#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