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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / cb7da4be1f74da8a3196f414a2e3db2d0c5590a3 / . / y2016 / control_loops / drivetrain / BUILD
blob: e706f2578b27592a2ec28c21bd01bf15964e67e5 [file] [log] [blame]
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]1genrule(
Brian Silverman7a7c24d2018-09-01 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) $(OUTS)",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]10 tools = [
11 "//y2016/control_loops/python:drivetrain",
12 ],
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]13)
14
15genrule(
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]16 name = "genrule_polydrivetrain",
17 outs = [
18 "polydrivetrain_dog_motor_plant.h",
19 "polydrivetrain_dog_motor_plant.cc",
20 "polydrivetrain_cim_plant.h",
21 "polydrivetrain_cim_plant.cc",
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame]22 "hybrid_velocity_drivetrain.h",
23 "hybrid_velocity_drivetrain.cc",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]24 ],
25 cmd = "$(location //y2016/control_loops/python:polydrivetrain) $(OUTS)",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]26 tools = [
27 "//y2016/control_loops/python:polydrivetrain",
28 ],
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]29)
30
31cc_library(
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]32 name = "polydrivetrain_plants",
33 srcs = [
34 "drivetrain_dog_motor_plant.cc",
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame]35 "hybrid_velocity_drivetrain.cc",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]36 "kalman_drivetrain_motor_plant.cc",
37 "polydrivetrain_dog_motor_plant.cc",
38 ],
39 hdrs = [
40 "drivetrain_dog_motor_plant.h",
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame]41 "hybrid_velocity_drivetrain.h",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]42 "kalman_drivetrain_motor_plant.h",
43 "polydrivetrain_dog_motor_plant.h",
44 ],
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame]45 visibility = ["//visibility:public"],
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]46 deps = [
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame]47 "//frc971/control_loops:hybrid_state_feedback_loop",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]48 "//frc971/control_loops:state_feedback_loop",
49 ],
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]50)
51
52cc_library(
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]53 name = "drivetrain_base",
54 srcs = [
55 "drivetrain_base.cc",
56 ],
57 hdrs = [
58 "drivetrain_base.h",
59 ],
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame]60 visibility = ["//visibility:public"],
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]61 deps = [
62 ":polydrivetrain_plants",
63 "//frc971:shifter_hall_effect",
64 "//frc971/control_loops/drivetrain:drivetrain_config",
65 "//y2016:constants",
66 ],
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]67)
68
69cc_binary(
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]70 name = "drivetrain",
71 srcs = [
72 "drivetrain_main.cc",
73 ],
Austin Schuh74425152018-12-21 11:37:14 +1100[diff] [blame]74 visibility = ["//visibility:public"],
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]75 deps = [
76 ":drivetrain_base",
John Park398c74a2018-10-20 21:17:39 -0700[diff] [blame]77 "//aos:init",
Brian Silverman7a7c24d2018-09-01 17:49:09 -0700[diff] [blame]78 "//frc971/control_loops/drivetrain:drivetrain_lib",
79 ],
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]80)