Struct ControlOutput 

pub struct ControlOutput<T: Float> {
    pub output: T,
    pub p: T,
    pub i: T,
    pub d: T,
    pub error: T,
    pub effective_setpoint: T,
    pub safety_status: SafetyStatus,
    pub dt: T,
}

Detailed control output with diagnostics

Fields

output: T

Final control output

p: T

Proportional term contribution

i: T

Integral term contribution

d: T

Derivative term contribution

error: T

Current error

effective_setpoint: T

Setpoint used (after ramping if enabled)

safety_status: SafetyStatus

Safety status

dt: T

Time delta used for this calculation

Trait Implementations

impl<T: Clone + Float> Clone for ControlOutput<T>

fn clone(&self) -> ControlOutput<T>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Copy + Float> Copy for ControlOutput<T>

impl<T: Debug + Float> Debug for ControlOutput<T>

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

Formats the value using the given formatter.