Blame - y2017/control_loops/drivetrain/BUILD - RealtimeRoboticsGroup/test

blob: a4fcae3c0ef6f37f76ac881f5f0e37180d3a9558 [file] [log] [blame]

Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	1	package(default_visibility = ["//visibility:public"])
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	2
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	3	genrule(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	4	name = "genrule_drivetrain",
				5	outs = [
				6	"drivetrain_dog_motor_plant.h",
				7	"drivetrain_dog_motor_plant.cc",
James Kuszmaul	eeb98e9	2024-01-14 22:15:32 -0800	[diff] [blame]	8	"drivetrain_dog_motor_plant.json",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	9	"kalman_drivetrain_motor_plant.h",
				10	"kalman_drivetrain_motor_plant.cc",
James Kuszmaul	eeb98e9	2024-01-14 22:15:32 -0800	[diff] [blame]	11	"kalman_drivetrain_motor_plant.json",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	12	],
				13	cmd = "$(location //y2017/control_loops/python:drivetrain) $(OUTS)",
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	14	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	15	tools = [
				16	"//y2017/control_loops/python:drivetrain",
				17	],
				18	visibility = ["//visibility:private"],
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	19	)
				20
				21	genrule(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	22	name = "genrule_polydrivetrain",
				23	outs = [
				24	"polydrivetrain_dog_motor_plant.h",
				25	"polydrivetrain_dog_motor_plant.cc",
James Kuszmaul	eeb98e9	2024-01-14 22:15:32 -0800	[diff] [blame]	26	"polydrivetrain_dog_motor_plant.json",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	27	"polydrivetrain_cim_plant.h",
				28	"polydrivetrain_cim_plant.cc",
James Kuszmaul	eeb98e9	2024-01-14 22:15:32 -0800	[diff] [blame]	29	"polydrivetrain_cim_plant.json",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	30	"hybrid_velocity_drivetrain.h",
				31	"hybrid_velocity_drivetrain.cc",
James Kuszmaul	eeb98e9	2024-01-14 22:15:32 -0800	[diff] [blame]	32	"hybrid_velocity_drivetrain.json",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	33	],
				34	cmd = "$(location //y2017/control_loops/python:polydrivetrain) $(OUTS)",
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	35	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	36	tools = [
				37	"//y2017/control_loops/python:polydrivetrain",
				38	],
				39	visibility = ["//visibility:private"],
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	40	)
				41
				42	cc_library(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	43	name = "polydrivetrain_plants",
				44	srcs = [
				45	"drivetrain_dog_motor_plant.cc",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	46	"hybrid_velocity_drivetrain.cc",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	47	"kalman_drivetrain_motor_plant.cc",
				48	"polydrivetrain_dog_motor_plant.cc",
				49	],
				50	hdrs = [
				51	"drivetrain_dog_motor_plant.h",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	52	"hybrid_velocity_drivetrain.h",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	53	"kalman_drivetrain_motor_plant.h",
				54	"polydrivetrain_dog_motor_plant.h",
				55	],
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	56	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	57	deps = [
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	58	"//frc971/control_loops:hybrid_state_feedback_loop",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	59	"//frc971/control_loops:state_feedback_loop",
				60	],
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	61	)
				62
				63	cc_library(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	64	name = "drivetrain_base",
				65	srcs = [
				66	"drivetrain_base.cc",
				67	],
				68	hdrs = [
				69	"drivetrain_base.h",
				70	],
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	71	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	72	deps = [
				73	":polydrivetrain_plants",
				74	"//frc971:shifter_hall_effect",
				75	"//frc971/control_loops/drivetrain:drivetrain_config",
				76	"//y2017:constants",
				77	],
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	78	)
				79
				80	cc_binary(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	81	name = "drivetrain",
				82	srcs = [
				83	"drivetrain_main.cc",
				84	],
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	85	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	86	deps = [
				87	":drivetrain_base",
				88	"//aos:init",
Alex Perry	cb7da4b	2019-08-28 19:35:56 -0700	[diff] [blame]	89	"//aos/events:shm_event_loop",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	90	"//frc971/control_loops/drivetrain:drivetrain_lib",
				91	],
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	92	)