/*
 * FrictionCompensationProcess.cpp
 *
 *  Created on: 31 мая 2020 г.
 *      Author: LeonidTitov
 */

#include "FrictionCompensationAsync.hh"

void processing::acs::FrictionCompensationAsync::set(
        TypeInput speed_stp ) {

    torque_feedforward = compensator.update(speed_stp);

    output->set(torque_feedforward);

}

processing::acs::FrictionCompensationAsync::TypeOutput processing::acs::FrictionCompensationAsync::get() const {

    return torque_feedforward;

}

void processing::acs::FrictionCompensationAsync::set_output(
        SetInterface * new_output ) {

    output = new_output;

}

void processing::acs::FrictionCompensationAsync::reset() {

    output->set( TypeInput( 0.0f, 0.0f ) );

}

processing::acs::FrictionCompensationAsync::FrictionCompensationAsync(
        Compensator & compensator ) : compensator(compensator), output(nullptr), torque_feedforward(0.0f, 0.0f) {}