Struct PIDKValues 

pub struct PIDKValues {
    pub kp: f32,
    pub ki: f32,
    pub kd: f32,
}

Coefficients for a PID controller.

Fields

kp: f32

Proportional coefficient.

ki: f32

Integral coefficient.

kd: f32

Derivative coefficient.

Implementations

impl PIDKValues

pub const fn new(kp: f32, ki: f32, kd: f32) -> Self

Constructor for PIDKValues.

Examples found in repository

examples/devices.rs (line 9)

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 evaluate( &self, error: f32, error_integral: f32, error_derivative: f32, ) -> f32

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

Trait Implementations

impl Clone for PIDKValues

fn clone(&self) -> PIDKValues

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PIDKValues

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

Formats the value using the given formatter.

impl PartialEq for PIDKValues

fn eq(&self, other: &PIDKValues) -> 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 PIDKValues

impl StructuralPartialEq for PIDKValues