🦅 Version 0.1.5 The "Smooth Start" Patch A Robust, High-Performance PID Controller for Rust (std & no_std). Optimized for embedded systems like RP2040 (Pico), Pico 2, STM32, and ESP32.
Created by Jorge Andre Castro.
🛡️ The Mission pidfrees provides a Robust control logic while remaining strictly Open Source. This crate uses the GPL-2.0-or-later license to ensure that essential control algorithms remain a common good and are never privatized.
🚀 Key Features Adaptive Precision: Choose between f64 for high precision (Cloud/PC) or f32 for blazing-fast performance on microcontrollers.
Dynamic Tuning (New! ✨): Update Kp, Ki, Kd, and Setpoint at runtime without re-initializing the controller.
📋 Changelog & Updates 🦅 Version 0.1.5 - The "Smooth Start" Patch Fix: Anti-Derivative Kick: Added a first_run synchronization flag.
Why? Previously, the first update() call could cause a massive output spike if the initial measurement was far from zero. Now, the controller initializes last_measurement with the first value it sees, ensuring a silky-smooth startup for your motors and actuators.
Credit: Big thanks to the community (Luc E.Brunet) for the feedback!
no_std Native: Built for bare-metal environments like Embassy, RTIC, or custom kernels.
Robustness: Native Anti-Windup protection and derivative based on measurement (PV) to avoid "derivative kicks" during setpoint changes.
Zero-Cost Abstraction: Zero binary overhead regardless of the chosen precision.
🛠️ Usage Standard (f64 by default) Ini, TOML [dependencies] pidfrees = "0.1.4" Ultra-Fast (f32 for RP2040 / Pico / ESP32) Ini, TOML [dependencies] pidfrees = { version = "0.1.4", features = ["f32"] } 💡 Quick Start Rust use pidfrees::PidController;
// 1. Initialisation: Kp, Ki, Kd, Target, Min_Out, Max_Out let mut pid = PidController::new(2.0, 0.5, 0.1, 50.0, 0.0, 100.0);
// 2. Compute output let power = pid.update(45.0, 0.1);
// 3. Dynamic Tuning (New in 0.1.4) // Change gains on the fly if your system state changes! pid.set_kp(1.5); pid.set_target(60.0); 🎮 Example: Gain Scheduling Rust // If your robot picks up a heavy load, you might need more aggressive gains if robot.is_carrying_load() { pid.set_kp(3.5); // Increase proportional gain pid.set_ki(0.8); // Increase integral to counter gravity } else { pid.set_kp(2.0); // Back to normal } ⚖️ License This project is licensed under the GNU General Public License v2.0 or later. You are free to use it, but any modification or improvement MUST be shared with the community. That’s the contract of freedom.
🦅 Why upgrade? Because in embedded systems, every CPU cycle and every byte of RAM counts. With the f32 feature and Dynamic Tuning, pidfrees is one of the lightest and most flexible tools available to tame your motors and sensors without sacrificing safety.