| Sabina Davis | b6b987d | 2017-10-22 20:50:21 -0700 | [diff] [blame] | 1 | package(default_visibility = ['//visibility:public']) |
| 2 | |
| Austin Schuh | 4f85729 | 2018-02-15 23:42:04 -0800 | [diff] [blame^] | 3 | load('//aos/build:queues.bzl', 'queue_library') |
| Sabina Davis | b6b987d | 2017-10-22 20:50:21 -0700 | [diff] [blame] | 4 | |
| 5 | queue_library( |
| 6 | name = 'superstructure_queue', |
| 7 | srcs = [ |
| 8 | 'superstructure.q', |
| 9 | ], |
| 10 | deps = [ |
| 11 | '//aos/common/controls:control_loop_queues', |
| 12 | '//frc971/control_loops:profiled_subsystem_queue', |
| 13 | '//frc971/control_loops:queues', |
| 14 | ], |
| 15 | ) |
| 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', |
| 28 | '//aos/common/util:trapezoid_profile', |
| 29 | '//aos/common:math', |
| 30 | '//frc971/control_loops:profiled_subsystem', |
| 31 | '//frc971/control_loops:simple_capped_state_feedback_loop', |
| 32 | '//frc971/control_loops:state_feedback_loop', |
| 33 | '//frc971/zeroing', |
| 34 | ], |
| 35 | ) |
| 36 | |
| 37 | cc_binary( |
| 38 | name = 'superstructure', |
| 39 | srcs = [ |
| 40 | 'superstructure_main.cc', |
| 41 | ], |
| 42 | deps = [ |
| 43 | '//aos/linux_code:init', |
| 44 | ':superstructure_lib', |
| 45 | ':superstructure_queue', |
| 46 | ], |
| 47 | ) |