Add a functional wrapper over the PID controller

aib · May 13, 2020 · 6f790e4 · 6f790e4
1 parent 763635d
commit 6f790e4
Showing 1 changed file with 20 additions and 0 deletions.
diff --git a/util/FunPIDController.cs b/util/FunPIDController.cs
@@ -0,0 +1,20 @@
+using System;
+
+public
+class FunPIDController: PIDController
+{
+	private readonly Func<double> getter;
+	private readonly Action<double> setter;
+
+	public FunPIDController(double Kp, double Ki, double Kd, Func<double> getter, Action<double> setter)
+		:base(Kp, Ki, Kd)
+	{
+		this.getter = getter;
+		this.setter = setter;
+	}
+
+	public void run(double deltaT)
+	{
+		setter(run(deltaT, getter()));
+	}
+}