Struct AngularPid

pub struct AngularPid { /* private fields */ }

PID controller for use in rotational systems.

This struct operates on the same principles and implementation as Pid, but takes exclusively Angles as input. Unlike Pid, AngularPid is able to recognize when angles wrap. This means a 0° measurement is equivalent to a 360° measurement, for instance.

This is useful for cases where you want the controller to drive the system to its setpoint using the “shortest turn possible”.

Implementations

impl AngularPid

pub const fn new( kp: f64, ki: f64, kd: f64, integration_range: Option<Angle>, ) -> Self

Construct a new PID controller from gain constants and an optional integration range.

pub const fn gains(&self) -> (f64, f64, f64)

Get the current PID gains as a tuple (kp, ki, kd).

pub const fn kp(&self) -> f64

Returns the controller’s proportional gain (kp).

pub const fn ki(&self) -> f64

Returns the controller’s integral gain (kp).

pub const fn kd(&self) -> f64

Returns the controller’s derivative gain (kp).

pub const fn integration_range(&self) -> Option<Angle>

Returns the controller’s integration range.

Integration range is the minimum error range required to start integrating error. This is optionally applied to the controller as a mitigation for integral windup.

pub const fn set_gains(&mut self, kp: f64, ki: f64, kd: f64)

Sets the PID gains to provided values.

pub const fn set_kp(&mut self, kp: f64)

Sets the controller’s proportional gain (kp).

pub const fn set_ki(&mut self, ki: f64)

Sets the controller’s integral gain (ki).

pub const fn set_kd(&mut self, kd: f64)

Sets the controller’s derivative gain (kd).

pub const fn set_integration_range(&mut self, range: Option<Angle>)

Sets the controller’s integration range.

Integration range is the minimum error range required to start integrating error. This is optionally applied to the controller as a mitigation for integral windup.

pub const fn set_output_limit(&mut self, range: Option<f64>)

Sets the controller’s output limit.

This sets a maximum range for the controller’s output signal. It will effectively limit how fast the controller is able to drive the system, which may be desirable in some cases (e.g. limiting the maximum speed of a robot’s motion).

Trait Implementations

impl Clone for AngularPid

fn clone(&self) -> AngularPid

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl ControlLoop for AngularPid

type Input = Angle

The type of input measurements and setpoints that this controller takes.

type Output = f64

The type of output (control signal) this controller produces.

fn update(&mut self, measurement: Angle, setpoint: Angle, dt: Duration) -> f64

Updates the control loop with the latest measurement and setpoint for the system, producing a corresponding control signal.

impl Debug for AngularPid

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

Formats the value using the given formatter.

impl PartialEq for AngularPid

fn eq(&self, other: &AngularPid) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for AngularPid

impl StructuralPartialEq for AngularPid