| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 1 | load("//tools:environments.bzl", "mcu_cpus") |
| 2 | |
| 3 | py_binary( |
| 4 | name = "drivetrain", |
| 5 | srcs = [ |
| 6 | "drivetrain.py", |
| 7 | ], |
| 8 | restricted_to = ["//tools:k8"], |
| 9 | deps = [ |
| 10 | "//external:python-gflags", |
| 11 | "//external:python-glog", |
| 12 | "//frc971/control_loops/python:drivetrain", |
| 13 | ], |
| 14 | ) |
| 15 | |
| 16 | py_binary( |
| 17 | name = "polydrivetrain", |
| 18 | srcs = [ |
| 19 | "drivetrain.py", |
| 20 | "polydrivetrain.py", |
| 21 | ], |
| 22 | restricted_to = ["//tools:k8"], |
| 23 | deps = [ |
| 24 | "//external:python-gflags", |
| 25 | "//external:python-glog", |
| 26 | "//frc971/control_loops/python:polydrivetrain", |
| 27 | ], |
| 28 | ) |
| 29 | |
| 30 | genrule( |
| 31 | name = "genrule_drivetrain", |
| 32 | outs = [ |
| 33 | "drivetrain_dog_motor_plant.h", |
| 34 | "drivetrain_dog_motor_plant.cc", |
| 35 | "kalman_drivetrain_motor_plant.h", |
| 36 | "kalman_drivetrain_motor_plant.cc", |
| 37 | ], |
| 38 | cmd = "$(location :drivetrain) $(OUTS)", |
| 39 | restricted_to = mcu_cpus, |
| 40 | tools = [ |
| 41 | ":drivetrain", |
| 42 | ], |
| 43 | ) |
| 44 | |
| 45 | genrule( |
| 46 | name = "genrule_polydrivetrain", |
| 47 | outs = [ |
| 48 | "polydrivetrain_dog_motor_plant.h", |
| 49 | "polydrivetrain_dog_motor_plant.cc", |
| 50 | "polydrivetrain_cim_plant.h", |
| 51 | "polydrivetrain_cim_plant.cc", |
| 52 | ], |
| 53 | cmd = "$(location :polydrivetrain) $(OUTS)", |
| 54 | restricted_to = mcu_cpus, |
| 55 | tools = [ |
| 56 | ":polydrivetrain", |
| 57 | ], |
| 58 | ) |
| 59 | |
| 60 | cc_library( |
| 61 | name = "drivetrain_lib", |
| 62 | srcs = [ |
| 63 | "drivetrain_dog_motor_plant.cc", |
| 64 | "polydrivetrain_dog_motor_plant.cc", |
| 65 | ], |
| 66 | hdrs = [ |
| 67 | "drivetrain_dog_motor_plant.h", |
| 68 | "polydrivetrain_dog_motor_plant.h", |
| 69 | ], |
| 70 | restricted_to = mcu_cpus, |
| 71 | visibility = ["//visibility:public"], |
| 72 | deps = [ |
| 73 | "//frc971/control_loops:state_feedback_loop_uc", |
| 74 | "//frc971/control_loops/drivetrain:polydrivetrain_uc", |
| 75 | ], |
| 76 | ) |
| Austin Schuh | 4fae0fc | 2018-03-27 23:51:42 -0700 | [diff] [blame] | 77 | |
| 78 | cc_library( |
| 79 | name = "spring", |
| 80 | srcs = ["spring.cc"], |
| 81 | hdrs = ["spring.h"], |
| 82 | compatible_with = mcu_cpus, |
| 83 | visibility = ["//visibility:public"], |
| 84 | deps = ["//frc971/zeroing:wrap"], |
| 85 | ) |
| 86 | |
| 87 | cc_test( |
| 88 | name = "spring_test", |
| 89 | srcs = [ |
| 90 | "spring_test.cc", |
| 91 | ], |
| 92 | deps = [ |
| 93 | ":spring", |
| 94 | "//aos/testing:googletest", |
| 95 | ], |
| 96 | ) |