allwpilib/wpilibc/src/main/native/include/Controller.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2017. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

namespace frc {

/**
 * Interface for Controllers.
 * Common interface for controllers. Controllers run control loops, the most
 * common are PID controllers and their variants, but this includes anything
 * that is controlling an actuator in a separate thread.
 */
class Controller {
 public:
  virtual ~Controller() = default;

  /**
   * Allows the control loop to run
   */
  virtual void Enable() = 0;

  /**
   * Stops the control loop from running until explicitly re-enabled by calling
   * enable()
   */
  virtual void Disable() = 0;
};

}  // namespace frc