#ifndef INTEGRATOR_H
#define INTEGRATOR_H

#include <Arduino.h>
#include "Utility.h"

namespace maneuvers{
    
    class Integrator{
        public:
            Integrator();
            
            void integrate(double dy);
            double getResult() const;
            void set(double y);
        protected:
        private:
            double state;
            unsigned long last_time;
            bool primed;
    };
    
    struct GyroIntegrators{
        Integrator chin;
        Integrator side;
        Integrator neck;
    };
    
    extern GyroIntegrators gyroIntegrators;
    
    extern void updateGyroPositions();
    extern double getChin();
    extern double getNeck();
    extern double getSide();

}

#endif