Struct PidController 

pub struct PidController { /* private fields */ }

A stateful PID controller.

Implementations

impl PidController

A stateful PID controller.

pub fn new(config: PidConfig) -> Self

Initializes a new controller with the provided gains and zeroed state.

pub fn update(&mut self, setpoint: f32, measurement: f32, dt: f32) -> f32

Calculates the corrective signal based on a setpoint and measurement.

Parameters

• setpoint - The desired value (Target).
• measurement - The current estimated value (Feedback).
• dt - Time delta since the last update in seconds.

pub fn update_with_error(&mut self, error: f32, dt: f32) -> f32

Primary calculation engine for the PID signal.

This method performs the following:

1. Proportional: $K_p \times error$
2. Integral: Accumulates $error \times dt$, clamped by max_integral.
3. Derivative: $K_d \times \frac{\Delta error}{dt}$

pub fn reset(&mut self)

Resets the controller’s internal memory (Integral and Last Error).

CRITICAL: This should be called whenever the controller is re-engaged (Armed) to prevent “jumpy” initial behavior from stale data.