| Diana Vandenberg | 69899ed | 2017-01-28 16:57:54 -0800 | [diff] [blame] | 1 | package(default_visibility = ['//visibility:public']) |
| 2 | |
| 3 | load('/aos/build/queues', 'queue_library') |
| 4 | |
| 5 | queue_library( |
| Campbell Crowley | 7502629 | 2017-02-04 21:46:19 -0800 | [diff] [blame] | 6 | name = 'superstructure_queue', |
| Diana Vandenberg | 69899ed | 2017-01-28 16:57:54 -0800 | [diff] [blame] | 7 | srcs = [ |
| Campbell Crowley | 7502629 | 2017-02-04 21:46:19 -0800 | [diff] [blame] | 8 | 'superstructure.q', |
| Diana Vandenberg | 69899ed | 2017-01-28 16:57:54 -0800 | [diff] [blame] | 9 | ], |
| 10 | deps = [ |
| 11 | '//aos/common/controls:control_loop_queues', |
| Austin Schuh | 3634ed3 | 2017-02-05 16:28:49 -0800 | [diff] [blame] | 12 | '//frc971/control_loops:profiled_subsystem_queue', |
| Diana Vandenberg | 69899ed | 2017-01-28 16:57:54 -0800 | [diff] [blame] | 13 | '//frc971/control_loops:queues', |
| 14 | ], |
| 15 | ) |
| Austin Schuh | 87c1063 | 2017-02-05 19:02:17 -0800 | [diff] [blame] | 16 | |
| 17 | cc_library( |
| 18 | name = 'superstructure_lib', |
| 19 | srcs = [ |
| 20 | 'superstructure.cc', |
| 21 | ], |
| 22 | hdrs = [ |
| 23 | 'superstructure.h', |
| 24 | ], |
| 25 | deps = [ |
| 26 | ':superstructure_queue', |
| 27 | '//aos/common/controls:control_loop', |
| Austin Schuh | d5ccb86 | 2017-03-11 22:06:36 -0800 | [diff] [blame] | 28 | '//y2017/control_loops/superstructure/column', |
| Austin Schuh | 87c1063 | 2017-02-05 19:02:17 -0800 | [diff] [blame] | 29 | '//y2017/control_loops/superstructure/hood', |
| Adam Snaider | 79900c2 | 2017-02-08 20:23:15 -0800 | [diff] [blame] | 30 | '//y2017/control_loops/superstructure/intake', |
| Tyler Chatow | 2737d2a | 2017-02-08 21:20:51 -0800 | [diff] [blame] | 31 | '//y2017/control_loops/superstructure/shooter', |
| Austin Schuh | 87c1063 | 2017-02-05 19:02:17 -0800 | [diff] [blame] | 32 | '//y2017:constants', |
| 33 | ], |
| 34 | ) |
| Adam Snaider | cfe1306 | 2017-02-05 18:23:09 -0800 | [diff] [blame] | 35 | |
| 36 | cc_test( |
| 37 | name = 'superstructure_lib_test', |
| 38 | srcs = [ |
| 39 | 'superstructure_lib_test.cc', |
| 40 | ], |
| 41 | deps = [ |
| 42 | ':superstructure_queue', |
| 43 | ':superstructure_lib', |
| Adam Snaider | cfe1306 | 2017-02-05 18:23:09 -0800 | [diff] [blame] | 44 | '//aos/common/controls:control_loop_test', |
| 45 | '//aos/common:math', |
| Tyler Chatow | 2737d2a | 2017-02-08 21:20:51 -0800 | [diff] [blame] | 46 | '//aos/common:queues', |
| Adam Snaider | cfe1306 | 2017-02-05 18:23:09 -0800 | [diff] [blame] | 47 | '//aos/common:time', |
| Tyler Chatow | 2737d2a | 2017-02-08 21:20:51 -0800 | [diff] [blame] | 48 | '//aos/testing:googletest', |
| Adam Snaider | cfe1306 | 2017-02-05 18:23:09 -0800 | [diff] [blame] | 49 | '//frc971/control_loops:position_sensor_sim', |
| 50 | '//frc971/control_loops:team_number_test_environment', |
| Austin Schuh | d5ccb86 | 2017-03-11 22:06:36 -0800 | [diff] [blame] | 51 | '//y2017/control_loops/superstructure/column:column_plants', |
| Adam Snaider | 79900c2 | 2017-02-08 20:23:15 -0800 | [diff] [blame] | 52 | '//y2017/control_loops/superstructure/hood:hood_plants', |
| Adam Snaider | 79900c2 | 2017-02-08 20:23:15 -0800 | [diff] [blame] | 53 | '//y2017/control_loops/superstructure/intake:intake_plants', |
| Tyler Chatow | 2737d2a | 2017-02-08 21:20:51 -0800 | [diff] [blame] | 54 | '//y2017/control_loops/superstructure/shooter:shooter_plants', |
| Adam Snaider | cfe1306 | 2017-02-05 18:23:09 -0800 | [diff] [blame] | 55 | ], |
| 56 | ) |
| Austin Schuh | 7b9a3ba | 2017-02-19 23:11:45 -0800 | [diff] [blame] | 57 | |
| 58 | cc_binary( |
| 59 | name = 'superstructure', |
| 60 | srcs = [ |
| 61 | 'superstructure_main.cc', |
| 62 | ], |
| 63 | deps = [ |
| 64 | '//aos/linux_code:init', |
| 65 | ':superstructure_lib', |
| 66 | ':superstructure_queue', |
| 67 | ], |
| 68 | ) |
| Parker Schuh | fea4858 | 2017-03-11 20:15:32 -0800 | [diff] [blame] | 69 | |
| 70 | cc_library( |
| 71 | name = 'vision_time_adjuster', |
| 72 | hdrs = [ |
| 73 | 'vision_time_adjuster.h', |
| 74 | ], |
| 75 | srcs = [ |
| 76 | 'vision_time_adjuster.cc', |
| 77 | ], |
| 78 | deps = [ |
| 79 | ':superstructure_queue', |
| 80 | '//aos/common:ring_buffer', |
| 81 | '//frc971/control_loops/drivetrain:drivetrain_queue', |
| Austin Schuh | ac76bb3 | 2017-03-22 22:34:26 -0700 | [diff] [blame] | 82 | '//y2017/control_loops/drivetrain:polydrivetrain_plants', |
| Parker Schuh | fea4858 | 2017-03-11 20:15:32 -0800 | [diff] [blame] | 83 | '//y2017/vision:vision_queue', |
| 84 | ], |
| 85 | ) |
| 86 | |
| 87 | cc_test( |
| 88 | name = 'vision_time_adjuster_test', |
| 89 | srcs = [ |
| 90 | 'vision_time_adjuster_test.cc', |
| 91 | ], |
| 92 | deps = [ |
| 93 | ':vision_time_adjuster', |
| 94 | '//aos/common:time', |
| 95 | '//aos/testing:googletest', |
| 96 | '//aos/testing:test_shm', |
| 97 | ], |
| 98 | ) |