Module msr::pid

PID controller

Example

use msr::{TimeStepController, pid::*};
use std::{thread, time::Duration};

// 1. Create the PID configuration
let mut cfg = PidConfig::default();
cfg.k_p = 2.5; // define the proportional coefficient
cfg.k_i = 0.7; // define the integral coefficient
cfg.k_d = 5.0; // define the derative coefficient

// 2. Create the PID controller
let mut pid = Pid::new(cfg);

// 3. Set the desired target
pid.set_target(33.7);

// 4. Define the duration between two steps
let delta_t = Duration::from_millis(1000);

// 5. Calculate the values
loop {

    // 1. Fetch the current sensor value.
    // Here you'd use s.th. like a `read_sensor` method.
    let sensor_value = 11.0;

    // 2. Calculate the next step
    let actuator_value = pid.next(sensor_value, &delta_t);

    // 3. Set the actuator
    // Here you'd use s.th. like a `write_actuator` method.

    // 4. Wait some time
    thread::sleep(delta_t);
}

Structs

Pid	PID controller implementation
PidConfig	PID Configuration
PidState	Internal PID controller state