Blame - y2012/control_loops/drivetrain/BUILD - RealtimeRoboticsGroup/test

blob: 3be1e9a3aff4e420346726f105885524d2a6a683 [file] [log] [blame]

Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	1	package(default_visibility = ["//visibility:public"])
Brian Silverman	c71537c	2016-01-01 13:43:14 -0800	[diff] [blame]	2
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	3	load("//aos/build:queues.bzl", "queue_library")
Brian Silverman	c71537c	2016-01-01 13:43:14 -0800	[diff] [blame]	4
Brian Silverman	c71537c	2016-01-01 13:43:14 -0800	[diff] [blame]	5	genrule(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	6	name = "genrule_drivetrain",
				7	outs = [
				8	"drivetrain_dog_motor_plant.h",
				9	"drivetrain_dog_motor_plant.cc",
				10	"kalman_drivetrain_motor_plant.h",
				11	"kalman_drivetrain_motor_plant.cc",
				12	],
				13	cmd = "$(location //y2012/control_loops/python:drivetrain) $(OUTS)",
				14	tools = [
				15	"//y2012/control_loops/python:drivetrain",
				16	],
				17	visibility = ["//visibility:private"],
Brian Silverman	c71537c	2016-01-01 13:43:14 -0800	[diff] [blame]	18	)
				19
				20	genrule(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	21	name = "genrule_polydrivetrain",
				22	outs = [
				23	"polydrivetrain_dog_motor_plant.h",
				24	"polydrivetrain_dog_motor_plant.cc",
				25	"polydrivetrain_cim_plant.h",
				26	"polydrivetrain_cim_plant.cc",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	27	"hybrid_velocity_drivetrain.h",
				28	"hybrid_velocity_drivetrain.cc",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	29	],
				30	cmd = "$(location //y2012/control_loops/python:polydrivetrain) $(OUTS)",
				31	tools = [
				32	"//y2012/control_loops/python:polydrivetrain",
				33	],
				34	visibility = ["//visibility:private"],
Brian Silverman	c71537c	2016-01-01 13:43:14 -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	],
				51	deps = [
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	52	"//frc971/control_loops:hybrid_state_feedback_loop",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	53	"//frc971/control_loops:state_feedback_loop",
				54	],
Brian Silverman	c71537c	2016-01-01 13:43:14 -0800	[diff] [blame]	55	)
				56
				57	cc_library(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	58	name = "drivetrain_base",
				59	srcs = [
				60	"drivetrain_base.cc",
				61	],
				62	hdrs = [
				63	"drivetrain_base.h",
				64	],
				65	deps = [
				66	":polydrivetrain_plants",
				67	"//frc971:shifter_hall_effect",
				68	"//frc971/control_loops/drivetrain:drivetrain_config",
				69	"//y2016:constants",
				70	],
Brian Silverman	c71537c	2016-01-01 13:43:14 -0800	[diff] [blame]	71	)
				72
				73	cc_binary(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	74	name = "drivetrain",
				75	srcs = [
				76	"drivetrain_main.cc",
				77	],
				78	deps = [
				79	":drivetrain_base",
				80	"//aos:init",
Austin Schuh	55a13dc	2019-01-27 22:39:03 -0800	[diff] [blame]	81	"//aos/events:shm-event-loop",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	82	"//frc971/control_loops/drivetrain:drivetrain_lib",
				83	],
Brian Silverman	c71537c	2016-01-01 13:43:14 -0800	[diff] [blame]	84	)