closedLoopController.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "okapi/api/control/controllerOutput.hpp"
#include "okapi/api/units/QTime.hpp"
 
namespace okapi {
template <typename Input, typename Output>
class ClosedLoopController : public ControllerOutput<Input> {
  public:
  virtual ~ClosedLoopController() = default;
 
  virtual void setTarget(Input itarget) = 0;
 
  virtual Input getTarget() = 0;
 
  virtual Input getProcessValue() const = 0;
 
  virtual Output getError() const = 0;
 
  virtual bool isSettled() = 0;
 
  virtual void reset() = 0;
 
  virtual void flipDisable() = 0;
 
  virtual void flipDisable(bool iisDisabled) = 0;
 
  virtual bool isDisabled() const = 0;
};
} // namespace okapi