Struct advanced_pid::config::Config

pub struct Config {
    pub gain: Gain,
    pub min: f32,
    pub max: f32,
}

Config holds a Gain and also provides optional limits for the controller output.

Fields

gain: Gain

min: f32

max: f32

Implementations

impl Config

pub fn new(kp: f32, ki: f32, kd: f32) -> Self

Creates a new Config with the specified gains.

Examples found in repository

examples/vel_pid.rs (line 4)

fn main() {
    let config = PidConfig::new(1.0, 0.1, 0.1).with_limits(-1.0, 1.0);
    let mut pid = VelPid::new(config);

    let target = 1.0;
    let dt = 1.0;

    println!("{:5.2}", pid.update(target, 0.0, dt));
    println!("{:5.2}", pid.update(target, 0.1, dt));
    println!("{:5.2}", pid.update(target, 0.3, dt));
}

examples/pid_with_limits.rs (line 4)

fn main() {
    let config = PidConfig::new(1.0, 0.1, 0.1).with_limits(-1.0, 1.0);
    let mut pid = Pid::new(config);

    println!("{:5.2}", pid.update(1.0, 0.0, 1.0));
    println!("{:5.2}", pid.update(1.0, 0.1, 1.0));
    println!("{:5.2}", pid.update(1.0, 0.3, 1.0));
    println!("{:5.2}", pid.update(1.0, 0.6, 1.0));
    println!("{:5.2}", pid.update(1.0, 0.9, 1.0));
    println!("{:5.2}", pid.update(1.0, 1.2, 1.0));
}

examples/simulation_with_instant.rs (line 7)

fn main() {
    let mut pid = VelPid::default();
    let config = PidConfig::new(0.8, 0.3, 0.2).with_limits(-1.2, 1.2);
    pid.reset_config(config);

    let target = 1.0;
    let mut actual = 0.0;

    let mut pre = Instant::now();
    loop {
        let now = Instant::now();
        let dt = now - pre;

        if dt > std::time::Duration::from_secs(1) {
            let output = pid.update(target, actual, dt.as_secs_f32());
            actual += (output - actual) / 8.0;
            println!("{:5.2}\t{:5.2}\t{:?}", actual, output, dt);
            pre = now;
        }
    }
}

pub fn with_limits(self, min: f32, max: f32) -> Self

Returns a new Config with the specified limits.

Examples found in repository

examples/vel_pid.rs (line 4)

fn main() {
    let config = PidConfig::new(1.0, 0.1, 0.1).with_limits(-1.0, 1.0);
    let mut pid = VelPid::new(config);

    let target = 1.0;
    let dt = 1.0;

    println!("{:5.2}", pid.update(target, 0.0, dt));
    println!("{:5.2}", pid.update(target, 0.1, dt));
    println!("{:5.2}", pid.update(target, 0.3, dt));
}

examples/pid_with_limits.rs (line 4)

fn main() {
    let config = PidConfig::new(1.0, 0.1, 0.1).with_limits(-1.0, 1.0);
    let mut pid = Pid::new(config);

    println!("{:5.2}", pid.update(1.0, 0.0, 1.0));
    println!("{:5.2}", pid.update(1.0, 0.1, 1.0));
    println!("{:5.2}", pid.update(1.0, 0.3, 1.0));
    println!("{:5.2}", pid.update(1.0, 0.6, 1.0));
    println!("{:5.2}", pid.update(1.0, 0.9, 1.0));
    println!("{:5.2}", pid.update(1.0, 1.2, 1.0));
}

examples/simulation_with_instant.rs (line 7)

fn main() {
    let mut pid = VelPid::default();
    let config = PidConfig::new(0.8, 0.3, 0.2).with_limits(-1.2, 1.2);
    pid.reset_config(config);

    let target = 1.0;
    let mut actual = 0.0;

    let mut pre = Instant::now();
    loop {
        let now = Instant::now();
        let dt = now - pre;

        if dt > std::time::Duration::from_secs(1) {
            let output = pid.update(target, actual, dt.as_secs_f32());
            actual += (output - actual) / 8.0;
            println!("{:5.2}\t{:5.2}\t{:?}", actual, output, dt);
            pre = now;
        }
    }
}

Trait Implementations

impl Clone for Config

fn clone(&self) -> Config

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Config

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for Config

fn default() -> Self

Returns the “default value” for a type.

impl From<Gain> for Config

fn from(gain: Gain) -> Self

Converts a Gain into a Config.