This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Controller.h b/azaleasource/WPILibCProgramming/trunk/WPILib/Controller.h
new file mode 100644
index 0000000..b93c52a
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Controller.h
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* 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. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef CONTROLLER_H
+#define CONTROLLER_H
+
+#include <vxWorks.h>
+
+/**
+ * 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() {};
+
+ /**
+ * 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;
+};
+
+#endif
+