Struct pid::Pid

pub struct Pid<T: FloatCore> {
    pub kp: T,
    pub ki: T,
    pub kd: T,
    pub p_limit: T,
    pub i_limit: T,
    pub d_limit: T,
    // some fields omitted
}

Fields

kp: T

Proportional gain.

ki: T

Integral gain.

kd: T

Derivative gain.

p_limit: T

Limit of contribution of P term: (-p_limit <= P <= p_limit)

i_limit: T

Limit of contribution of I term (-i_limit <= I <= i_limit)

d_limit: T

Limit of contribution of D term (-d_limit <= D <= d_limit)

Methods

impl<T> Pid<T> where
    T: FloatCore, 

pub fn new(kp: T, ki: T, kd: T, p_limit: T, i_limit: T, d_limit: T) -> Self

pub fn update_setpoint(&mut self, setpoint: T)

Sets the desired setpoint.

Must be called before the first invocation to next_control_output().

pub fn get_setpoint(&mut self) -> Option<T>

Returns the current setpoint.

pub fn reset_integral_term(&mut self)

Resets the integral term back to zero. This may drastically change the control output.

pub fn next_control_output(&mut self, measurement: T) -> ControlOutput<T>

Given a new measurement, calculates the next control output.

Panics

If a setpoint has not been set via update_setpoint().

Trait Implementations

impl<T: Debug + FloatCore> Debug for Pid<T>

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

Formats the value using the given formatter.