| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame^] | 1 | load("//aos/build:queues.bzl", "queue_library") |
| Sabina Davis | a553dc4 | 2018-09-05 19:38:59 -0700 | [diff] [blame] | 2 | |
| 3 | genrule( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame^] | 4 | name = "genrule_drivetrain", |
| 5 | outs = [ |
| 6 | "drivetrain_dog_motor_plant.h", |
| 7 | "drivetrain_dog_motor_plant.cc", |
| 8 | "kalman_drivetrain_motor_plant.h", |
| 9 | "kalman_drivetrain_motor_plant.cc", |
| 10 | ], |
| 11 | cmd = "$(location //y2018_bot3/control_loops/python:drivetrain) $(OUTS)", |
| 12 | tools = [ |
| 13 | "//y2018_bot3/control_loops/python:drivetrain", |
| 14 | ], |
| Sabina Davis | a553dc4 | 2018-09-05 19:38:59 -0700 | [diff] [blame] | 15 | ) |
| 16 | |
| 17 | genrule( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame^] | 18 | name = "genrule_polydrivetrain", |
| 19 | outs = [ |
| 20 | "polydrivetrain_dog_motor_plant.h", |
| 21 | "polydrivetrain_dog_motor_plant.cc", |
| 22 | "polydrivetrain_cim_plant.h", |
| 23 | "polydrivetrain_cim_plant.cc", |
| 24 | ], |
| 25 | cmd = "$(location //y2018_bot3/control_loops/python:polydrivetrain) $(OUTS)", |
| 26 | tools = [ |
| 27 | "//y2018_bot3/control_loops/python:polydrivetrain", |
| 28 | ], |
| Sabina Davis | a553dc4 | 2018-09-05 19:38:59 -0700 | [diff] [blame] | 29 | ) |
| 30 | |
| 31 | cc_library( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame^] | 32 | name = "polydrivetrain_plants", |
| 33 | srcs = [ |
| 34 | "drivetrain_dog_motor_plant.cc", |
| 35 | "kalman_drivetrain_motor_plant.cc", |
| 36 | "polydrivetrain_dog_motor_plant.cc", |
| 37 | ], |
| 38 | hdrs = [ |
| 39 | "drivetrain_dog_motor_plant.h", |
| 40 | "kalman_drivetrain_motor_plant.h", |
| 41 | "polydrivetrain_dog_motor_plant.h", |
| 42 | ], |
| 43 | deps = [ |
| 44 | "//frc971/control_loops:state_feedback_loop", |
| 45 | ], |
| Sabina Davis | a553dc4 | 2018-09-05 19:38:59 -0700 | [diff] [blame] | 46 | ) |
| 47 | |
| 48 | cc_library( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame^] | 49 | name = "drivetrain_base", |
| 50 | srcs = [ |
| 51 | "drivetrain_base.cc", |
| 52 | ], |
| 53 | hdrs = [ |
| 54 | "drivetrain_base.h", |
| 55 | ], |
| 56 | deps = [ |
| 57 | ":polydrivetrain_plants", |
| 58 | "//frc971:shifter_hall_effect", |
| 59 | "//frc971/control_loops/drivetrain:drivetrain_config", |
| 60 | ], |
| Sabina Davis | a553dc4 | 2018-09-05 19:38:59 -0700 | [diff] [blame] | 61 | ) |
| 62 | |
| 63 | cc_binary( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame^] | 64 | name = "drivetrain", |
| 65 | srcs = [ |
| 66 | "drivetrain_main.cc", |
| 67 | ], |
| 68 | deps = [ |
| 69 | ":drivetrain_base", |
| 70 | "//aos:init", |
| 71 | "//frc971/control_loops/drivetrain:drivetrain_lib", |
| 72 | ], |
| Sabina Davis | a553dc4 | 2018-09-05 19:38:59 -0700 | [diff] [blame] | 73 | ) |