Blame - y2014_bot3/control_loops/drivetrain/BUILD - RealtimeRoboticsGroup/test

blob: 9a5bb53ebc836d3c74e7b568dcd8829d557a2856 [file] [log] [blame]

Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	1	package(default_visibility = ["//visibility:public"])
Comran Morshed	41ed7c2	2015-11-04 21:03:37 +0000	[diff] [blame]	2
Campbell Crowley	9c3ecfd	2015-12-31 17:04:30 -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 //y2014_bot3/control_loops/python:drivetrain) $(OUTS)",
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	12	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	13	tools = [
				14	"//y2014_bot3/control_loops/python:drivetrain",
				15	],
				16	visibility = ["//visibility:private"],
Adam Snaider	83eae56	2016-09-10 16:47:33 -0700	[diff] [blame]	17	)
				18
				19	genrule(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	20	name = "genrule_polydrivetrain",
				21	outs = [
				22	"polydrivetrain_dog_motor_plant.h",
				23	"polydrivetrain_dog_motor_plant.cc",
				24	"polydrivetrain_cim_plant.h",
				25	"polydrivetrain_cim_plant.cc",
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	26	"hybrid_velocity_drivetrain.h",
				27	"hybrid_velocity_drivetrain.cc",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	28	],
				29	cmd = "$(location //y2014_bot3/control_loops/python:polydrivetrain) $(OUTS)",
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	30	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	31	tools = [
				32	"//y2014_bot3/control_loops/python:polydrivetrain",
				33	],
				34	visibility = ["//visibility:private"],
Campbell Crowley	9c3ecfd	2015-12-31 17:04:30 -0800	[diff] [blame]	35	)
				36
Comran Morshed	41ed7c2	2015-11-04 21:03:37 +0000	[diff] [blame]	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	],
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	51	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	52	deps = [
Austin Schuh	7442515	2018-12-21 11:37:14 +1100	[diff] [blame]	53	"//frc971/control_loops:hybrid_state_feedback_loop",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	54	"//frc971/control_loops:state_feedback_loop",
				55	],
Comran Morshed	41ed7c2	2015-11-04 21:03:37 +0000	[diff] [blame]	56	)
				57
Adam Snaider	83eae56	2016-09-10 16:47:33 -0700	[diff] [blame]	58	cc_library(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	59	name = "drivetrain_base",
				60	srcs = [
				61	"drivetrain_base.cc",
				62	],
				63	hdrs = [
				64	"drivetrain_base.h",
				65	],
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	66	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	67	deps = [
				68	":polydrivetrain_plants",
				69	"//frc971:shifter_hall_effect",
				70	"//frc971/control_loops/drivetrain:drivetrain_config",
				71	],
Comran Morshed	41ed7c2	2015-11-04 21:03:37 +0000	[diff] [blame]	72	)
				73
				74	cc_binary(
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	75	name = "drivetrain",
				76	srcs = [
				77	"drivetrain_main.cc",
				78	],
Philipp Schrader	dada107	2020-11-24 11:34:46 -0800	[diff] [blame]	79	target_compatible_with = ["@platforms//os:linux"],
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	80	deps = [
				81	":drivetrain_base",
				82	"//aos:init",
Alex Perry	cb7da4b	2019-08-28 19:35:56 -0700	[diff] [blame]	83	"//aos/events:shm_event_loop",
Austin Schuh	2314c81	2018-12-21 13:42:33 +1100	[diff] [blame]	84	"//frc971/control_loops/drivetrain:drivetrain_lib",
				85	],
Comran Morshed	41ed7c2	2015-11-04 21:03:37 +0000	[diff] [blame]	86	)