Blame - y2016/control_loops/drivetrain/BUILD - RealtimeRoboticsGroup/test

blob: 90edc564ef8b4511b084455d4d9e8bfd1ee0b528 [file] [log] [blame]

James Kuszmaul	62c3bd8	2024-01-17 20:03:05 -0800	[diff] [blame]	1	load("//frc971/control_loops/drivetrain:drivetrain_config.bzl", "drivetrain_config")
				2
Comran Morshed	9a9948c	2016-01-16 15:58:04 +0000	[diff] [blame]	3	genrule(
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[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",
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[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",
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	12	],
				13	cmd = "$(location //y2016/control_loops/python:drivetrain) $(OUTS)",
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	14	target_compatible_with = ["@platforms//os:linux"],
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	15	tools = [
				16	"//y2016/control_loops/python:drivetrain",
				17	],
Comran Morshed	9a9948c	2016-01-16 15:58:04 +0000	[diff] [blame]	18	)
				19
				20	genrule(
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	21	name = "genrule_polydrivetrain",
				22	outs = [
				23	"polydrivetrain_dog_motor_plant.h",
				24	"polydrivetrain_dog_motor_plant.cc",
James Kuszmaul	eeb98e9	2024-01-14 22:15:32 -0800	[diff] [blame]	25	"polydrivetrain_dog_motor_plant.json",
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	26	"polydrivetrain_cim_plant.h",
				27	"polydrivetrain_cim_plant.cc",
James Kuszmaul	eeb98e9	2024-01-14 22:15:32 -0800	[diff] [blame]	28	"polydrivetrain_cim_plant.json",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	29	"hybrid_velocity_drivetrain.h",
				30	"hybrid_velocity_drivetrain.cc",
James Kuszmaul	eeb98e9	2024-01-14 22:15:32 -0800	[diff] [blame]	31	"hybrid_velocity_drivetrain.json",
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	32	],
				33	cmd = "$(location //y2016/control_loops/python:polydrivetrain) $(OUTS)",
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	34	target_compatible_with = ["@platforms//os:linux"],
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	35	tools = [
				36	"//y2016/control_loops/python:polydrivetrain",
				37	],
Comran Morshed	9a9948c	2016-01-16 15:58:04 +0000	[diff] [blame]	38	)
				39
				40	cc_library(
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	41	name = "polydrivetrain_plants",
				42	srcs = [
				43	"drivetrain_dog_motor_plant.cc",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	44	"hybrid_velocity_drivetrain.cc",
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	45	"kalman_drivetrain_motor_plant.cc",
				46	"polydrivetrain_dog_motor_plant.cc",
				47	],
				48	hdrs = [
				49	"drivetrain_dog_motor_plant.h",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	50	"hybrid_velocity_drivetrain.h",
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	51	"kalman_drivetrain_motor_plant.h",
				52	"polydrivetrain_dog_motor_plant.h",
				53	],
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	54	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	55	visibility = ["//visibility:public"],
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	56	deps = [
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	57	"//frc971/control_loops:hybrid_state_feedback_loop",
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	58	"//frc971/control_loops:state_feedback_loop",
				59	],
Comran Morshed	9a9948c	2016-01-16 15:58:04 +0000	[diff] [blame]	60	)
				61
				62	cc_library(
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	63	name = "drivetrain_base",
				64	srcs = [
				65	"drivetrain_base.cc",
				66	],
				67	hdrs = [
				68	"drivetrain_base.h",
				69	],
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	70	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	71	visibility = ["//visibility:public"],
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	72	deps = [
				73	":polydrivetrain_plants",
				74	"//frc971:shifter_hall_effect",
				75	"//frc971/control_loops/drivetrain:drivetrain_config",
				76	"//y2016:constants",
				77	],
Comran Morshed	9a9948c	2016-01-16 15:58:04 +0000	[diff] [blame]	78	)
				79
				80	cc_binary(
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[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	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	86	visibility = ["//visibility:public"],
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	87	deps = [
				88	":drivetrain_base",
John Park	398c74a	2018-10-20 21:17:39 -0700	[diff] [blame]	89	"//aos:init",
Brian Silverman	7a7c24d	2018-09-01 17:49:09 -0700	[diff] [blame]	90	"//frc971/control_loops/drivetrain:drivetrain_lib",
				91	],
Comran Morshed	9a9948c	2016-01-16 15:58:04 +0000	[diff] [blame]	92	)
James Kuszmaul	62c3bd8	2024-01-17 20:03:05 -0800	[diff] [blame]	93
				94	drivetrain_config(
				95	name = "drivetrain_config",
				96	out = "drivetrain_config.json",
				97	)