| James Kuszmaul | 97f750d | 2019-01-20 20:08:03 -0800 | [diff] [blame^] | 1 | package(default_visibility = ["//visibility:public"]) |
| Diana Vandenberg | 69899ed | 2017-01-28 16:57:54 -0800 | [diff] [blame] | 2 | |
| James Kuszmaul | 97f750d | 2019-01-20 20:08:03 -0800 | [diff] [blame^] | 3 | load("//aos/build:queues.bzl", "queue_library") |
| Diana Vandenberg | 69899ed | 2017-01-28 16:57:54 -0800 | [diff] [blame] | 4 | |
| 5 | queue_library( |
| James Kuszmaul | 97f750d | 2019-01-20 20:08:03 -0800 | [diff] [blame^] | 6 | name = "superstructure_queue", |
| 7 | srcs = [ |
| 8 | "superstructure.q", |
| 9 | ], |
| 10 | deps = [ |
| 11 | "//aos/controls:control_loop_queues", |
| 12 | "//frc971/control_loops:profiled_subsystem_queue", |
| 13 | "//frc971/control_loops:queues", |
| 14 | ], |
| Diana Vandenberg | 69899ed | 2017-01-28 16:57:54 -0800 | [diff] [blame] | 15 | ) |
| Austin Schuh | 87c1063 | 2017-02-05 19:02:17 -0800 | [diff] [blame] | 16 | |
| 17 | cc_library( |
| James Kuszmaul | 97f750d | 2019-01-20 20:08:03 -0800 | [diff] [blame^] | 18 | name = "superstructure_lib", |
| 19 | srcs = [ |
| 20 | "superstructure.cc", |
| 21 | ], |
| 22 | hdrs = [ |
| 23 | "superstructure.h", |
| 24 | ], |
| 25 | deps = [ |
| 26 | ":superstructure_queue", |
| 27 | ":vision_distance_average", |
| 28 | "//aos/controls:control_loop", |
| 29 | "//y2017:constants", |
| 30 | "//y2017/control_loops/superstructure/column", |
| 31 | "//y2017/control_loops/superstructure/hood", |
| 32 | "//y2017/control_loops/superstructure/intake", |
| 33 | "//y2017/control_loops/superstructure/shooter", |
| 34 | ], |
| Austin Schuh | 87c1063 | 2017-02-05 19:02:17 -0800 | [diff] [blame] | 35 | ) |
| Adam Snaider | cfe1306 | 2017-02-05 18:23:09 -0800 | [diff] [blame] | 36 | |
| 37 | cc_test( |
| James Kuszmaul | 97f750d | 2019-01-20 20:08:03 -0800 | [diff] [blame^] | 38 | name = "superstructure_lib_test", |
| 39 | srcs = [ |
| 40 | "superstructure_lib_test.cc", |
| 41 | ], |
| 42 | deps = [ |
| 43 | ":superstructure_lib", |
| 44 | ":superstructure_queue", |
| 45 | "//aos:math", |
| 46 | "//aos:queues", |
| 47 | "//aos/controls:control_loop_test", |
| 48 | "//aos/testing:googletest", |
| 49 | "//aos/time", |
| 50 | "//frc971/control_loops:position_sensor_sim", |
| 51 | "//frc971/control_loops:team_number_test_environment", |
| 52 | "//y2017/control_loops/superstructure/column:column_plants", |
| 53 | "//y2017/control_loops/superstructure/hood:hood_plants", |
| 54 | "//y2017/control_loops/superstructure/intake:intake_plants", |
| 55 | "//y2017/control_loops/superstructure/shooter:shooter_plants", |
| 56 | ], |
| Adam Snaider | cfe1306 | 2017-02-05 18:23:09 -0800 | [diff] [blame] | 57 | ) |
| Austin Schuh | 7b9a3ba | 2017-02-19 23:11:45 -0800 | [diff] [blame] | 58 | |
| 59 | cc_binary( |
| James Kuszmaul | 97f750d | 2019-01-20 20:08:03 -0800 | [diff] [blame^] | 60 | name = "superstructure", |
| 61 | srcs = [ |
| 62 | "superstructure_main.cc", |
| 63 | ], |
| 64 | deps = [ |
| 65 | ":superstructure_lib", |
| 66 | ":superstructure_queue", |
| 67 | "//aos:init", |
| 68 | ], |
| Austin Schuh | 7b9a3ba | 2017-02-19 23:11:45 -0800 | [diff] [blame] | 69 | ) |
| Parker Schuh | fea4858 | 2017-03-11 20:15:32 -0800 | [diff] [blame] | 70 | |
| 71 | cc_library( |
| James Kuszmaul | 97f750d | 2019-01-20 20:08:03 -0800 | [diff] [blame^] | 72 | name = "vision_time_adjuster", |
| 73 | srcs = [ |
| 74 | "vision_time_adjuster.cc", |
| 75 | ], |
| 76 | hdrs = [ |
| 77 | "vision_time_adjuster.h", |
| 78 | ], |
| 79 | deps = [ |
| 80 | ":superstructure_queue", |
| 81 | "//aos/containers:ring_buffer", |
| 82 | "//frc971/control_loops/drivetrain:drivetrain_queue", |
| 83 | "//y2017/control_loops/drivetrain:polydrivetrain_plants", |
| 84 | "//y2017/vision:vision_queue", |
| 85 | ], |
| Parker Schuh | fea4858 | 2017-03-11 20:15:32 -0800 | [diff] [blame] | 86 | ) |
| 87 | |
| 88 | cc_test( |
| James Kuszmaul | 97f750d | 2019-01-20 20:08:03 -0800 | [diff] [blame^] | 89 | name = "vision_time_adjuster_test", |
| 90 | srcs = [ |
| 91 | "vision_time_adjuster_test.cc", |
| 92 | ], |
| 93 | deps = [ |
| 94 | ":vision_time_adjuster", |
| 95 | "//aos/testing:googletest", |
| 96 | "//aos/testing:test_shm", |
| 97 | "//aos/time", |
| 98 | ], |
| Parker Schuh | fea4858 | 2017-03-11 20:15:32 -0800 | [diff] [blame] | 99 | ) |
| Parker Schuh | 208a58d | 2017-04-12 20:51:38 -0700 | [diff] [blame] | 100 | |
| 101 | cc_library( |
| James Kuszmaul | 97f750d | 2019-01-20 20:08:03 -0800 | [diff] [blame^] | 102 | name = "vision_distance_average", |
| 103 | hdrs = [ |
| 104 | "vision_distance_average.h", |
| 105 | ], |
| 106 | deps = [ |
| 107 | "//aos/containers:ring_buffer", |
| 108 | "//aos/time", |
| 109 | "//y2017/vision:vision_queue", |
| 110 | ], |
| Parker Schuh | 208a58d | 2017-04-12 20:51:38 -0700 | [diff] [blame] | 111 | ) |
| 112 | |
| 113 | cc_test( |
| James Kuszmaul | 97f750d | 2019-01-20 20:08:03 -0800 | [diff] [blame^] | 114 | name = "vision_distance_average_test", |
| 115 | srcs = [ |
| 116 | "vision_distance_average_test.cc", |
| 117 | ], |
| 118 | deps = [ |
| 119 | ":vision_distance_average", |
| 120 | "//aos/testing:googletest", |
| 121 | "//aos/time", |
| 122 | ], |
| Parker Schuh | 208a58d | 2017-04-12 20:51:38 -0700 | [diff] [blame] | 123 | ) |