Struct PidController

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pub struct PidController {
    pub kp: f32,
    pub ki: f32,
    pub kd: f32,
    /* private fields */
}
Expand description

A proportional–integral–derivative controller.

This controller is used to smoothly move motors to a certain point, and allows for feedback-based power adjustments. This is desirable over just setting the motor power, as it can be tuned to make the motor stop in exactly the right position without overshooting.

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§kp: f32

Proportional constant. This is multiplied by the error to get the proportional component of the output.

§ki: f32

Integral constant. This accounts for the past values of the error.

§kd: f32

Derivative constant. This allows you to change the motor behavior based on the rate of change of the error (predicting future values).

Implementations§

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impl PidController

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

Create a new PID controller with the given constants.

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

Update the PID controller with the current setpoint and position.

Trait Implementations§

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impl Clone for PidController

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fn clone(&self) -> PidController

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for PidController

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

Formats the value using the given formatter. Read more
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impl Copy for PidController

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impl<T> Any for T
where T: 'static + ?Sized,

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impl<T> BorrowMut<T> for T
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fn borrow_mut(&mut self) -> &mut T

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dst: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dst. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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type Owned = T

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fn to_owned(&self) -> T

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fn clone_into(&self, target: &mut T)

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impl<T, U> TryFrom<U> for T
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type Error = Infallible

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Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

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