| /*----------------------------------------------------------------------------*/ |
| /* Copyright (c) FIRST 2008-2017. 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 |