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include/okapi/api/control/iterative/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 {
+/**
+ * Closed-loop controller that steps iteratively using the step method below.
+ *
+ * `ControllerOutput::controllerSet()` should set the controller's target to the input scaled by
+ * the output bounds.
+ */
+template <typename Input, typename Output>
+class IterativeController : public ClosedLoopController<Input, Output> {
+  public:
+  /**
+   * Do one iteration of the controller.
+   *
+   * @param ireading A new measurement.
+   * @return The controller output.
+   */
+  virtual Output step(Input ireading) = 0;
+
+  /**
+   * Returns the last calculated output of the controller.
+   */
+  virtual Output getOutput() const = 0;
+
+  /**
+   * Set controller output bounds.
+   *
+   * @param imax max output
+   * @param imin min output
+   */
+  virtual void setOutputLimits(Output imax, Output imin) = 0;
+
+  /**
+   * Sets the (soft) limits for the target range that controllerSet() scales into. The target
+   * computed by `controllerSet()` is scaled into the range `[-itargetMin, itargetMax]`.
+   *
+   * @param itargetMax The new max target for `controllerSet()`.
+   * @param itargetMin The new min target for `controllerSet()`.
+   */
+  virtual void setControllerSetTargetLimits(Output itargetMax, Output itargetMin) = 0;
+
+  /**
+   * Get the upper output bound.
+   *
+   * @return  the upper output bound
+   */
+  virtual Output getMaxOutput() = 0;
+
+  /**
+   * Get the lower output bound.
+   *
+   * @return the lower output bound
+   */
+  virtual Output getMinOutput() = 0;
+
+  /**
+   * Set time between loops.
+   *
+   * @param isampleTime time between loops
+   */
+  virtual void setSampleTime(QTime isampleTime) = 0;
+
+  /**
+   * Get the last set sample time.
+   *
+   * @return sample time
+   */
+  virtual QTime getSampleTime() const = 0;
+};
+} // namespace okapi