| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame^] | 1 | package(default_visibility = ["//visibility:public"]) |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 2 | |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame^] | 3 | load("//aos/build:queues.bzl", "queue_library") |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 4 | |
| Austin Schuh | 572ff40 | 2015-11-08 12:17:50 -0800 | [diff] [blame] | 5 | genrule( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame^] | 6 | name = "genrule_drivetrain", |
| 7 | outs = [ |
| 8 | "drivetrain_dog_motor_plant.h", |
| 9 | "drivetrain_dog_motor_plant.cc", |
| 10 | "kalman_drivetrain_motor_plant.h", |
| 11 | "kalman_drivetrain_motor_plant.cc", |
| 12 | ], |
| 13 | cmd = "$(location //y2014/control_loops/python:drivetrain) $(OUTS)", |
| 14 | tools = [ |
| 15 | "//y2014/control_loops/python:drivetrain", |
| 16 | ], |
| 17 | visibility = ["//visibility:private"], |
| Austin Schuh | 572ff40 | 2015-11-08 12:17:50 -0800 | [diff] [blame] | 18 | ) |
| 19 | |
| Austin Schuh | 0e99773 | 2015-11-08 15:14:53 -0800 | [diff] [blame] | 20 | genrule( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame^] | 21 | name = "genrule_polydrivetrain", |
| 22 | outs = [ |
| 23 | "polydrivetrain_dog_motor_plant.h", |
| 24 | "polydrivetrain_dog_motor_plant.cc", |
| 25 | "polydrivetrain_cim_plant.h", |
| 26 | "polydrivetrain_cim_plant.cc", |
| 27 | ], |
| 28 | cmd = "$(location //y2014/control_loops/python:polydrivetrain) $(OUTS)", |
| 29 | tools = [ |
| 30 | "//y2014/control_loops/python:polydrivetrain", |
| 31 | ], |
| 32 | visibility = ["//visibility:private"], |
| Austin Schuh | 0e99773 | 2015-11-08 15:14:53 -0800 | [diff] [blame] | 33 | ) |
| 34 | |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 35 | cc_library( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame^] | 36 | name = "polydrivetrain_plants", |
| 37 | srcs = [ |
| 38 | "drivetrain_dog_motor_plant.cc", |
| 39 | "kalman_drivetrain_motor_plant.cc", |
| 40 | "polydrivetrain_dog_motor_plant.cc", |
| 41 | ], |
| 42 | hdrs = [ |
| 43 | "drivetrain_dog_motor_plant.h", |
| 44 | "kalman_drivetrain_motor_plant.h", |
| 45 | "polydrivetrain_dog_motor_plant.h", |
| 46 | ], |
| 47 | deps = [ |
| 48 | "//frc971/control_loops:state_feedback_loop", |
| 49 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 50 | ) |
| 51 | |
| 52 | cc_library( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame^] | 53 | name = "drivetrain_base", |
| 54 | srcs = [ |
| 55 | "drivetrain_base.cc", |
| 56 | ], |
| 57 | hdrs = [ |
| 58 | "drivetrain_base.h", |
| 59 | ], |
| 60 | deps = [ |
| 61 | ":polydrivetrain_plants", |
| 62 | "//frc971/control_loops/drivetrain:drivetrain_config", |
| 63 | "//y2014:constants", |
| 64 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 65 | ) |
| 66 | |
| 67 | cc_binary( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame^] | 68 | name = "drivetrain", |
| 69 | srcs = [ |
| 70 | "drivetrain_main.cc", |
| 71 | ], |
| 72 | deps = [ |
| 73 | ":drivetrain_base", |
| 74 | "//aos:init", |
| 75 | "//frc971/control_loops/drivetrain:drivetrain_lib", |
| 76 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 77 | ) |