Struct robotconfig::types::pid_gains::PidGains[][src]

pub struct PidGains {
    pub p_gain: f32,
    pub i_gain: f32,
    pub d_gain: f32,
    pub feed_forward: Option<f32>,
    pub settling_time: Option<f32>,
}
Expand description

JSON object for PID gains

{
   "Kp": 0.0,
   "Ki": 0.0,
   "Kd": 0.0,
   "FF": 0.0, // Default: 0.0
   "settlingTime": 0.0 // Seconds. Default: 0.0
}

Original source: here

Fields

p_gain: f32

P gain constant

i_gain: f32

I gain constant

d_gain: f32

D gain constant

feed_forward: Option<f32>

Feed-Forward constant

settling_time: Option<f32>

Number of seconds to let the controller settle for

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