Struct PressureControlConfig 

pub struct PressureControlConfig {

    pub kp: f64,
    pub ki: f64,
    pub kd: f64,
    pub feed_forward: f64,
    pub max_step: f64,
    pub min_step: f64,
    pub max_integral: f64,
    pub filter_alpha: f64,
    pub invert_direction: bool,
    pub tolerance: f64,
    pub settling_time: f64,
    pub position_limit_pos: Option<f64>,
    pub position_limit_neg: Option<f64>,
}

Configuration for the Pressure Control function block.

Fields

kp: f64

Proportional gain (Kp).

ki: f64

Integral gain (Ki).

kd: f64

Derivative gain (Kd).

feed_forward: f64

Feed forward value added directly to the output.

max_step: f64

Maximum allowed position delta (in user units) per tick. Critical for safety to prevent crushing the load cell. E.g., 0.001 inches per ms tick.

min_step: f64

Sub-threshold deadband. When the computed step is smaller than min_step we skip the move_absolute call entirely. Keeps the EtherCAT bus quiet near steady state. Set to 0 to issue a move every tick regardless of step size.

max_integral: f64

Maximum accumulated integral windup.

filter_alpha: f64

Exponential Moving Average filter coefficient for the load cell (0.0 to 1.0). 1.0 = No filtering (raw data). 0.1 = Heavy filtering.

invert_direction: bool

If true, a positive error (need more pressure) results in a negative move. Set to true if moving the axis down (negative) increases compression.

tolerance: f64

The acceptable load error window to be considered “in tolerance” (e.g., +/- 2.0 lbs).

settling_time: f64

How long the load must remain within tolerance before reporting in_tolerance = true.

position_limit_pos: Option<f64>

Optional hard ceiling on commanded_position in user units. If the loop’s integrator drives the commanded position past this, the commanded position is clamped and the integral is frozen that tick (extra anti-windup). None disables the clamp.

position_limit_neg: Option<f64>

Optional hard floor on commanded_position. Mirror of position_limit_pos.

Trait Implementations

impl Clone for PressureControlConfig

fn clone(&self) -> PressureControlConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PressureControlConfig

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

Formats the value using the given formatter.

impl Default for PressureControlConfig

fn default() -> Self

Returns the “default value” for a type.