simulation_with_instant/
simulation_with_instant.rs

1use advanced_pid::{prelude::*, PidConfig, VelPid};
2
3use std::time::{Duration, Instant};
4
5fn main() {
6    let mut pid = VelPid::default();
7    let config = PidConfig::new(0.8, 0.3, 0.2).with_limits(-1.2, 1.2);
8    pid.reset_config(config);
9
10    let target = 1.0;
11    let mut actual = 0.0;
12
13    let mut pre = Instant::now();
14    loop {
15        let now = Instant::now();
16        let duration = pre.elapsed();
17        if duration > Duration::from_secs(1) {
18            let sec = as_secs(duration);
19            let output = pid.update(target, actual, sec);
20            actual += (output - actual) / 8.0;
21            println!("{:5.2}\t{:5.2}\t{:?}", actual, output, duration);
22            pre = now;
23        }
24    }
25}
26
27#[cfg(not(feature = "f64"))]
28fn as_secs(duration: Duration) -> f32 {
29    duration.as_secs_f32()
30}
31#[cfg(feature = "f64")]
32fn as_secs(duration: Duration) -> f64 {
33    duration.as_secs_f64()
34}