take_back_half.h

#pragma once
#include "../core/include/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; 
};