Struct PositionDerivativeDependentPIDKValues 

pub struct PositionDerivativeDependentPIDKValues {
    pub position: PIDKValues,
    pub velocity: PIDKValues,
    pub acceleration: PIDKValues,
}

A set of PID k-values for controlling each position derivative.

Fields

position: PIDKValues

Use these k-values when controlling position.

velocity: PIDKValues

Use these k-values when controlling velocity.

acceleration: PIDKValues

Use these k-values when controlling acceleration.

Implementations

impl PositionDerivativeDependentPIDKValues

pub const fn new( position: PIDKValues, velocity: PIDKValues, acceleration: PIDKValues, ) -> Self

Constructor for PositionDerivativeDependentPIDKValues.

Examples found in repository

examples/devices.rs (lines 8-12)

const K_VALUES: PositionDerivativeDependentPIDKValues = PositionDerivativeDependentPIDKValues::new(
    PIDKValues::new(1.0, 0.01, 0.1),
    PIDKValues::new(1.0, 0.01, 0.1),
    PIDKValues::new(1.0, 0.01, 0.1),
);

pub fn get_k_values( &self, position_derivative: PositionDerivative, ) -> PIDKValues

Get the k-values for a specific position derivative.

Examples found in repository

examples/devices.rs (line 71)

fn main() {
    println!("Commanding Motor to {:?}", COMMAND);
    println!(
        "K values are {:?}",
        K_VALUES.get_k_values(PositionDerivative::from(COMMAND))
    );
    let motor = Motor::new();
    let mut motor_wrapper =
        devices::wrappers::PIDWrapper::new(motor, Time(0), STATE, COMMAND, K_VALUES);
    let encoder = Encoder::default();
    let mut encoder_wrapper = devices::wrappers::GetterStateDeviceWrapper::new(encoder);
    connect(motor_wrapper.get_terminal(), encoder_wrapper.get_terminal());
    for _ in 0..5 {
        motor_wrapper.update().unwrap();
        encoder_wrapper.update().unwrap();
    }
}

pub fn evaluate( &self, position_derivative: PositionDerivative, error: f32, error_integral: f32, error_derivative: f32, ) -> f32

Calculate the control variable using the coefficients for a given position derivative given error, its integral, and its derivative.

Trait Implementations

impl Clone for PositionDerivativeDependentPIDKValues

fn clone(&self) -> PositionDerivativeDependentPIDKValues

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PositionDerivativeDependentPIDKValues

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

Formats the value using the given formatter.

impl PartialEq for PositionDerivativeDependentPIDKValues

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for PositionDerivativeDependentPIDKValues

impl StructuralPartialEq for PositionDerivativeDependentPIDKValues