| Tyler Chatow | e51334a | 2019-01-20 16:58:16 -0800 | [diff] [blame] | 1 | package(default_visibility = ["//visibility:public"]) |
| 2 | |
| 3 | load("//aos/build:queues.bzl", "queue_library") |
| 4 | |
| 5 | queue_library( |
| 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 | ], |
| 15 | ) |
| 16 | |
| 17 | cc_library( |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame] | 18 | name = "superstructure_lib", |
| Tyler Chatow | e51334a | 2019-01-20 16:58:16 -0800 | [diff] [blame] | 19 | srcs = [ |
| 20 | "superstructure.cc", |
| 21 | ], |
| 22 | hdrs = [ |
| 23 | "superstructure.h", |
| 24 | ], |
| 25 | deps = [ |
| Theo Bafrali | 00e4227 | 2019-02-12 01:07:46 -0800 | [diff] [blame] | 26 | ":collision_avoidance", |
| Theo Bafrali | 3274a18 | 2019-02-17 20:01:38 -0800 | [diff] [blame] | 27 | ":vacuum", |
| Tyler Chatow | e51334a | 2019-01-20 16:58:16 -0800 | [diff] [blame] | 28 | ":superstructure_queue", |
| 29 | "//aos/controls:control_loop", |
| Theo Bafrali | 00e4227 | 2019-02-12 01:07:46 -0800 | [diff] [blame] | 30 | "//y2019:constants", |
| 31 | ], |
| 32 | ) |
| 33 | |
| 34 | cc_test( |
| 35 | name = "superstructure_lib_test", |
| 36 | srcs = [ |
| 37 | "superstructure_lib_test.cc", |
| 38 | ], |
| 39 | deps = [ |
| 40 | ":superstructure_lib", |
| 41 | ":superstructure_queue", |
| 42 | "//aos:math", |
| 43 | "//aos:queues", |
| 44 | "//aos/controls:control_loop_test", |
| 45 | "//aos/testing:googletest", |
| 46 | "//aos/time", |
| 47 | "//frc971/control_loops:capped_test_plant", |
| 48 | "//frc971/control_loops:position_sensor_sim", |
| 49 | "//frc971/control_loops:team_number_test_environment", |
| 50 | "//y2019/control_loops/superstructure/intake:intake_plants", |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame] | 51 | ], |
| Tyler Chatow | e51334a | 2019-01-20 16:58:16 -0800 | [diff] [blame] | 52 | ) |
| 53 | |
| 54 | cc_binary( |
| 55 | name = "superstructure", |
| 56 | srcs = [ |
| 57 | "superstructure_main.cc", |
| 58 | ], |
| 59 | deps = [ |
| 60 | ":superstructure_lib", |
| 61 | "//aos:init", |
| Austin Schuh | 55a13dc | 2019-01-27 22:39:03 -0800 | [diff] [blame] | 62 | "//aos/events:shm-event-loop", |
| 63 | ], |
| 64 | ) |
| Sabina Davis | 4b63ae5 | 2019-01-27 16:15:25 -0800 | [diff] [blame] | 65 | |
| 66 | cc_library( |
| 67 | name = "collision_avoidance", |
| 68 | srcs = [ |
| 69 | "collision_avoidance.cc", |
| 70 | ], |
| 71 | hdrs = [ |
| 72 | "collision_avoidance.h", |
| 73 | ], |
| 74 | deps = [ |
| 75 | ":superstructure_queue", |
| 76 | "//aos/controls:control_loop_queues", |
| 77 | "//frc971:constants", |
| 78 | ], |
| 79 | ) |
| 80 | |
| Theo Bafrali | 3274a18 | 2019-02-17 20:01:38 -0800 | [diff] [blame] | 81 | cc_library( |
| 82 | name = "vacuum", |
| 83 | srcs = [ |
| 84 | "vacuum.cc", |
| 85 | ], |
| 86 | hdrs = [ |
| 87 | "vacuum.h", |
| 88 | ], |
| 89 | deps = [ |
| 90 | ":superstructure_queue", |
| 91 | "//aos/controls:control_loop" |
| 92 | ], |
| 93 | ) |
| 94 | |
| Sabina Davis | 4b63ae5 | 2019-01-27 16:15:25 -0800 | [diff] [blame] | 95 | cc_test( |
| 96 | name = "collision_avoidance_tests", |
| 97 | srcs = [ |
| 98 | "collision_avoidance_tests.cc", |
| 99 | ], |
| 100 | deps = [ |
| 101 | ":collision_avoidance", |
| 102 | ":superstructure_queue", |
| 103 | "//aos:math", |
| 104 | "//aos/testing:googletest", |
| 105 | ], |
| 106 | ) |