#pragma once

#include "Base.h"
#include "Controller.h"
#include "LiveWindow/LiveWindow.h"
#include "HAL/Semaphore.hpp"

class PIDInterface : public Controller {
	virtual void SetPID(double p, double i, double d)=0;
	virtual double GetP() const=0;
	virtual double GetI() const=0;
	virtual double GetD() const=0;

	virtual void SetSetpoint(float setpoint)=0;
	virtual double GetSetpoint() const=0;

	virtual void Enable()=0;
	virtual void Disable()=0;
	virtual bool IsEnabled() const=0;

	virtual void Reset()=0;
};