', |
| 82 | '//frc971/queues:gyro', |
| 83 | '//aos/common:queues', |
| 84 | '//aos/common/network:team_number', |
| 85 | ], |
| 86 | ) |
| 87 | |
| 88 | cc_binary( |
| 89 | name = 'drivetrain_bot3', |
| 90 | srcs = [ |
| 91 | 'drivetrain_main.cc', |
| 92 | ], |
| 93 | deps = [ |
| 94 | '//aos/linux_code:init', |
| 95 | ':drivetrain_lib', |
| 96 | ':drivetrain_queue', |
| 97 | ], |
| 98 | ) |