1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
#![no_std]
#![deny(nonstandard_style)]
#![warn(future_incompatible, unreachable_pub, rust_2018_idioms)]
use core::ops::*;
pub struct PID<F: Ord + Copy> {
kp: F,
ki: F,
kd: F,
last_error: F,
error_sum: F,
error_sum_min: Option<F>,
error_sum_max: Option<F>,
}
impl<F> PID<F>
where
F: Default + Add<Output = F> + Sub<Output = F> + Mul<Output = F> + Ord + Copy,
{
pub fn new(kp: impl Into<F>, ki: impl Into<F>, kd: impl Into<F>) -> Self {
Self {
kp: kp.into(),
ki: ki.into(),
kd: kd.into(),
last_error: F::default(),
error_sum: F::default(),
error_sum_min: None,
error_sum_max: None,
}
}
pub fn set_error_sum_min(&mut self, min: Option<F>) {
self.error_sum_min = min;
}
pub fn set_error_sum_max(&mut self, max: Option<F>) {
self.error_sum_max = max;
}
pub fn next(&mut self, sp: impl Into<F>, fb: impl Into<F>) -> F {
let error = sp.into() - fb.into();
let error_delta = error - self.last_error;
self.last_error = error;
let error_sum = self.error_sum + error;
let error_sum = match &self.error_sum_min {
Some(min) if min > &error_sum => *min,
_ => error_sum,
};
let error_sum = match &self.error_sum_max {
Some(max) if max < &error_sum => *max,
_ => error_sum,
};
self.error_sum = error_sum;
let p = error * self.kp;
let i = error_sum * self.ki;
let d = error_delta * self.kd;
p + i + d
}
}