Struct PidConfig 

pub struct PidConfig {
    pub kp: f32,
    pub ki: f32,
    pub kd: f32,
    pub max_integral: f32,
}

Configuration parameters for a PID controller.

These gains determine the responsiveness and stability of the system.

Fields

kp: f32

Proportional gain ($K_p$). Immediate correction based on current error.

ki: f32

Integral gain ($K_i$). Corrects for steady-state error over time.

kd: f32

Derivative gain ($K_d$). Dampens oscillations by reacting to error rate.

max_integral: f32

Maximum absolute value for the integral accumulator (Anti-windup).

Trait Implementations

impl Clone for PidConfig

fn clone(&self) -> PidConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PidConfig

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

Formats the value using the given formatter.

impl PartialEq for PidConfig

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

impl StructuralPartialEq for PidConfig