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include/okapi/api/control/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 {
+/**
+ * An abstract closed-loop controller.
+ *
+ * @tparam Input The target/input type.
+ * @tparam Output The error/output type.
+ */
+template <typename Input, typename Output>
+class ClosedLoopController : public ControllerOutput<Input> {
+  public:
+  virtual ~ClosedLoopController() = default;
+
+  /**
+   * Sets the target for the controller.
+   *
+   * @param itarget the new target
+   */
+  virtual void setTarget(Input itarget) = 0;
+
+  /**
+   * Gets the last set target, or the default target if none was set.
+   *
+   * @return the last target
+   */
+  virtual Input getTarget() = 0;
+
+  /**
+   * @return The most recent value of the process variable.
+   */
+  virtual Input getProcessValue() const = 0;
+
+  /**
+   * Returns the last error of the controller. Does not update when disabled.
+   *
+   * @return the last error
+   */
+  virtual Output getError() const = 0;
+
+  /**
+   * Returns whether the controller has settled at the target. Determining what settling means is
+   * implementation-dependent.
+   *
+   * If the controller is disabled, this method must return `true`.
+   *
+   * @return whether the controller is settled
+   */
+  virtual bool isSettled() = 0;
+
+  /**
+   * Resets the controller's internal state so it is similar to when it was first initialized, while
+   * keeping any user-configured information.
+   */
+  virtual void reset() = 0;
+
+  /**
+   * Changes whether the controller is off or on. Turning the controller on after it was off will
+   * cause the controller to move to its last set target, unless it was reset in that time.
+   */
+  virtual void flipDisable() = 0;
+
+  /**
+   * Sets whether the controller is off or on. Turning the controller on after it was off will
+   * cause the controller to move to its last set target, unless it was reset in that time.
+   *
+   * @param iisDisabled whether the controller is disabled
+   */
+  virtual void flipDisable(bool iisDisabled) = 0;
+
+  /**
+   * Returns whether the controller is currently disabled.
+   *
+   * @return whether the controller is currently disabled
+   */
+  virtual bool isDisabled() const = 0;
+};
+} // namespace okapi