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carla_ackermann/
pid.rs

1use pid::Pid;
2
3#[derive(Debug, Clone)]
4pub struct PidInit {
5    pub kp: f64,
6    pub ki: f64,
7    pub kd: f64,
8    pub output_limit: f64,
9}
10
11impl PidInit {
12    pub fn build(&self) -> Pid<f64> {
13        let Self {
14            kp,
15            ki,
16            kd,
17            output_limit,
18        } = *self;
19        Pid::new(kp, ki, kd, f64::MAX, f64::MAX, f64::MAX, output_limit, 0.0)
20    }
21}