#ifndef P_CONTROLLER_H
#define P_CONTROLLER_H

#include <controller.h>

class P_controller : public Controller
{
public:
    P_controller(double kp);

    double update(
        double reference,
        double actual
    ) override;

    void reset() override;

    const char* name() const override;

    void set_kp(double kp);
    double get_kp() const;

private:
    double kp;

    double limit(double value) const;
};

#endif