take_back_half.h

#pragma once
#include "core/utils/controls/feedback_base.h"

class TakeBackHalf : public Feedback {
 
  public:
    TakeBackHalf(double TBH_gain, double first_cross_split, double on_target_threshold);
    void init(double start_pt, double set_pt);
    double update(double val) override;

    double get() override;

    void set_limits(double lower, double upper) override;

    bool is_on_target() override;
 
    double TBH_gain; 
    double first_cross_split;
 
  private:
    double on_target_threshhold; 
 
    double target = 0.0;
 
    bool first_cross = true;
    double tbh = 0.0;
    double prev_error = 0.0;
 
    double output = 0.0;
    double lower = 0.0, upper = 0.0; 
};