text: /**
   * @author Ryan Benasutti, WPI
   *
   * This Source Code Form is subject to the terms of the Mozilla Public
   * License, v. 2.0. If a copy of the MPL was not distributed with this
   * file, You can obtain one at http://mozilla.org/MPL/2.0/.
   */
  #pragma once
  
  #include "okapi/api/control/iterative/iterativeVelocityController.hpp"
  #include "okapi/api/device/motor/abstractMotor.hpp"
  #include <array>
  #include <memory>
  
  namespace okapi {
  class IterativeMotorVelocityController : public IterativeVelocityController<double, double> {
    public:
    /**
     * Velocity controller that automatically writes to the motor.
     */
    IterativeMotorVelocityController(
      const std::shared_ptr<AbstractMotor> &imotor,
      const std::shared_ptr<IterativeVelocityController<double, double>> &icontroller);
  
    /**
     * Do one iteration of the controller.
     *
     * @param inewReading new measurement
     * @return controller output
     */
    double step(double ireading) override;
  
    /**
     * Sets the target for the controller.
     */
    void setTarget(double itarget) override;
  
    /**
     * Writes the value of the controller output. This method might be automatically called in another
     * thread by the controller. The range of input values is expected to be [-1, 1].
     *
     * @param ivalue the controller's output in the range [-1, 1]
     */
    void controllerSet(double ivalue) override;
  
    /**
     * Gets the last set target, or the default target if none was set.
     *
     * @return the last target
     */
    double getTarget() override;
  
    /**
     * Returns the last calculated output of the controller.
     */
    double getOutput() const override;
  
    /**
     * Get the upper output bound.
     *
     * @return  the upper output bound
     */
    double getMaxOutput() override;
  
    /**
     * Get the lower output bound.
     *
     * @return the lower output bound
     */
    double getMinOutput() override;
  
    /**
     * Returns the last error of the controller. Does not update when disabled.
     */
    double getError() const override;
  
    /**
     * Returns whether the controller has settled at the target. Determining what settling means is
     * implementation-dependent.
     *
     * @return whether the controller is settled
     */
    bool isSettled() override;
  
    /**
     * Set time between loops in ms.
     *
     * @param isampleTime time between loops in ms
     */
    void setSampleTime(QTime isampleTime) override;
  
    /**
     * Set controller output bounds.
     *
     * @param imax max output
     * @param imin min output
     */
    void setOutputLimits(double imax, double imin) override;
  
    /**
     * Resets the controller's internal state so it is similar to when it was first initialized, while
     * keeping any user-configured information.
     */
    void reset() override;
  
    /**
     * Changes whether the controller is off or on. Turning the controller on after it was off will
     * cause the controller to move to its last set target, unless it was reset in that time.
     */
    void flipDisable() override;
  
    /**
     * Sets whether the controller is off or on. Turning the controller on after it was off will
     * cause the controller to move to its last set target, unless it was reset in that time.
     *
     * @param iisDisabled whether the controller is disabled
     */
    void flipDisable(bool iisDisabled) override;
  
    /**
     * Returns whether the controller is currently disabled.
     *
     * @return whether the controller is currently disabled
     */
    bool isDisabled() const override;
  
    /**
     * Get the last set sample time.
     *
     * @return sample time
     */
    QTime getSampleTime() const override;
  
    protected:
    std::shared_ptr<AbstractMotor> motor;
    std::shared_ptr<IterativeVelocityController<double, double>> controller;
  };
  } // namespace okapi
  