| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 1 | load("//tools:environments.bzl", "mcu_cpus") |
| 2 | |
| 3 | py_binary( |
| 4 | name = "drivetrain", |
| 5 | srcs = [ |
| 6 | "drivetrain.py", |
| 7 | ], |
| Brian Silverman | 6470f44 | 2018-08-05 12:08:16 -0700 | [diff] [blame^] | 8 | legacy_create_init = False, |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 9 | restricted_to = ["//tools:k8"], |
| 10 | deps = [ |
| Brian Silverman | 6470f44 | 2018-08-05 12:08:16 -0700 | [diff] [blame^] | 11 | ":python_init", |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 12 | "//external:python-gflags", |
| 13 | "//external:python-glog", |
| 14 | "//frc971/control_loops/python:drivetrain", |
| 15 | ], |
| 16 | ) |
| 17 | |
| 18 | py_binary( |
| 19 | name = "polydrivetrain", |
| 20 | srcs = [ |
| 21 | "drivetrain.py", |
| 22 | "polydrivetrain.py", |
| 23 | ], |
| Brian Silverman | 6470f44 | 2018-08-05 12:08:16 -0700 | [diff] [blame^] | 24 | legacy_create_init = False, |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 25 | restricted_to = ["//tools:k8"], |
| 26 | deps = [ |
| Brian Silverman | 6470f44 | 2018-08-05 12:08:16 -0700 | [diff] [blame^] | 27 | ":python_init", |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 28 | "//external:python-gflags", |
| 29 | "//external:python-glog", |
| 30 | "//frc971/control_loops/python:polydrivetrain", |
| 31 | ], |
| 32 | ) |
| 33 | |
| 34 | genrule( |
| 35 | name = "genrule_drivetrain", |
| 36 | outs = [ |
| 37 | "drivetrain_dog_motor_plant.h", |
| 38 | "drivetrain_dog_motor_plant.cc", |
| 39 | "kalman_drivetrain_motor_plant.h", |
| 40 | "kalman_drivetrain_motor_plant.cc", |
| 41 | ], |
| 42 | cmd = "$(location :drivetrain) $(OUTS)", |
| 43 | restricted_to = mcu_cpus, |
| 44 | tools = [ |
| 45 | ":drivetrain", |
| 46 | ], |
| 47 | ) |
| 48 | |
| 49 | genrule( |
| 50 | name = "genrule_polydrivetrain", |
| 51 | outs = [ |
| 52 | "polydrivetrain_dog_motor_plant.h", |
| 53 | "polydrivetrain_dog_motor_plant.cc", |
| 54 | "polydrivetrain_cim_plant.h", |
| 55 | "polydrivetrain_cim_plant.cc", |
| 56 | ], |
| 57 | cmd = "$(location :polydrivetrain) $(OUTS)", |
| 58 | restricted_to = mcu_cpus, |
| 59 | tools = [ |
| 60 | ":polydrivetrain", |
| 61 | ], |
| 62 | ) |
| 63 | |
| 64 | cc_library( |
| 65 | name = "drivetrain_lib", |
| 66 | srcs = [ |
| 67 | "drivetrain_dog_motor_plant.cc", |
| 68 | "polydrivetrain_dog_motor_plant.cc", |
| 69 | ], |
| 70 | hdrs = [ |
| 71 | "drivetrain_dog_motor_plant.h", |
| 72 | "polydrivetrain_dog_motor_plant.h", |
| 73 | ], |
| 74 | restricted_to = mcu_cpus, |
| 75 | visibility = ["//visibility:public"], |
| 76 | deps = [ |
| 77 | "//frc971/control_loops:state_feedback_loop_uc", |
| 78 | "//frc971/control_loops/drivetrain:polydrivetrain_uc", |
| 79 | ], |
| 80 | ) |
| Austin Schuh | 4fae0fc | 2018-03-27 23:51:42 -0700 | [diff] [blame] | 81 | |
| 82 | cc_library( |
| 83 | name = "spring", |
| 84 | srcs = ["spring.cc"], |
| 85 | hdrs = ["spring.h"], |
| 86 | compatible_with = mcu_cpus, |
| 87 | visibility = ["//visibility:public"], |
| 88 | deps = ["//frc971/zeroing:wrap"], |
| 89 | ) |
| 90 | |
| 91 | cc_test( |
| 92 | name = "spring_test", |
| 93 | srcs = [ |
| 94 | "spring_test.cc", |
| 95 | ], |
| 96 | deps = [ |
| 97 | ":spring", |
| 98 | "//aos/testing:googletest", |
| 99 | ], |
| 100 | ) |
| Brian Silverman | 6470f44 | 2018-08-05 12:08:16 -0700 | [diff] [blame^] | 101 | |
| 102 | py_library( |
| 103 | name = "python_init", |
| 104 | srcs = ["__init__.py"], |
| 105 | visibility = ["//visibility:public"], |
| 106 | deps = ["//motors:python_init"], |
| 107 | ) |