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FRC2016-old/wpilib/cpp/current/include/Controller.h
2016-01-28 11:33:19 -05:00

33 lines
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C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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
/**
* 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;
};