Struct PidController 

pub struct PidController { /* private fields */ }

A standard PID controller with output clamping and integral anti-windup.

Call PidController::update once per control tick with the current setpoint, measurement, and elapsed time (dt, in seconds) since the previous call; it returns the control output.

Implementations

impl PidController

pub fn new(gains: PidGains, output_limits: (f64, f64)) -> PidController

Create a new controller with the given gains and output clamp. Integral wind-up is clamped to the same range as the output by default - see Self::with_integral_limits to widen/narrow that independently.

pub fn with_integral_limits(self, integral_limits: (f64, f64)) -> PidController

Override the integral anti-windup clamp independently of the output clamp.

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

Advance the controller by one tick and return the (clamped) control output.

dt is the elapsed time in seconds since the previous call. A non-positive dt skips the integral/derivative terms for this tick (treated as a proportional-only response) rather than dividing by zero or integrating backwards.

pub fn reset(&mut self)

Clear accumulated integral/derivative state (e.g. when a behaviour restarts), so a stale integral from a previous run doesn’t bias the next one.

Trait Implementations

impl Clone for PidController

fn clone(&self) -> PidController

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PidController

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

Formats the value using the given formatter.