Struct PIDController

pub struct PIDController {
    pub p_gain: f64,
    pub i_gain: f64,
    pub d_gain: f64,
    pub i_min: f64,
    pub i_max: f64,
    pub out_min: f64,
    pub out_max: f64,
    pub d_mode: DerivativeMode,
    /* private fields */
}

PID Controller.

A PID controller, supporting the Controller interface. Any public values are safe to modify while in operation.

p_gain, i_gain and d_gain are the respective gain values. The controlller internally stores an already adjusted integral, making it safe to alter the i_gain - it will not result in an immediate large jump in controller output.

i_min and i_max are the limits for the internal integral storage. Similarly, out_min and out_max clip the output value to an acceptable range of values. By default, all limits are set to +/- infinity.

d_mode The DerivativeMode, the default is OnMeasurement.

Fields

p_gain: f64

Proportional gain

i_gain: f64

Integral gain

d_gain: f64

Differential gain,

i_min: f64

i_max: f64

out_min: f64

out_max: f64

d_mode: DerivativeMode

Implementations

impl PIDController

pub fn new(p_gain: f64, i_gain: f64, d_gain: f64) -> PIDController

Creates a new PID Controller.

pub fn set_limits(&mut self, min: f64, max: f64)

Convenience function to set i_min/i_max and out_min/out_max to the same values simultaneously.

Trait Implementations

impl Clone for PIDController

fn clone(&self) -> PIDController

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Controller for PIDController

fn set_target(&mut self, target: f64)

Adjust set target for the plant.

fn target(&self) -> f64

Retrieve target value.

fn update(&mut self, value: f64, delta_t: f64) -> f64

Record a measurement from the plant.

fn reset(&mut self)

Reset internal state.

impl Debug for PIDController

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.