Enum pid_control::DerivativeMode
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pub enum DerivativeMode { OnError, OnMeasurement, }
PID controller derivative modes.
Two different ways of calculating the derivative can be used with the PID controller, allowing to avoid "derivative kick" if needed (see http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/ for details information on the implementation that inspired this one).
Choosing OnMeasurement
will avoid large bumps in the controller output
when changing the setpoint using set_target()
.
Variants
OnError
Calculate derivative of error (classic PID-Controller)
OnMeasurement
Calculate derivative of actual changes in value.
Trait Implementations
impl Copy for DerivativeMode
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impl Clone for DerivativeMode
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fn clone(&self) -> DerivativeMode
Returns a copy of the value. Read more
fn clone_from(&mut self, source: &Self)
1.0.0
Performs copy-assignment from source
. Read more