Struct Config

Source

pub struct Config {
    pub gain: Gain,
    pub min: f32,
    pub max: f32,
}

Expand description

Config holds a Gain and also provides optional limits for the controller output.

Fields§

§gain: Gain§min: f32§max: f32

Implementations§

Source §

impl Config

Source

pub fn new(kp: f32, ki: f32, kd: f32) -> Self

Creates a new Config with the specified gains.

Examples found in repository ?

examples/vel_pid.rs (line 4)

3fn main() {
4    let config = PidConfig::new(1.0, 0.1, 0.1).with_limits(-1.0, 1.0);
5    let mut pid = VelPid::new(config);
6
7    let target = 1.0;
8    let dt = 1.0;
9
10    println!("{:5.2}", pid.update(target, 0.0, dt));
11    println!("{:5.2}", pid.update(target, 0.1, dt));
12    println!("{:5.2}", pid.update(target, 0.3, dt));
13}

More examples

Hide additional examples

examples/pid_with_limits.rs (line 4)

3fn main() {
4    let config = PidConfig::new(1.0, 0.1, 0.1).with_limits(-1.0, 1.0);
5    let mut pid = Pid::new(config);
6
7    println!("{:5.2}", pid.update(1.0, 0.0, 1.0));
8    println!("{:5.2}", pid.update(1.0, 0.1, 1.0));
9    println!("{:5.2}", pid.update(1.0, 0.3, 1.0));
10    println!("{:5.2}", pid.update(1.0, 0.6, 1.0));
11    println!("{:5.2}", pid.update(1.0, 0.9, 1.0));
12    println!("{:5.2}", pid.update(1.0, 1.2, 1.0));
13}

examples/simulation_with_instant.rs (line 7)

5fn main() {
6    let mut pid = VelPid::default();
7    let config = PidConfig::new(0.8, 0.3, 0.2).with_limits(-1.2, 1.2);
8    pid.reset_config(config);
9
10    let target = 1.0;
11    let mut actual = 0.0;
12
13    let mut pre = Instant::now();
14    loop {
15        let now = Instant::now();
16        let duration = pre.elapsed();
17        if duration > Duration::from_secs(1) {
18            let sec = as_secs(duration);
19            let output = pid.update(target, actual, sec);
20            actual += (output - actual) / 8.0;
21            println!("{:5.2}\t{:5.2}\t{:?}", actual, output, duration);
22            pre = now;
23        }
24    }
25}

Source

pub fn with_limits(self, min: f32, max: f32) -> Self

Returns a new Config with the specified limits.

Examples found in repository ?

examples/vel_pid.rs (line 4)

3fn main() {
4    let config = PidConfig::new(1.0, 0.1, 0.1).with_limits(-1.0, 1.0);
5    let mut pid = VelPid::new(config);
6
7    let target = 1.0;
8    let dt = 1.0;
9
10    println!("{:5.2}", pid.update(target, 0.0, dt));
11    println!("{:5.2}", pid.update(target, 0.1, dt));
12    println!("{:5.2}", pid.update(target, 0.3, dt));
13}

More examples

Hide additional examples

examples/pid_with_limits.rs (line 4)

3fn main() {
4    let config = PidConfig::new(1.0, 0.1, 0.1).with_limits(-1.0, 1.0);
5    let mut pid = Pid::new(config);
6
7    println!("{:5.2}", pid.update(1.0, 0.0, 1.0));
8    println!("{:5.2}", pid.update(1.0, 0.1, 1.0));
9    println!("{:5.2}", pid.update(1.0, 0.3, 1.0));
10    println!("{:5.2}", pid.update(1.0, 0.6, 1.0));
11    println!("{:5.2}", pid.update(1.0, 0.9, 1.0));
12    println!("{:5.2}", pid.update(1.0, 1.2, 1.0));
13}

examples/simulation_with_instant.rs (line 7)

5fn main() {
6    let mut pid = VelPid::default();
7    let config = PidConfig::new(0.8, 0.3, 0.2).with_limits(-1.2, 1.2);
8    pid.reset_config(config);
9
10    let target = 1.0;
11    let mut actual = 0.0;
12
13    let mut pre = Instant::now();
14    loop {
15        let now = Instant::now();
16        let duration = pre.elapsed();
17        if duration > Duration::from_secs(1) {
18            let sec = as_secs(duration);
19            let output = pid.update(target, actual, sec);
20            actual += (output - actual) / 8.0;
21            println!("{:5.2}\t{:5.2}\t{:?}", actual, output, duration);
22            pre = now;
23        }
24    }
25}