Struct pid_loop::PID

pub struct PID<F> {
    pub kp: F,
    pub ki: F,
    pub kd: F,
    // some fields omitted
}

PID controller

Examples

use pid_loop::PID;

let target = 42.0;
let mut controller = PID::<f64>::new(2.0, 0.7, 0.3);
let correction = controller.next(target, measure());

fn measure() -> f64 { todo!() }

Fields

kp: F

Proportional gain.

ki: F

Integral gain.

kd: F

Derivative gain.

Implementations

impl<F> PID<F> where
    F: Default + Add<Output = F> + Sub<Output = F> + Mul<Output = F> + PartialOrd + Copy, 

pub fn new(kp: impl Into<F>, ki: impl Into<F>, kd: impl Into<F>) -> Self

Create a new instance of PID.

Examples

#![allow(unused_assignments)]
use pid_loop::PID;

let mut controller = PID::<f32>::new(0.7, 0.034, 0.084);

pub fn reset(&mut self)

Reset controller internal state.

Examples

#![allow(unused_assignments)]
use pid_loop::PID;

let target = 30.0;
let mut controller = PID::<f32>::new(0.7, 0.034, 0.084);
controller.next(target, 42.0);
controller.reset();

pub fn set_min_error_sum(&mut self, min: Option<F>)

Set minimum limit for error sum.

Examples

#![allow(unused_assignments)]
use pid_loop::PID;

let target = 30;
let mut controller = PID::<i128>::new(7, 34, 4);
controller.set_min_error_sum(Some(-300));

pub fn set_max_error_sum(&mut self, max: Option<F>)

Set maximum limit for error sum.

Examples

#![allow(unused_assignments)]
use pid_loop::PID;

let target = 30.0;
let mut controller = PID::<f32>::new(0.7, 0.034, 0.084);
controller.set_max_error_sum(Some(300.0));

pub fn next(&mut self, sp: impl Into<F>, fb: impl Into<F>) -> F

Push next measurement into the controller and return correction.

Examples

#![allow(unused_assignments)]
use pid_loop::PID;

let target = 30.0;
let mut controller = PID::<f64>::new(0.7, 0.034, 0.084);
let correction = controller.next(target, 42.0);