text: //====================================================================================================================================================
  // Copyright 2020 Lake Orion Robotics FIRST Team 302
  //
  // Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), 
  // to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 
  // and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
  //
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 
  // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
  // DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE 
  // OR OTHER DEALINGS IN THE SOFTWARE.
  //====================================================================================================================================================
  
  #pragma once
  
  // C++ includes
  #include <units/angular_velocity.h>
  
  // Team 302 includes
  #include <controllers/ControlData.h>
  #include <hw/interfaces/IDragonMotorController.h>
  
  class AngularVelocityControllerMC 
  {
      public:
          AngularVelocityControllerMC() = delete;
          AngularVelocityControllerMC
          (
              std::shared_ptr<IDragonMotorController>             motor,
              units::angular_velocity::revolutions_per_minute_t   target,
              std::shared_ptr<ControlData>                        controlData
          );
  
          ~AngularVelocityControllerMC() = default;
  
          void Init();
          void UpdateTarget
          (
              units::angular_velocity::revolutions_per_minute_t   target
          );
  
          void Run();
  
          units::angular_velocity::revolutions_per_minute_t GetAngularVelocity();
  
      private:
          std::shared_ptr<IDragonMotorController>             m_motor;
          units::angular_velocity::revolutions_per_minute_t   m_target;
          std::shared_ptr<ControlData>                        m_control;
          double                                              m_unitsPer100MS;
  
  
  
  };