bang_bang.h

#include "core/math/controls/feedback_base.h"
 
class BangBang : public Feedback {
 
  public:
    BangBang(double thresshold, double low, double high);
    void init(double start_pt, double set_pt) override;

    double update(double val) override;

    double get() override;

    void set_limits(double lower, double upper) override;

    bool is_on_target() override;
 
  private:
    double setpt;
    double sensor_val;
    double lower_bound, upper_bound;
    double last_output;
    double threshhold;
};