"""Controller data structures and reference implementation.

This subpackage contains:

* :class:`~pidtune.controllers.gains.PIDGains` — the immutable value
  object representing a tuned parameter set (``Kp``, ``Ki``, ``Kd`` plus
  conversions between parallel/standard/series forms). This is the
  common currency exchanged between tuners, simulators, and user code.
* :class:`~pidtune.controllers.gains.ControllerForm` — enumeration of
  the supported PID parameterisations (``PARALLEL``, ``STANDARD``,
  ``SERIES``).
* :class:`~pidtune.controllers.pid.PIDController` — a discrete-time PID
  implementation (anti-windup, derivative filtering, bumpless manual/
  auto transfer) used by the closed-loop simulator and usable directly
  in soft-real-time applications.

See ``docs/design/04_api_specification.md`` for the full contract.
"""

from __future__ import annotations

from pidtune.controllers.gains import ControllerForm, PIDGains
from pidtune.controllers.pid import PIDController

__all__ = [
    "ControllerForm",
    "PIDGains",
    "PIDController",
]