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