Enum pid_control::DerivativeMode

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 Debug for DerivativeMode

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.

impl Clone for DerivativeMode

fn clone(&self) -> DerivativeMode

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for DerivativeMode