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PidGains

oxiphysics_python::constraints_api

Struct PidGains 

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pub struct PidGains {
    pub kp: f64,
    pub ki: f64,
    pub kd: f64,
    pub integral: f64,
    pub prev_error: f64,
}
Expand description

PID controller for motor target tracking.

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§kp: f64

Proportional gain.

§ki: f64

Integral gain.

§kd: f64

Derivative gain.

§integral: f64

Accumulated integral error.

§prev_error: f64

Previous error (for derivative).

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impl PidGains

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pub fn new(kp: f64, ki: f64, kd: f64) -> Self

Create new PID gains.

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pub fn compute(&mut self, error: f64, dt: f64) -> f64

Compute PID output given the current error and time step.

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pub fn reset(&mut self)

Reset the integral and derivative state.

Trait Implementations§

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impl Clone for PidGains

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fn clone(&self) -> PidGains

Returns a duplicate of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for PidGains

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

Formats the value using the given formatter. Read more
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impl<'de> Deserialize<'de> for PidGains

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fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more
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impl Serialize for PidGains

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

Serialize this value into the given Serde serializer. Read more

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fn borrow_mut(&mut self) -> &mut T

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impl<T> CloneToUninit for T
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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dest. Read more
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impl<T> From<T> for T

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fn into(self) -> U

Calls U::from(self).

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type Output = T

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Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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type Owned = T

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