Blame - y2018_bot3/control_loops/drivetrain/BUILD - RealtimeRoboticsGroup/test

blob: 62484c0f94a21d0036427b85c06ba76a265edf33 [file] [log] [blame]

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) $(OUTS)",
				12	tools = [
				13	"//y2018_bot3/control_loops/python:drivetrain",
				14	],
Sabina Davis	a553dc4	2018-09-05 19:38:59 -0700	[diff] [blame]	15	)
				16
				17	genrule(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	18	name = "genrule_polydrivetrain",
				19	outs = [
				20	"polydrivetrain_dog_motor_plant.h",
				21	"polydrivetrain_dog_motor_plant.cc",
				22	"polydrivetrain_cim_plant.h",
				23	"polydrivetrain_cim_plant.cc",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	24	"hybrid_velocity_drivetrain.h",
				25	"hybrid_velocity_drivetrain.cc",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	26	],
				27	cmd = "$(location //y2018_bot3/control_loops/python:polydrivetrain) $(OUTS)",
				28	tools = [
				29	"//y2018_bot3/control_loops/python:polydrivetrain",
				30	],
Sabina Davis	a553dc4	2018-09-05 19:38:59 -0700	[diff] [blame]	31	)
				32
				33	cc_library(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	34	name = "polydrivetrain_plants",
				35	srcs = [
				36	"drivetrain_dog_motor_plant.cc",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	37	"hybrid_velocity_drivetrain.cc",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	38	"kalman_drivetrain_motor_plant.cc",
				39	"polydrivetrain_dog_motor_plant.cc",
				40	],
				41	hdrs = [
				42	"drivetrain_dog_motor_plant.h",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	43	"hybrid_velocity_drivetrain.h",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	44	"kalman_drivetrain_motor_plant.h",
				45	"polydrivetrain_dog_motor_plant.h",
				46	],
				47	deps = [
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	48	"//frc971/control_loops:hybrid_state_feedback_loop",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	49	"//frc971/control_loops:state_feedback_loop",
				50	],
Sabina Davis	a553dc4	2018-09-05 19:38:59 -0700	[diff] [blame]	51	)
				52
				53	cc_library(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	54	name = "drivetrain_base",
				55	srcs = [
				56	"drivetrain_base.cc",
				57	],
				58	hdrs = [
				59	"drivetrain_base.h",
				60	],
				61	deps = [
				62	":polydrivetrain_plants",
				63	"//frc971:shifter_hall_effect",
				64	"//frc971/control_loops/drivetrain:drivetrain_config",
				65	],
Sabina Davis	a553dc4	2018-09-05 19:38:59 -0700	[diff] [blame]	66	)
				67
				68	cc_binary(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	69	name = "drivetrain",
				70	srcs = [
				71	"drivetrain_main.cc",
				72	],
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	73	visibility = ["//visibility:public"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	74	deps = [
				75	":drivetrain_base",
				76	"//aos:init",
Austin Schuh	55a13dc	2019-01-27 22:39:03 -0800	[diff] [blame]	77	"//aos/events:shm-event-loop",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	78	"//frc971/control_loops/drivetrain:drivetrain_lib",
				79	],
Sabina Davis	a553dc4	2018-09-05 19:38:59 -0700	[diff] [blame]	80	)