| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 1 | package(default_visibility = ['//visibility:public']) |
| 2 | |
| 3 | load('/aos/build/queues', 'queue_library') |
| 4 | |
| 5 | filegroup( |
| 6 | name = 'binaries', |
| 7 | srcs = [ |
| 8 | ':drivetrain_action', |
| Comran Morshed | 2f7b467 | 2016-01-23 14:27:34 +0000 | [diff] [blame] | 9 | ':superstructure_action', |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 10 | ], |
| 11 | ) |
| 12 | |
| 13 | queue_library( |
| 14 | name = 'drivetrain_action_queue', |
| 15 | srcs = [ |
| 16 | 'drivetrain_action.q', |
| 17 | ], |
| 18 | deps = [ |
| 19 | '//aos/common/actions:action_queue', |
| 20 | ], |
| 21 | ) |
| 22 | |
| 23 | cc_library( |
| 24 | name = 'drivetrain_action_lib', |
| 25 | srcs = [ |
| 26 | 'drivetrain_actor.cc', |
| 27 | ], |
| 28 | hdrs = [ |
| 29 | 'drivetrain_actor.h', |
| 30 | ], |
| 31 | deps = [ |
| 32 | ':drivetrain_action_queue', |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 33 | '//aos/common:time', |
| 34 | '//aos/common:math', |
| 35 | '//aos/common/util:phased_loop', |
| 36 | '//aos/common/logging', |
| 37 | '//aos/common/actions:action_lib', |
| 38 | '//aos/common/logging:queue_logging', |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 39 | '//aos/common/util:trapezoid_profile', |
| 40 | '//frc971/control_loops/drivetrain:drivetrain_queue', |
| 41 | '//frc971/control_loops:state_feedback_loop', |
| Comran Morshed | 6c6a0a9 | 2016-01-17 12:45:16 +0000 | [diff] [blame] | 42 | '//third_party/eigen', |
| 43 | '//y2016:constants', |
| Comran Morshed | 225f0b9 | 2016-02-10 20:34:27 +0000 | [diff] [blame^] | 44 | '//y2016/control_loops/drivetrain:polydrivetrain_plants', |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 45 | ], |
| 46 | ) |
| 47 | |
| 48 | cc_binary( |
| 49 | name = 'drivetrain_action', |
| 50 | srcs = [ |
| 51 | 'drivetrain_actor_main.cc', |
| 52 | ], |
| 53 | deps = [ |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 54 | ':drivetrain_action_lib', |
| 55 | ':drivetrain_action_queue', |
| Comran Morshed | 6c6a0a9 | 2016-01-17 12:45:16 +0000 | [diff] [blame] | 56 | '//aos/linux_code:init', |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 57 | ], |
| 58 | ) |
| Comran Morshed | 2f7b467 | 2016-01-23 14:27:34 +0000 | [diff] [blame] | 59 | |
| 60 | queue_library( |
| 61 | name = 'superstructure_action_queue', |
| 62 | srcs = [ |
| 63 | 'superstructure_action.q', |
| 64 | ], |
| 65 | deps = [ |
| 66 | '//aos/common/actions:action_queue', |
| 67 | ], |
| 68 | ) |
| 69 | |
| 70 | cc_library( |
| 71 | name = 'superstructure_action_lib', |
| 72 | srcs = [ |
| 73 | 'superstructure_actor.cc', |
| 74 | ], |
| 75 | hdrs = [ |
| 76 | 'superstructure_actor.h', |
| 77 | ], |
| 78 | deps = [ |
| 79 | ':superstructure_action_queue', |
| 80 | '//aos/common/util:phased_loop', |
| 81 | '//aos/common/logging', |
| 82 | '//aos/common/actions:action_lib', |
| 83 | '//y2016/control_loops/superstructure:superstructure_queue', |
| 84 | ], |
| 85 | ) |
| 86 | |
| 87 | cc_binary( |
| 88 | name = 'superstructure_action', |
| 89 | srcs = [ |
| 90 | 'superstructure_actor_main.cc', |
| 91 | ], |
| 92 | deps = [ |
| 93 | ':superstructure_action_lib', |
| 94 | ':superstructure_action_queue', |
| 95 | '//aos/linux_code:init', |
| 96 | ], |
| 97 | ) |