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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / fa8fc497b10f1e1de7f613d6f2f90dd4062eed8b / . / frc971 / zeroing / BUILD
blob: 8ca7f67f2d49f1019c31392b0b3532bdd3520afd [file] [log] [blame]
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]1package(default_visibility = ["//visibility:public"])
Brian Silverman100534c2015-09-07 15:51:23 -0400[diff] [blame]2
Philipp Schrader29d54f22016-04-02 22:14:48 +0000[diff] [blame]3cc_library(
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]4 name = "averager",
5 hdrs = [
6 "averager.h",
7 ],
Philipp Schraderdada1072020-11-24 11:34:46 -0800[diff] [blame]8 target_compatible_with = ["@platforms//os:linux"],
James Kuszmauld3f9eb22020-01-12 15:02:07 -0800[diff] [blame]9 deps = [
10 "@com_github_google_glog//:glog",
11 "@org_tuxfamily_eigen//:eigen",
12 ],
Philipp Schrader29d54f22016-04-02 22:14:48 +0000[diff] [blame]13)
14
15cc_test(
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]16 name = "averager_test",
17 srcs = [
18 "averager_test.cc",
19 ],
Philipp Schraderdada1072020-11-24 11:34:46 -0800[diff] [blame]20 target_compatible_with = ["@platforms//os:linux"],
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]21 deps = [
22 ":averager",
23 "//aos/testing:googletest",
James Kuszmauld3f9eb22020-01-12 15:02:07 -0800[diff] [blame]24 "@org_tuxfamily_eigen//:eigen",
25 ],
26)
27
28cc_library(
29 name = "imu_zeroer",
30 srcs = [
31 "imu_zeroer.cc",
32 ],
33 hdrs = [
34 "imu_zeroer.h",
35 ],
Philipp Schraderdada1072020-11-24 11:34:46 -0800[diff] [blame]36 target_compatible_with = ["@platforms//os:linux"],
James Kuszmauld3f9eb22020-01-12 15:02:07 -0800[diff] [blame]37 deps = [
38 ":averager",
James Kuszmaulb1e29372020-02-11 16:55:36 -0800[diff] [blame]39 "//frc971/control_loops:control_loops_fbs",
40 "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
James Kuszmauld3f9eb22020-01-12 15:02:07 -0800[diff] [blame]41 "//frc971/wpilib:imu_fbs",
42 "@com_github_google_glog//:glog",
43 "@org_tuxfamily_eigen//:eigen",
44 ],
45)
46
47cc_test(
48 name = "imu_zeroer_test",
49 srcs = [
50 "imu_zeroer_test.cc",
51 ],
Philipp Schraderdada1072020-11-24 11:34:46 -0800[diff] [blame]52 target_compatible_with = ["@platforms//os:linux"],
James Kuszmauld3f9eb22020-01-12 15:02:07 -0800[diff] [blame]53 deps = [
54 ":imu_zeroer",
55 "//aos:flatbuffers",
56 "//aos/testing:googletest",
57 "@org_tuxfamily_eigen//:eigen",
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]58 ],
Philipp Schrader29d54f22016-04-02 22:14:48 +0000[diff] [blame]59)
60
Brian Silverman100534c2015-09-07 15:51:23 -0400[diff] [blame]61cc_library(
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]62 name = "zeroing",
63 srcs = [
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]64 ],
65 hdrs = [
66 "zeroing.h",
67 ],
Philipp Schraderdada1072020-11-24 11:34:46 -0800[diff] [blame]68 target_compatible_with = ["@platforms//os:linux"],
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]69 deps = [
70 ":wrap",
Ravago Jones726deb02021-05-29 14:36:43 -0700[diff] [blame]71 "//aos/containers:error_list",
Alex Perrycb7da4b2019-08-28 19:35:56 -0700[diff] [blame]72 "//aos/logging",
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]73 "//frc971:constants",
Alex Perrycb7da4b2019-08-28 19:35:56 -0700[diff] [blame]74 "//frc971/control_loops:control_loops_fbs",
75 "@com_github_google_glog//:glog",
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]76 ],
Brian Silverman100534c2015-09-07 15:51:23 -0400[diff] [blame]77)
78
James Kuszmaulec635d22023-08-12 18:39:24 -0700[diff] [blame]79cc_library(
80 name = "zeroing_test_lib",
81 testonly = True,
82 hdrs = ["zeroing_test.h"],
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]83 deps = [
84 ":zeroing",
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]85 "//aos/testing:googletest",
Alex Perrycb7da4b2019-08-28 19:35:56 -0700[diff] [blame]86 "//frc971/control_loops:control_loops_fbs",
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]87 "//frc971/control_loops:position_sensor_sim",
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]88 ],
Brian Silverman100534c2015-09-07 15:51:23 -0400[diff] [blame]89)
Austin Schuhc6423e62017-02-11 16:56:30 -0800[diff] [blame]90
James Kuszmaulec635d22023-08-12 18:39:24 -0700[diff] [blame]91[
92 (
93 cc_library(
94 name = lib,
95 srcs = [lib + ".cc"],
96 hdrs = [lib + ".h"],
97 deps = [
98 ":wrap",
99 ":zeroing",
100 "//aos/containers:error_list",
101 "//aos/logging",
102 "//frc971:constants",
103 "//frc971/control_loops:control_loops_fbs",
104 "@com_github_google_glog//:glog",
105 ],
106 ),
107 cc_test(
108 name = lib + "_test",
109 srcs = [lib + "_test.cc"],
110 deps = [
111 lib,
112 ":zeroing",
113 ":zeroing_test_lib",
114 "//aos/testing:googletest",
115 "//frc971/control_loops:control_loops_fbs",
116 "//frc971/control_loops:position_sensor_sim",
117 ],
118 ),
119 )
120 for lib in [
121 "absolute_and_absolute_encoder",
122 "absolute_encoder",
123 "continuous_absolute_encoder",
124 "hall_effect_and_position",
125 "pot_and_absolute_encoder",
126 "pot_and_index",
127 "pulse_index",
128 ]
129]
130
Austin Schuhc6423e62017-02-11 16:56:30 -0800[diff] [blame]131cc_library(
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]132 name = "wrap",
133 srcs = [
134 "wrap.cc",
135 ],
136 hdrs = [
137 "wrap.h",
138 ],
Austin Schuhc6423e62017-02-11 16:56:30 -0800[diff] [blame]139)
140
141cc_test(
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]142 name = "wrap_test",
143 srcs = [
144 "wrap_test.cc",
145 ],
Philipp Schraderdada1072020-11-24 11:34:46 -0800[diff] [blame]146 target_compatible_with = ["@platforms//os:linux"],
Austin Schuh4fae0fc2018-03-27 23:51:42 -0700[diff] [blame]147 deps = [
148 ":wrap",
149 "//aos/testing:googletest",
150 ],
Austin Schuhc6423e62017-02-11 16:56:30 -0800[diff] [blame]151)
Stephan Massalt4d1e74f2020-01-11 17:50:39 -0800[diff] [blame]152
153cc_test(
154 name = "unwrap_test",
155 srcs = [
156 "unwrap_test.cc",
157 ],
Philipp Schraderdada1072020-11-24 11:34:46 -0800[diff] [blame]158 target_compatible_with = ["@platforms//os:linux"],
Stephan Massalt4d1e74f2020-01-11 17:50:39 -0800[diff] [blame]159 deps = [
160 ":wrap",
161 "//aos/testing:googletest",
162 ],
163)