API v3: C++ Streams based API?

[runger1101001]

An API based on C++ streams, would that be interesting / attractive?

The type of control processes that we compose a motor control solution of consist of a series of blocks that are exchanging data, and they are drawn in this way:

We can write things that look like C++ streams that directly represent these concepts:

MagneticSensorAS5048A rotor_angle = MagneticSensorAS5048A(PIN_nCS);
BLDCDriver3PWM driver = BLDCDriver3PWM(...);
SineModulation modulation = SineModulation();
TargetControl target = CommanderTargetControl();
FOCControl foc = ParkeClarke();

void setup(){
   loop = rotor_angle >> foc >> modulation >> driver;
   commands = target >> foc;
   0 >> commands; // initial target
}

void loop() {
   loop.update(); // updates sensor, and thus feeds the control stream
   commands.update(); // sets new targets if they arrived on serial port
}

[runger1101001]

Velocity Control:

void setup(){
   foc_loop = rotor_angle >> foc >> modulation >> driver;
   vel_loop = Filters::downsample(4) >> rotor_angle >> velocity_estimator >> Filters::lpf(0.05) >> vel_pid >> foc;
   commands = target >> vel_pid;
   0 >> foc;
   0 >> commands;
}

void loop(){
  foc_loop.update();
  vel_loop.update();
  commands.update();
}

[runger1101001]

Not 100% sure about this idea, but wanted to keep a note of it :-)