evian_control::loops

Struct TakeBackHalf

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pub struct TakeBackHalf { /* private fields */ }
Expand description

Take-back-half flywheel velocity controller.

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impl TakeBackHalf

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pub fn new(kh: f64) -> Self

Creates a new TBH controller.

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pub fn kh(&self) -> f64

Returns the controller’s integral gain (kh).

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pub fn set_kh(&mut self, kh: f64)

Sets the controller’s integral gain (kh).

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impl ControlLoop for TakeBackHalf

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type Input = f64

The type of input measurements and setpoints that this controller takes.
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type Output = f64

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

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