| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 1 | genrule( |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame] | 2 | name = "genrule_drivetrain", |
| 3 | outs = [ |
| 4 | "drivetrain_dog_motor_plant.h", |
| 5 | "drivetrain_dog_motor_plant.cc", |
| 6 | "kalman_drivetrain_motor_plant.h", |
| 7 | "kalman_drivetrain_motor_plant.cc", |
| 8 | ], |
| 9 | cmd = "$(location //y2016/control_loops/python:drivetrain) $(OUTS)", |
| Philipp Schrader | dada107 | 2020-11-24 11:34:46 -0800 | [diff] [blame] | 10 | target_compatible_with = ["@platforms//os:linux"], |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame] | 11 | tools = [ |
| 12 | "//y2016/control_loops/python:drivetrain", |
| 13 | ], |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 14 | ) |
| 15 | |
| 16 | genrule( |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame] | 17 | name = "genrule_polydrivetrain", |
| 18 | outs = [ |
| 19 | "polydrivetrain_dog_motor_plant.h", |
| 20 | "polydrivetrain_dog_motor_plant.cc", |
| 21 | "polydrivetrain_cim_plant.h", |
| 22 | "polydrivetrain_cim_plant.cc", |
| Austin Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame] | 23 | "hybrid_velocity_drivetrain.h", |
| 24 | "hybrid_velocity_drivetrain.cc", |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame] | 25 | ], |
| 26 | cmd = "$(location //y2016/control_loops/python:polydrivetrain) $(OUTS)", |
| Philipp Schrader | dada107 | 2020-11-24 11:34:46 -0800 | [diff] [blame] | 27 | target_compatible_with = ["@platforms//os:linux"], |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame] | 28 | tools = [ |
| 29 | "//y2016/control_loops/python:polydrivetrain", |
| 30 | ], |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 31 | ) |
| 32 | |
| 33 | cc_library( |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [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", |
| Brian Silverman | 7a7c24d | 2018-09-01 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 Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame] | 43 | "hybrid_velocity_drivetrain.h", |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame] | 44 | "kalman_drivetrain_motor_plant.h", |
| 45 | "polydrivetrain_dog_motor_plant.h", |
| 46 | ], |
| Philipp Schrader | dada107 | 2020-11-24 11:34:46 -0800 | [diff] [blame] | 47 | target_compatible_with = ["@platforms//os:linux"], |
| Austin Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame] | 48 | visibility = ["//visibility:public"], |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame] | 49 | deps = [ |
| Austin Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame] | 50 | "//frc971/control_loops:hybrid_state_feedback_loop", |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame] | 51 | "//frc971/control_loops:state_feedback_loop", |
| 52 | ], |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 53 | ) |
| 54 | |
| 55 | cc_library( |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame] | 56 | name = "drivetrain_base", |
| 57 | srcs = [ |
| 58 | "drivetrain_base.cc", |
| 59 | ], |
| 60 | hdrs = [ |
| 61 | "drivetrain_base.h", |
| 62 | ], |
| Philipp Schrader | dada107 | 2020-11-24 11:34:46 -0800 | [diff] [blame] | 63 | target_compatible_with = ["@platforms//os:linux"], |
| Austin Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame] | 64 | visibility = ["//visibility:public"], |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame] | 65 | deps = [ |
| 66 | ":polydrivetrain_plants", |
| 67 | "//frc971:shifter_hall_effect", |
| 68 | "//frc971/control_loops/drivetrain:drivetrain_config", |
| 69 | "//y2016:constants", |
| 70 | ], |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 71 | ) |
| 72 | |
| 73 | cc_binary( |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame] | 74 | name = "drivetrain", |
| 75 | srcs = [ |
| 76 | "drivetrain_main.cc", |
| 77 | ], |
| Philipp Schrader | dada107 | 2020-11-24 11:34:46 -0800 | [diff] [blame] | 78 | target_compatible_with = ["@platforms//os:linux"], |
| Austin Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame] | 79 | visibility = ["//visibility:public"], |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame] | 80 | deps = [ |
| 81 | ":drivetrain_base", |
| John Park | 398c74a | 2018-10-20 21:17:39 -0700 | [diff] [blame] | 82 | "//aos:init", |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame] | 83 | "//frc971/control_loops/drivetrain:drivetrain_lib", |
| 84 | ], |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 85 | ) |