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https://github.com/wpilibsuite/allwpilib
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35 lines
1012 B
C++
35 lines
1012 B
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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#include <cmath>
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#include <pthread.h>
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#include <semaphore.h>
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/**
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* Interface for Controllers
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* Common interface for controllers. Controllers run control loops, the most common
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* are PID controllers and their variants, but this includes anything that is controlling
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* an actuator in a separate thread.
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*/
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class Controller
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{
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public:
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virtual ~Controller() {};
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/**
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* Allows the control loop to run
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*/
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virtual void Enable() = 0;
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/**
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* Stops the control loop from running until explicitly re-enabled by calling enable()
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*/
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virtual void Disable() = 0;
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};
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