| Sabina Davis | f4c5e76 | 2018-01-24 10:18:43 -0800 | [diff] [blame] | 1 | genrule( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [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 //y2018/control_loops/python:drivetrain) $(OUTS)", |
| 10 | tools = [ |
| 11 | "//y2018/control_loops/python:drivetrain", |
| 12 | ], |
| Sabina Davis | f4c5e76 | 2018-01-24 10:18:43 -0800 | [diff] [blame] | 13 | ) |
| 14 | |
| 15 | genrule( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 16 | name = "genrule_polydrivetrain", |
| 17 | outs = [ |
| 18 | "polydrivetrain_dog_motor_plant.h", |
| 19 | "polydrivetrain_dog_motor_plant.cc", |
| 20 | "polydrivetrain_cim_plant.h", |
| 21 | "polydrivetrain_cim_plant.cc", |
| Austin Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame] | 22 | "hybrid_velocity_drivetrain.h", |
| 23 | "hybrid_velocity_drivetrain.cc", |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 24 | ], |
| 25 | cmd = "$(location //y2018/control_loops/python:polydrivetrain) $(OUTS)", |
| 26 | tools = [ |
| 27 | "//y2018/control_loops/python:polydrivetrain", |
| 28 | ], |
| Sabina Davis | f4c5e76 | 2018-01-24 10:18:43 -0800 | [diff] [blame] | 29 | ) |
| 30 | |
| 31 | cc_library( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 32 | name = "polydrivetrain_plants", |
| 33 | srcs = [ |
| 34 | "drivetrain_dog_motor_plant.cc", |
| Austin Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame] | 35 | "hybrid_velocity_drivetrain.cc", |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 36 | "kalman_drivetrain_motor_plant.cc", |
| 37 | "polydrivetrain_dog_motor_plant.cc", |
| 38 | ], |
| 39 | hdrs = [ |
| 40 | "drivetrain_dog_motor_plant.h", |
| Austin Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame] | 41 | "hybrid_velocity_drivetrain.h", |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 42 | "kalman_drivetrain_motor_plant.h", |
| 43 | "polydrivetrain_dog_motor_plant.h", |
| 44 | ], |
| 45 | visibility = ["//visibility:public"], |
| 46 | deps = [ |
| Austin Schuh | 7442515 | 2018-12-21 11:37:14 +1100 | [diff] [blame] | 47 | "//frc971/control_loops:hybrid_state_feedback_loop", |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 48 | "//frc971/control_loops:state_feedback_loop", |
| 49 | ], |
| Sabina Davis | f4c5e76 | 2018-01-24 10:18:43 -0800 | [diff] [blame] | 50 | ) |
| 51 | |
| 52 | cc_library( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 53 | name = "drivetrain_base", |
| 54 | srcs = [ |
| 55 | "drivetrain_base.cc", |
| 56 | ], |
| 57 | hdrs = [ |
| 58 | "drivetrain_base.h", |
| 59 | ], |
| 60 | visibility = ["//visibility:public"], |
| 61 | deps = [ |
| 62 | ":polydrivetrain_plants", |
| 63 | "//frc971:shifter_hall_effect", |
| 64 | "//frc971/control_loops/drivetrain:drivetrain_config", |
| 65 | ], |
| Sabina Davis | f4c5e76 | 2018-01-24 10:18:43 -0800 | [diff] [blame] | 66 | ) |
| 67 | |
| 68 | cc_binary( |
| Austin Schuh | 2314c81 | 2018-12-21 13:42:33 +1100 | [diff] [blame] | 69 | name = "drivetrain", |
| 70 | srcs = [ |
| 71 | "drivetrain_main.cc", |
| 72 | ], |
| 73 | visibility = ["//visibility:public"], |
| 74 | deps = [ |
| 75 | ":drivetrain_base", |
| 76 | "//aos:init", |
| 77 | "//frc971/control_loops/drivetrain:drivetrain_lib", |
| 78 | ], |
| Sabina Davis | f4c5e76 | 2018-01-24 10:18:43 -0800 | [diff] [blame] | 79 | ) |