Struct DcMotorFeedforward

pub struct DcMotorFeedforward { /* private fields */ }

Ideal DC motor feedforward controller.

This is a open-loop velocity controller that computes the voltage to maintain an idealized DC motor in a certain state.

The controller is implemented according to the following model:

`V = Kₛ sign(ω) + Kᵥ ω + Kₐ α``

Implementations

impl DcMotorFeedforward

pub fn new(ks: f64, kv: f64, ka: f64, target_acceleration: f64) -> Self

Creates a new DcMotorFeedforward with the given constants and target.

Parameters

• ks - Feedforward constant for static friction compensation.
• kv - Feedforward constant for velocity compensation.
• ka - Feedforward constant for acceleration compensation.
• target_acceleration - Feedforward constant for the target acceleration.

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

Get the current PID gains as a tuple (ks, kv, ka).

pub const fn ks(&self) -> f64

Returns the controller’s static friction constant (ks).

pub const fn kv(&self) -> f64

Returns the controller’s velocity constant (kv).

pub const fn ka(&self) -> f64

Returns the controller’s acceleration constant (kd).

pub const fn set_constants(&mut self, ks: f64, kv: f64, ka: f64)

Sets the PID gains to provided values.

pub const fn set_ks(&mut self, ks: f64)

Sets the controller’s static friction constant (ks).

pub const fn set_kv(&mut self, kv: f64)

Sets the controller’s velocity constant (kv).

pub const fn set_ka(&mut self, ka: f64)

Sets the controller’s acceleration constant (ka).

Trait Implementations

impl ControlLoop for DcMotorFeedforward

type Input = f64

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: Self::Input, setpoint: Self::Input, _dt: Duration, ) -> Self::Output

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