mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
36 lines
1.0 KiB
C++
36 lines
1.0 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2008-2017 FIRST. 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
|