iterativeController.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/closedLoopController.hpp"
#include "okapi/api/units/QTime.hpp"
 
namespace okapi {
template <typename Input, typename Output>
class IterativeController : public ClosedLoopController<Input, Output> {
  public:
  virtual Output step(Input ireading) = 0;
 
  virtual Output getOutput() const = 0;
 
  virtual void setOutputLimits(Output imax, Output imin) = 0;
 
  virtual void setControllerSetTargetLimits(Output itargetMax, Output itargetMin) = 0;
 
  virtual Output getMaxOutput() = 0;
 
  virtual Output getMinOutput() = 0;
 
  virtual void setSampleTime(QTime isampleTime) = 0;
 
  virtual QTime getSampleTime() const = 0;
};
} // namespace okapi