1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
extern crate num_traits;
use num_traits::Float;
#[derive(Debug)]
pub struct Pid<T: Float> {
pub kp: T,
pub ki: T,
pub kd: T,
pub p_limit: T,
pub i_limit: T,
pub d_limit: T,
setpoint: Option<T>,
prev_measurement: Option<T>,
integral_term: T,
}
#[derive(Debug)]
pub struct ControlOutput<T: Float> {
pub p: T,
pub i: T,
pub d: T,
pub output: T,
}
impl<T> Pid<T>
where
T: Float,
{
pub fn new(kp: T, ki: T, kd: T, p_limit: T, i_limit: T, d_limit: T) -> Self {
Self {
kp,
ki,
kd,
p_limit,
i_limit,
d_limit,
setpoint: None,
prev_measurement: None,
integral_term: T::zero(),
}
}
pub fn update_setpoint(&mut self, setpoint: T) {
self.setpoint = Some(setpoint);
}
pub fn reset_integral_term(&mut self) {
self.integral_term = T::zero();
}
pub fn next_control_output(&mut self, measurement: T) -> ControlOutput<T> {
if self.setpoint.is_none() {
panic!("No set point specified.");
}
let error = self.setpoint.unwrap() - measurement;
let p_unbounded = error * self.kp;
let p = self.p_limit.min(p_unbounded.abs()) * p_unbounded.signum();
self.integral_term = self.integral_term + error * self.ki;
self.integral_term =
self.i_limit.min(self.integral_term.abs()) * self.integral_term.signum();
let d_unbounded = -match self.prev_measurement.as_ref() {
Some(prev_measurement) => measurement - *prev_measurement,
None => T::zero(),
} * self.kd;
self.prev_measurement = Some(measurement);
let d = self.d_limit.min(d_unbounded.abs()) * d_unbounded.signum();
ControlOutput {
p,
i: self.integral_term,
d,
output: (p + self.integral_term + d),
}
}
}
#[cfg(test)]
mod tests {
use super::Pid;
#[test]
fn proportional() {
let mut pid = Pid::new(2.0, 0.0, 0.0, 100.0, 100.0, 100.0);
pid.update_setpoint(10.0);
assert_eq!(pid.next_control_output(0.0).output, 20.0);
pid.p_limit = 10.0;
assert_eq!(pid.next_control_output(0.0).output, 10.0);
}
#[test]
fn derivative() {
let mut pid = Pid::new(0.0, 0.0, 2.0, 100.0, 100.0, 100.0);
pid.update_setpoint(10.0);
assert_eq!(pid.next_control_output(0.0).output, 0.0);
assert_eq!(pid.next_control_output(5.0).output, -10.0);
pid.d_limit = 5.0;
assert_eq!(pid.next_control_output(10.0).output, -5.0);
}
#[test]
fn integral() {
let mut pid = Pid::new(0.0, 2.0, 0.0, 100.0, 100.0, 100.0);
pid.update_setpoint(10.0);
assert_eq!(pid.next_control_output(0.0).output, 20.0);
assert_eq!(pid.next_control_output(0.0).output, 40.0);
assert_eq!(pid.next_control_output(5.0).output, 50.0);
pid.i_limit = 50.0;
assert_eq!(pid.next_control_output(5.0).output, 50.0);
assert_eq!(pid.next_control_output(15.0).output, 40.0);
let mut pid2 = Pid::new(0.0, 2.0, 0.0, 100.0, 100.0, 100.0);
pid2.update_setpoint(-10.0);
assert_eq!(pid2.next_control_output(0.0).output, -20.0);
assert_eq!(pid2.next_control_output(0.0).output, -40.0);
pid2.i_limit = 50.0;
assert_eq!(pid2.next_control_output(-5.0).output, -50.0);
assert_eq!(pid2.next_control_output(-15.0).output, -40.0);
}
#[test]
fn pid() {
let mut pid = Pid::new(1.0, 0.1, 1.0, 100.0, 100.0, 100.0);
pid.update_setpoint(10.0);
let out = pid.next_control_output(0.0);
assert_eq!(out.p, 10.0);
assert_eq!(out.i, 1.0);
assert_eq!(out.d, 0.0);
assert_eq!(out.output, 11.0);
let out = pid.next_control_output(5.0);
assert_eq!(out.p, 5.0);
assert_eq!(out.i, 1.5);
assert_eq!(out.d, -5.0);
assert_eq!(out.output, 1.5);
let out = pid.next_control_output(11.0);
assert_eq!(out.p, -1.0);
assert_eq!(out.i, 1.4);
assert_eq!(out.d, -6.0);
assert_eq!(out.output, -5.6);
let out = pid.next_control_output(10.0);
assert_eq!(out.p, 0.0);
assert_eq!(out.i, 1.4);
assert_eq!(out.d, 1.0);
assert_eq!(out.output, 2.4);
}
#[test]
fn f32_and_f64() {
let mut pid32 = Pid::new(2.0f32, 0.0, 0.0, 100.0, 100.0, 100.0);
pid32.update_setpoint(10.0);
let mut pid64 = Pid::new(2.0f64, 0.0, 0.0, 100.0, 100.0, 100.0);
pid64.update_setpoint(10.0);
assert_eq!(
pid32.next_control_output(0.0).output,
pid64.next_control_output(0.0).output as f32
);
assert_eq!(
pid32.next_control_output(0.0).output as f64,
pid64.next_control_output(0.0).output
);
}
}