wpilibc/shared/include/Controller.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/
#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;
};