| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 1 | package(default_visibility = ['//visibility:public']) |
| 2 | |
| 3 | load('/aos/build/queues', 'queue_library') |
| 4 | |
| 5 | cc_binary( |
| 6 | name = 'replay_fridge', |
| 7 | srcs = [ |
| 8 | 'replay_fridge.cc', |
| 9 | ], |
| 10 | deps = [ |
| 11 | ':fridge_queue', |
| 12 | '//aos/common/controls:replay_control_loop', |
| 13 | '//aos/linux_code:init', |
| 14 | ], |
| 15 | ) |
| 16 | |
| 17 | queue_library( |
| 18 | name = 'fridge_queue', |
| 19 | srcs = [ |
| 20 | 'fridge.q', |
| 21 | ], |
| 22 | deps = [ |
| 23 | '//aos/common/controls:control_loop_queues', |
| 24 | '//frc971/control_loops:queues', |
| Brian Silverman | 258b917 | 2015-09-19 14:32:57 -0400 | [diff] [blame] | 25 | '//frc971/zeroing:zeroing_queue', |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 26 | ], |
| 27 | ) |
| 28 | |
| Austin Schuh | 88af085 | 2016-12-04 20:31:32 -0800 | [diff] [blame] | 29 | genrule( |
| 30 | name = 'genrule_elevator', |
| 31 | visibility = ['//visibility:private'], |
| 32 | cmd = '$(location //y2015/control_loops/python:elevator) $(OUTS)', |
| 33 | tools = [ |
| 34 | '//y2015/control_loops/python:elevator', |
| 35 | ], |
| 36 | outs = [ |
| 37 | 'elevator_motor_plant.h', |
| 38 | 'elevator_motor_plant.cc', |
| 39 | ], |
| 40 | ) |
| 41 | |
| 42 | cc_library( |
| 43 | name = 'elevator_plants', |
| 44 | srcs = [ |
| 45 | 'elevator_motor_plant.cc', |
| 46 | ], |
| 47 | hdrs = [ |
| 48 | 'elevator_motor_plant.h', |
| 49 | ], |
| 50 | deps = [ |
| 51 | '//frc971/control_loops:state_feedback_loop', |
| 52 | ], |
| 53 | ) |
| 54 | |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 55 | cc_library( |
| 56 | name = 'fridge_lib', |
| 57 | srcs = [ |
| 58 | 'fridge.cc', |
| 59 | 'integral_arm_plant.cc', |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 60 | ], |
| 61 | hdrs = [ |
| 62 | 'fridge.h', |
| 63 | 'integral_arm_plant.h', |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 64 | ], |
| 65 | deps = [ |
| Austin Schuh | 88af085 | 2016-12-04 20:31:32 -0800 | [diff] [blame] | 66 | ':elevator_plants', |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 67 | ':fridge_queue', |
| 68 | '//aos/common/controls:control_loop', |
| 69 | '//aos/common/util:trapezoid_profile', |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 70 | '//frc971/control_loops/voltage_cap:voltage_cap', |
| Austin Schuh | 88af085 | 2016-12-04 20:31:32 -0800 | [diff] [blame] | 71 | '//frc971/control_loops:state_feedback_loop', |
| Brian Silverman | 258b917 | 2015-09-19 14:32:57 -0400 | [diff] [blame] | 72 | '//frc971/zeroing', |
| Austin Schuh | 044e18b | 2015-10-21 20:17:09 -0700 | [diff] [blame] | 73 | '//y2015/util:kinematics', |
| Austin Schuh | 88af085 | 2016-12-04 20:31:32 -0800 | [diff] [blame] | 74 | '//y2015:constants', |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 75 | ], |
| 76 | ) |
| 77 | |
| Austin Schuh | 6c20f20 | 2017-02-18 22:31:44 -0800 | [diff] [blame^] | 78 | genrule( |
| 79 | name = 'genrule_arm_motor', |
| 80 | visibility = ['//visibility:private'], |
| 81 | cmd = '$(location //y2015/control_loops/python:arm) $(OUTS)', |
| 82 | tools = [ |
| 83 | '//y2015/control_loops/python:arm', |
| 84 | ], |
| 85 | outs = [ |
| 86 | 'arm_motor_plant.h', |
| 87 | 'arm_motor_plant.cc', |
| 88 | 'integral_arm_plant.h', |
| 89 | 'integral_arm_plant.cc', |
| 90 | ], |
| 91 | ) |
| 92 | |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 93 | cc_test( |
| 94 | name = 'fridge_lib_test', |
| 95 | srcs = [ |
| 96 | 'fridge_lib_test.cc', |
| 97 | 'arm_motor_plant.cc', |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 98 | 'arm_motor_plant.h', |
| 99 | ], |
| 100 | deps = [ |
| Brian Silverman | 258b917 | 2015-09-19 14:32:57 -0400 | [diff] [blame] | 101 | '//aos/testing:googletest', |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 102 | ':fridge_lib', |
| 103 | '//frc971/control_loops:state_feedback_loop', |
| 104 | '//aos/common/controls:control_loop_test', |
| 105 | '//aos/common:time', |
| Austin Schuh | 044e18b | 2015-10-21 20:17:09 -0700 | [diff] [blame] | 106 | '//aos/common:math', |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 107 | '//frc971/control_loops:position_sensor_sim', |
| 108 | '//frc971/control_loops:team_number_test_environment', |
| Brian Silverman | 258b917 | 2015-09-19 14:32:57 -0400 | [diff] [blame] | 109 | '//y2015/util:kinematics', |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 110 | ], |
| 111 | ) |
| 112 | |
| 113 | cc_binary( |
| 114 | name = 'fridge', |
| 115 | srcs = [ |
| 116 | 'fridge_main.cc', |
| 117 | ], |
| 118 | deps = [ |
| 119 | '//aos/linux_code:init', |
| 120 | ':fridge_lib', |
| 121 | ], |
| 122 | ) |