Struct PidGains 

pub struct PidGains {
    pub kp: f64,
    pub ki: f64,
    pub kd: f64,
}

Tunable gains for a PidController. Mirrors the field names/defaults of mecha10_controllers::motor::PidGains for consistency, but is defined locally so this crate doesn’t take on a dependency on the driver-layer controllers crate just for three floats.

Fields

kp: f64

Proportional gain - reacts to the instantaneous error.

ki: f64

Integral gain - reacts to the accumulated error over time (eliminates steady-state error).

kd: f64

Derivative gain - reacts to the rate of change of the error (damps oscillation).

Trait Implementations

impl Clone for PidGains

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for PidGains

impl Debug for PidGains

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

Formats the value using the given formatter.

impl Default for PidGains

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for PidGains

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for PidGains

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for PidGains

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for PidGains