| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 1 | package(default_visibility = ['//visibility:public']) |
| 2 | |
| Austin Schuh | f073651 | 2015-09-07 01:22:16 -0700 | [diff] [blame] | 3 | load('/aos/build/queues', 'queue_library') |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 4 | |
| 5 | cc_binary( |
| 6 | name = 'replay_claw', |
| 7 | srcs = [ |
| 8 | 'replay_claw.cc', |
| 9 | ], |
| 10 | deps = [ |
| 11 | ':claw_queue', |
| 12 | '//aos/common/controls:replay_control_loop', |
| 13 | '//aos/linux_code:init', |
| 14 | ], |
| 15 | ) |
| 16 | |
| 17 | queue_library( |
| 18 | name = 'claw_queue', |
| 19 | srcs = [ |
| 20 | 'claw.q', |
| 21 | ], |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 22 | deps = [ |
| 23 | '//aos/common/controls:control_loop_queues', |
| 24 | '//frc971/control_loops:queues', |
| 25 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 26 | ) |
| 27 | |
| 28 | cc_library( |
| 29 | name = 'claw_lib', |
| 30 | srcs = [ |
| 31 | 'claw.cc', |
| 32 | 'claw_motor_plant.cc', |
| 33 | ], |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 34 | hdrs = [ |
| 35 | 'claw.h', |
| 36 | 'claw_motor_plant.h', |
| 37 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 38 | deps = [ |
| 39 | ':claw_queue', |
| 40 | '//aos/common/controls:control_loop', |
| 41 | '//y2014:constants', |
| 42 | '//frc971/control_loops:state_feedback_loop', |
| 43 | '//aos/common/controls:polytope', |
| 44 | '//frc971/control_loops:coerce_goal', |
| 45 | '//aos/common/logging:queue_logging', |
| 46 | '//aos/common/logging:matrix_logging', |
| Austin Schuh | 4759ffc | 2015-10-07 20:39:56 -0700 | [diff] [blame] | 47 | '//external:libm', |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 48 | ], |
| 49 | ) |
| 50 | |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 51 | cc_test( |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 52 | name = 'claw_lib_test', |
| 53 | srcs = [ |
| 54 | 'claw_lib_test.cc', |
| 55 | ], |
| 56 | deps = [ |
| Brian Silverman | 258b917 | 2015-09-19 14:32:57 -0400 | [diff] [blame] | 57 | '//aos/testing:googletest', |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 58 | ':claw_queue', |
| 59 | ':claw_lib', |
| 60 | '//frc971/control_loops:state_feedback_loop', |
| 61 | '//aos/common/controls:control_loop_test', |
| 62 | ], |
| 63 | ) |
| 64 | |
| 65 | cc_binary( |
| 66 | name = 'claw_calibration', |
| 67 | srcs = [ |
| 68 | 'claw_calibration.cc', |
| 69 | ], |
| 70 | deps = [ |
| 71 | '//aos/linux_code:init', |
| 72 | ':claw_queue', |
| 73 | '//aos/common/controls:control_loop', |
| 74 | '//y2014:constants', |
| 75 | ], |
| 76 | ) |
| 77 | |
| 78 | cc_binary( |
| 79 | name = 'claw', |
| 80 | srcs = [ |
| 81 | 'claw_main.cc', |
| 82 | ], |
| 83 | deps = [ |
| 84 | '//aos/linux_code:init', |
| 85 | ':claw_lib', |
| 86 | ], |
| 87 | ) |