Struct pid 

pub struct pid {
    pub kp: float,
    pub ki: float,
    pub kd: float,
    pub summax: float,
    pub summin: float,
    pub sum: float,
    pub outmax: float,
    pub outmin: float,
    pub out: float,
    pub fdb: float,
    pub err: float,
    /* private fields */
}

proportional integral derivative controller

Fields

kp: float

proportional constant

ki: float

integral constant

kd: float

derivative constant

summax: float

maximum integral output

summin: float

minimum integral output

sum: float

controller integral output

outmax: float

maximum final output

outmin: float

minimum final output

out: float

controller final output

fdb: float

cache feedback

err: float

cache error

Implementations

impl pid

pub fn new() -> Self

initialize for PID controller

pub fn set_kpid(&mut self, kp: float, ki: float, kd: float) -> &mut Self

set proportional integral derivative constant for PID controller

pub fn run(&mut self, set: float, fdb: float) -> float

calculate for PID controller

pub fn pos(&mut self, set: float, fdb: float) -> float

calculate for positional PID controller

pub fn inc(&mut self, set: float, fdb: float) -> float

calculate for incremental PID controller

pub fn zero(&mut self) -> &mut Self

zeroing for PID controller

Trait Implementations

impl Default for pid

fn default() -> Self

Returns the “default value” for a type.