bang_bang.h

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/**
 * @file bang_bang.h
 * @brief A control loop that utilizes only the positive error to get an output value
 *
 * This is a conventional pulse-width-modulation controller using the Feedback class as an
 * interface. It calculates an output using only the current state and reference state
 */
 
#include "core/math/controls/feedback.h"
#include "core/math/units.h"
 
using namespace units::literals;
 
/// Feedback child class to create pulse-width-modulation loops
class BangBang : public Feedback<double, bool> {
 public:
  /// Resets the internal state of the BangBang controller
  void reset() override;
 
  /**
   * @brief Updates the BangBang controller output
   *
   * @param state the current state the BangBand controller is at
   * @param reference the target state for the BangBang controller
   * @param dt the timestep since the last time this method was called
   * @return the controller output
   */
  virtual bool update(const double& state, const double& reference,
                      const units::Time& dt = 10_ms) override;
};