#ifndef P_CONTROLLER_H
#define P_CONTROLLER_H

class P_controller
{
protected:
    double Kp;
    double default_Kp;  // Gildið úr constructornum, notað af restore_defaults()

public:
    P_controller(double Kp);
    virtual ~P_controller() {}
    virtual double update(double ref, double actual);
    virtual void reset() {}
    virtual void restore_defaults(); //
    virtual double get_Kp() const { return Kp; }
    virtual double get_Ti() const { return 0.0; }

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

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

#endif