File management and Completed Part 1

Project_3_Dynamic_Controller/include/speed_controller.h

@@ -0,0 +1,47 @@
+#ifndef SPEED_CONTROLLER_H
+#define SPEED_CONTROLLER_H
+
+#include <encoder.h>
+#include <speed_estimator.h>
+#include <motor_driver.h>
+#include <controller.h>
+
+class Speed_controller
+{
+public:
+    Speed_controller(
+        Encoder& encoder,
+        Speed_estimator& estimator,
+        Motor_driver& motor,
+        Controller& controller
+    );
+
+    void start();
+    void stop();
+    void brake();
+
+    void update();
+
+    void set_reference(double rpm);
+    double reference() const;
+
+    void set_controller(Controller& controller);
+
+    double actual_rpm() const;
+    double control_output() const;
+
+private:
+    Encoder& encoder;
+    Speed_estimator& estimator;
+    Motor_driver& motor;
+
+    Controller* controller;
+
+    bool running;
+
+    double referenceRPM;
+    double actualRPM;
+    double controlOutput;
+};
+
+#endif