use crate::core::{
    motor,
    positional,
    units,
};


///The Config for the PID system used by the controller
pub struct PIDConfig {
    ///The Porportional value for the controller
    pub kp: f32,
    ///The Integral value for the controller
    pub ki: f32,
    ///The Derivative value for the controller
    pub kd: f32,
    ///The Feedforward value for the controller
    pub ff: f32,

} 

///Controller trait for motors. Motors with this trait, automatically have a PID included.
pub trait Controller : motor::Driver + motor::Sensor {
    const CONFIG: PIDConfig;
}