discrete_pid 0.3.0

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#[cfg(test)]
pub mod test_pid {

    use discrete_pid::pid::*;
    use discrete_pid::time::Millis;

    pub fn make_controller() -> (FuncPidController<f64>, PidContext<Millis, f64>) {
        let config = PidConfig::default();
        let controller = FuncPidController::new(config);
        let ctx = PidContext::new_uninit();
        (controller, ctx)
    }

    pub fn make_stateful_controller() -> PidController<Millis, f64> {
        let config = PidConfig::default();
        PidController::new_uninit(config)
    }

    /// Applies `f` to a copy of the controller's configuration, then writes it back through
    /// `set_config` so the D-term filter is re-derived. Returns whatever `f` returned, so a
    /// fallible setter can still be asserted on at the call site.
    pub fn tune<R>(
        pid: &mut FuncPidController<f64>,
        f: impl FnOnce(&mut PidConfig<f64>) -> R,
    ) -> R {
        let mut config = *pid.config();
        let result = f(&mut config);
        pid.set_config(config);
        result
    }

    /// [`tune`], for the stateful controller.
    pub fn tune_stateful<R>(
        pid: &mut PidController<Millis, f64>,
        f: impl FnOnce(&mut PidConfig<f64>) -> R,
    ) -> R {
        let mut config = *pid.config();
        let result = f(&mut config);
        pid.set_config(config);
        result
    }
}