Struct PressureControl 

pub struct PressureControl { /* private fields */ }

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

Implementations

impl PressureControl

pub fn new() -> Self

Creates a new, idle PressureControl block.

pub fn start(&mut self, target_load: f64, max_load: f64)

Engage the loop. Latches target_load and the safety ceiling max_load; clears PID state. The next tick() seeds commanded_position from the axis’s current position.

max_load is checked against |current_load| every tick; exceeding it transitions to Error and halts the axis. Pass f64::INFINITY if you genuinely want no limit (not recommended).

pub fn stop(&mut self, axis: &mut impl AxisHandle)

Halt the axis and transition toward Idle. Safe to call any time; a no-op when already Idle or Halted.

pub fn set_target(&mut self, target_load: f64)

Change the target load without resetting the loop. Useful for setpoint ramps during a test.

pub fn set_max_load(&mut self, max_load: f64)

Change the max-load safety limit without resetting the loop.

pub fn is_busy(&self) -> bool

Current loop state: running or stopping.

pub fn is_error(&self) -> bool

Fault state. Check error_message() for the reason.

pub fn error_message(&self) -> String

Description of the most recent error.

pub fn is_in_tolerance(&self) -> bool

True once the load has been within config.tolerance of target_load for at least config.settling_time seconds.

pub fn filtered_load(&self) -> f64

Most recent filtered load reading. Updated every tick().

pub fn commanded_position(&self) -> f64

Current internal commanded position (user units). Updated every tick() by adding the clamped PID step.

pub fn pid_error(&self) -> f64

Most recent PID error: target_load − filtered_load. Signed; sign is NOT inverted by config.invert_direction.

pub fn tick( &mut self, axis: &mut impl AxisHandle, current_load: f64, config: &PressureControlConfig, dt: f64, )

Advance the loop by one scan. No-op when Idle.

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.