Struct PressureControl 

pub struct PressureControl {
    pub active: bool,
    pub in_tolerance: bool,
    pub error: bool,
    pub state: StateMachine,
    /* private fields */
}

A closed-loop PID pressure/force controller for Profile Position (PP) axes.

This function block uses an Exponential Moving Average (EMA) filter to smooth incoming load cell data. It calculates a PID output which is clamped to a safe maximum step size and issued as a small, incremental move_absolute target to the drive every cycle.

Fields

active: bool

True when the block is actively executing and controlling the axis.

in_tolerance: bool

True when the current load has been within config.tolerance of the target for at least config.settling_time seconds.

error: bool

True if a fault occurred (e.g., axis error). Check state.error_code.

state: StateMachine

Internal state machine for operation sequencing and error reporting.

Implementations

impl PressureControl

pub fn new() -> Self

Creates a new, uninitialized PressureControl block.

pub fn call( &mut self, axis: &mut impl AxisHandle, execute: bool, target_load: f64, current_load: f64, config: &PressureControlConfig, dt: f64, )

Execute the pressure control loop.

• axis: The handle to the PP axis.
• execute: Set to true to engage the controller. On a falling edge, the axis halts.
• target_load: The desired pressure/force (e.g., lbs or Newtons).
• current_load: The raw, instantaneous reading from the load cell.
• config: Tuning and safety parameters.
• dt: The cycle time delta in seconds (e.g., 0.001 for 1ms).

Trait Implementations

impl Clone for PressureControl

fn clone(&self) -> PressureControl

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PressureControl

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

Formats the value using the given formatter.

impl Default for PressureControl

fn default() -> Self

Returns the “default value” for a type.