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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 74425153f10ef1b5f7b5f60f8edd375b92bd9006 / . / y2016 / control_loops / drivetrain / BUILD
blob: 629c95742c8b81ef1f8b7a2546faac152d9470c5 [file] [log] [blame]
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]1load("//aos/build:queues.bzl", "queue_library")
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]2
3genrule(
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[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 //y2016/control_loops/python:drivetrain) $(OUTS)",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]12 tools = [
13 "//y2016/control_loops/python:drivetrain",
14 ],
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]15)
16
17genrule(
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]18 name = "genrule_polydrivetrain",
19 outs = [
20 "polydrivetrain_dog_motor_plant.h",
21 "polydrivetrain_dog_motor_plant.cc",
22 "polydrivetrain_cim_plant.h",
23 "polydrivetrain_cim_plant.cc",
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame^]24 "hybrid_velocity_drivetrain.h",
25 "hybrid_velocity_drivetrain.cc",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]26 ],
27 cmd = "$(location //y2016/control_loops/python:polydrivetrain) $(OUTS)",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]28 tools = [
29 "//y2016/control_loops/python:polydrivetrain",
30 ],
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]31)
32
33cc_library(
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]34 name = "polydrivetrain_plants",
35 srcs = [
36 "drivetrain_dog_motor_plant.cc",
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame^]37 "hybrid_velocity_drivetrain.cc",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]38 "kalman_drivetrain_motor_plant.cc",
39 "polydrivetrain_dog_motor_plant.cc",
40 ],
41 hdrs = [
42 "drivetrain_dog_motor_plant.h",
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame^]43 "hybrid_velocity_drivetrain.h",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]44 "kalman_drivetrain_motor_plant.h",
45 "polydrivetrain_dog_motor_plant.h",
46 ],
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame^]47 visibility = ["//visibility:public"],
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]48 deps = [
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame^]49 "//frc971/control_loops:hybrid_state_feedback_loop",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]50 "//frc971/control_loops:state_feedback_loop",
51 ],
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]52)
53
54cc_library(
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]55 name = "drivetrain_base",
56 srcs = [
57 "drivetrain_base.cc",
58 ],
59 hdrs = [
60 "drivetrain_base.h",
61 ],
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame^]62 visibility = ["//visibility:public"],
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]63 deps = [
64 ":polydrivetrain_plants",
65 "//frc971:shifter_hall_effect",
66 "//frc971/control_loops/drivetrain:drivetrain_config",
67 "//y2016:constants",
68 ],
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]69)
70
71cc_binary(
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]72 name = "drivetrain",
73 srcs = [
74 "drivetrain_main.cc",
75 ],
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame^]76 visibility = ["//visibility:public"],
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]77 deps = [
78 ":drivetrain_base",
John Park398c74a2018-10-20 21:17:39 -0700[diff] [blame]79 "//aos:init",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]80 "//frc971/control_loops/drivetrain:drivetrain_lib",
81 ],
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]82)