| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame^] | 1 | package(default_visibility = ["//visibility:public"]) |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 2 | |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame^] | 3 | load("//aos/build:queues.bzl", "queue_library") |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 4 | |
| 5 | cc_binary( |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame^] | 6 | name = "replay_claw", |
| 7 | srcs = [ |
| 8 | "replay_claw.cc", |
| 9 | ], |
| 10 | deps = [ |
| 11 | ":claw_queue", |
| 12 | "//aos:init", |
| 13 | "//aos/controls:replay_control_loop", |
| 14 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 15 | ) |
| 16 | |
| 17 | queue_library( |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame^] | 18 | name = "claw_queue", |
| 19 | srcs = [ |
| 20 | "claw.q", |
| 21 | ], |
| 22 | deps = [ |
| 23 | "//aos/controls:control_loop_queues", |
| 24 | "//frc971/control_loops:queues", |
| 25 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 26 | ) |
| 27 | |
| Austin Schuh | edc317c | 2015-11-08 14:07:42 -0800 | [diff] [blame] | 28 | genrule( |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame^] | 29 | name = "genrule_claw", |
| 30 | outs = [ |
| 31 | "claw_motor_plant.h", |
| 32 | "claw_motor_plant.cc", |
| 33 | ], |
| 34 | cmd = "$(location //y2014/control_loops/python:claw) $(OUTS)", |
| 35 | tools = [ |
| 36 | "//y2014/control_loops/python:claw", |
| 37 | ], |
| 38 | visibility = ["//visibility:private"], |
| Austin Schuh | edc317c | 2015-11-08 14:07:42 -0800 | [diff] [blame] | 39 | ) |
| 40 | |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 41 | cc_library( |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame^] | 42 | name = "claw_lib", |
| 43 | srcs = [ |
| 44 | "claw.cc", |
| 45 | "claw_motor_plant.cc", |
| 46 | ], |
| 47 | hdrs = [ |
| 48 | "claw.h", |
| 49 | "claw_motor_plant.h", |
| 50 | ], |
| 51 | linkopts = [ |
| 52 | "-lm", |
| 53 | ], |
| 54 | deps = [ |
| 55 | ":claw_queue", |
| 56 | "//aos:math", |
| 57 | "//aos/controls:control_loop", |
| 58 | "//aos/controls:polytope", |
| 59 | "//aos/logging:matrix_logging", |
| 60 | "//aos/logging:queue_logging", |
| 61 | "//frc971/control_loops:coerce_goal", |
| 62 | "//frc971/control_loops:hall_effect_tracker", |
| 63 | "//frc971/control_loops:state_feedback_loop", |
| 64 | "//y2014:constants", |
| 65 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 66 | ) |
| 67 | |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 68 | cc_test( |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame^] | 69 | name = "claw_lib_test", |
| 70 | srcs = [ |
| 71 | "claw_lib_test.cc", |
| 72 | ], |
| 73 | deps = [ |
| 74 | ":claw_lib", |
| 75 | ":claw_queue", |
| 76 | "//aos/controls:control_loop_test", |
| 77 | "//aos/testing:googletest", |
| 78 | "//frc971/control_loops:state_feedback_loop", |
| 79 | "//frc971/control_loops:team_number_test_environment", |
| 80 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 81 | ) |
| 82 | |
| 83 | cc_binary( |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame^] | 84 | name = "claw_calibration", |
| 85 | srcs = [ |
| 86 | "claw_calibration.cc", |
| 87 | ], |
| 88 | deps = [ |
| 89 | ":claw_queue", |
| 90 | "//aos:init", |
| 91 | "//aos/controls:control_loop", |
| 92 | "//y2014:constants", |
| 93 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 94 | ) |
| 95 | |
| 96 | cc_binary( |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame^] | 97 | name = "claw", |
| 98 | srcs = [ |
| 99 | "claw_main.cc", |
| 100 | ], |
| 101 | deps = [ |
| 102 | ":claw_lib", |
| 103 | "//aos:init", |
| 104 | "//aos/events:shm-event-loop", |
| 105 | ], |
| Brian Silverman | 8c374e0 | 2015-09-06 23:02:21 -0400 | [diff] [blame] | 106 | ) |