#ifndef P_CONTROLLER_H
#define P_CONTROLLER_H

class P_controller
{
protected:
    double Kp;

public:
    P_controller(double Kp);
    virtual ~P_controller() {}
    virtual double update(double ref, double actual);
    virtual void reset() {}

    virtual void set_Kp(double value)
    {
        Kp = value;
    }

    virtual void set_Ti(double value)
    {
        // P controller does not use Ti
    }
};

#endif