Relay.hpp

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#ifndef RELAY_HPP_
#define RELAY_HPP_

namespace labust
{
  namespace control
  {
    class Relay
    {
    public:
      Relay():
        Cp(1),Cm(-1),Xap(0),Xam(0),switched(false),out(1){};
      Relay(double C, double X):
        Cp(C),Cm(-C),Xap(X),Xam(-X),switched(false),out(C){};
      Relay(double Cp, double Cm, double Xp, double Xm):
        Cp(Cp),Cm(Cm),Xap(Xp),Xam(Xm),switched(false),out(Cp){};
     ~Relay(){};

      inline void setAmplitude(double C){this->out = this->Cp = C; this->Cm = -C;};
      inline void setAmplitude(double Cp, double Cm){this->out = this->Cp = Cp; this->Cm = Cm;};
      inline void setHysteresis(double X){this->Xam = -X; this->Xap = X;};
      inline void setHysteresis(double Xp, double Xm){this->Xam = Xm; this->Xap = Xp;};
      inline double getAmplitude(){return this->Cp;};

      inline int hasSwitched()
      {
        if (this->switched)
        {
                if (this->out == this->Cp) return 1;
                else return -1;
        }
        return 0;
      }
      double step(double input)
      {
        if ((this->switched = ((input>=Xap) && (this->out != this->Cp)))) this->out = this->Cp;
        else if ((this->switched = ((input<=this->Xam) && (this->out != this->Cm)))) this->out = this->Cm;

        return this->out;
      }

    private:
      double Cp, Cm;
      double Xap,Xam;
      bool switched;
      double out;
    };
  };
};
/* RELAY_HPP_ */
#endif