Struct PdController 

pub struct PdController {
    pub kp: Fix128,
    pub kd: Fix128,
    pub max_force: Fix128,
    pub target_position: Fix128,
    pub target_velocity: Fix128,
    pub mode: MotorMode,
}

PD controller for a single joint axis

Fields

kp: Fix128

Proportional gain (stiffness)

kd: Fix128

Derivative gain (damping)

max_force: Fix128

Maximum output force/torque

target_position: Fix128

Target position (for Position mode)

target_velocity: Fix128

Target velocity (for Velocity mode)

mode: MotorMode

Motor mode

Implementations

impl PdController

pub const fn new(kp: Fix128, kd: Fix128, max_force: Fix128) -> Self

Create a new PD controller

pub fn set_position_target(&mut self, target: Fix128)

Set position target

pub fn set_velocity_target(&mut self, target: Fix128)

Set velocity target

pub fn disable(&mut self)

Disable the motor

pub fn compute( &self, current_position: Fix128, current_velocity: Fix128, ) -> Fix128

Compute control output

Returns clamped force/torque value.

Trait Implementations

impl Clone for PdController

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for PdController

impl Debug for PdController

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

Formats the value using the given formatter.

impl Default for PdController

fn default() -> Self

Returns the “default value” for a type.

impl Eq for PdController

impl PartialEq for PdController

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for PdController