| Austin Schuh | 5593403 | 2017-03-11 12:45:27 -0800 | [diff] [blame] | 1 | genrule( |
| 2 | name = 'genrule_column', |
| 3 | cmd = '$(location //y2017/control_loops/python:column) $(OUTS)', |
| 4 | tools = [ |
| 5 | '//y2017/control_loops/python:column', |
| 6 | ], |
| 7 | outs = [ |
| 8 | 'column_plant.h', |
| 9 | 'column_plant.cc', |
| 10 | 'column_integral_plant.h', |
| 11 | 'column_integral_plant.cc', |
| Austin Schuh | 5593403 | 2017-03-11 12:45:27 -0800 | [diff] [blame] | 12 | 'stuck_column_integral_plant.h', |
| Austin Schuh | d5ccb86 | 2017-03-11 22:06:36 -0800 | [diff] [blame] | 13 | 'stuck_column_integral_plant.cc', |
| Austin Schuh | 5593403 | 2017-03-11 12:45:27 -0800 | [diff] [blame] | 14 | ], |
| 15 | ) |
| 16 | |
| 17 | cc_library( |
| 18 | name = 'column_plants', |
| 19 | visibility = ['//visibility:public'], |
| 20 | srcs = [ |
| 21 | 'column_plant.cc', |
| 22 | 'column_integral_plant.cc', |
| Austin Schuh | d5ccb86 | 2017-03-11 22:06:36 -0800 | [diff] [blame] | 23 | 'stuck_column_integral_plant.cc', |
| Austin Schuh | 5593403 | 2017-03-11 12:45:27 -0800 | [diff] [blame] | 24 | ], |
| 25 | hdrs = [ |
| 26 | 'column_plant.h', |
| 27 | 'column_integral_plant.h', |
| Austin Schuh | d5ccb86 | 2017-03-11 22:06:36 -0800 | [diff] [blame] | 28 | 'stuck_column_integral_plant.h', |
| Austin Schuh | 5593403 | 2017-03-11 12:45:27 -0800 | [diff] [blame] | 29 | ], |
| 30 | deps = [ |
| 31 | '//frc971/control_loops:state_feedback_loop', |
| 32 | ], |
| 33 | ) |
| 34 | |
| 35 | cc_library( |
| Austin Schuh | d5ccb86 | 2017-03-11 22:06:36 -0800 | [diff] [blame] | 36 | name = 'column', |
| 37 | visibility = ['//visibility:public'], |
| 38 | srcs = [ |
| 39 | 'column.cc', |
| 40 | ], |
| 41 | hdrs = [ |
| 42 | 'column.h', |
| 43 | ], |
| 44 | deps = [ |
| 45 | ':column_plants', |
| 46 | ':column_zeroing', |
| John Park | 33858a3 | 2018-09-28 23:05:48 -0700 | [diff] [blame] | 47 | '//aos/controls:control_loop', |
| 48 | '//aos:math', |
| Austin Schuh | d5ccb86 | 2017-03-11 22:06:36 -0800 | [diff] [blame] | 49 | '//frc971/control_loops:profiled_subsystem', |
| 50 | '//y2017/control_loops/superstructure/intake:intake', |
| 51 | '//y2017/control_loops/superstructure:superstructure_queue', |
| Austin Schuh | ac76bb3 | 2017-03-22 22:34:26 -0700 | [diff] [blame] | 52 | '//y2017/control_loops/superstructure:vision_time_adjuster', |
| Austin Schuh | d5ccb86 | 2017-03-11 22:06:36 -0800 | [diff] [blame] | 53 | '//y2017:constants', |
| 54 | ], |
| 55 | ) |
| 56 | |
| 57 | cc_library( |
| Austin Schuh | 5593403 | 2017-03-11 12:45:27 -0800 | [diff] [blame] | 58 | name = 'column_zeroing', |
| 59 | srcs = [ |
| 60 | 'column_zeroing.cc', |
| 61 | ], |
| 62 | hdrs = [ |
| 63 | 'column_zeroing.h', |
| 64 | ], |
| 65 | deps = [ |
| 66 | '//frc971/control_loops:queues', |
| 67 | '//frc971/zeroing:wrap', |
| 68 | '//frc971/zeroing:zeroing', |
| 69 | '//frc971:constants', |
| 70 | '//y2017/control_loops/superstructure:superstructure_queue', |
| 71 | '//y2017:constants', |
| 72 | ], |
| 73 | ) |
| 74 | |
| 75 | cc_test( |
| 76 | name = 'column_zeroing_test', |
| 77 | srcs = [ |
| 78 | 'column_zeroing_test.cc', |
| 79 | ], |
| 80 | deps = [ |
| 81 | ':column_zeroing', |
| 82 | '//aos/testing:test_shm', |
| 83 | '//frc971/control_loops:position_sensor_sim', |
| 84 | '//frc971/control_loops:team_number_test_environment', |
| 85 | '//y2017/control_loops/superstructure:superstructure_queue', |
| 86 | '//y2017:constants', |
| 87 | ], |
| 88 | ) |