Blame - y2017/control_loops/drivetrain/BUILD - RealtimeRoboticsGroup/test

blob: 86d923f4e9648afaec92200c9dbae68dd2cbfddb [file] [log] [blame]

Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	1	package(default_visibility = ["//visibility:public"])
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	2
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	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 //y2017/control_loops/python:drivetrain) $(OUTS)",
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	12	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	13	tools = [
				14	"//y2017/control_loops/python:drivetrain",
				15	],
				16	visibility = ["//visibility:private"],
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	17	)
				18
				19	genrule(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	20	name = "genrule_polydrivetrain",
				21	outs = [
				22	"polydrivetrain_dog_motor_plant.h",
				23	"polydrivetrain_dog_motor_plant.cc",
				24	"polydrivetrain_cim_plant.h",
				25	"polydrivetrain_cim_plant.cc",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	26	"hybrid_velocity_drivetrain.h",
				27	"hybrid_velocity_drivetrain.cc",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	28	],
				29	cmd = "$(location //y2017/control_loops/python:polydrivetrain) $(OUTS)",
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	30	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	31	tools = [
				32	"//y2017/control_loops/python:polydrivetrain",
				33	],
				34	visibility = ["//visibility:private"],
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	35	)
				36
				37	cc_library(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	38	name = "polydrivetrain_plants",
				39	srcs = [
				40	"drivetrain_dog_motor_plant.cc",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	41	"hybrid_velocity_drivetrain.cc",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	42	"kalman_drivetrain_motor_plant.cc",
				43	"polydrivetrain_dog_motor_plant.cc",
				44	],
				45	hdrs = [
				46	"drivetrain_dog_motor_plant.h",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	47	"hybrid_velocity_drivetrain.h",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	48	"kalman_drivetrain_motor_plant.h",
				49	"polydrivetrain_dog_motor_plant.h",
				50	],
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	51	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	52	deps = [
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	53	"//frc971/control_loops:hybrid_state_feedback_loop",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	54	"//frc971/control_loops:state_feedback_loop",
				55	],
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	56	)
				57
				58	cc_library(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	59	name = "drivetrain_base",
				60	srcs = [
				61	"drivetrain_base.cc",
				62	],
				63	hdrs = [
				64	"drivetrain_base.h",
				65	],
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	66	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	67	deps = [
				68	":polydrivetrain_plants",
				69	"//frc971:shifter_hall_effect",
				70	"//frc971/control_loops/drivetrain:drivetrain_config",
				71	"//y2017:constants",
				72	],
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	73	)
				74
				75	cc_binary(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	76	name = "drivetrain",
				77	srcs = [
				78	"drivetrain_main.cc",
				79	],
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	80	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	81	deps = [
				82	":drivetrain_base",
				83	"//aos:init",
Alex Perry	cb7da4b	2019-08-28 19:35:56 -0700	[diff] [blame]	84	"//aos/events:shm_event_loop",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	85	"//frc971/control_loops/drivetrain:drivetrain_lib",
				86	],
Diana Vandenberg	223703d	2017-01-28 17:39:53 -0800	[diff] [blame]	87	)