Struct PidController 

pub struct PidController { /* private fields */ }

A discrete-time PID controller with filtered derivative-on-measurement and back-calculation anti-windup. See the module docs for the rationale.

Implementations

impl PidController

pub fn new(cfg: PidConfig) -> Self

Creates a controller resting at output_max (full performance).

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

Advances the controller one discrete step and returns the saturated output. dt is the elapsed time in seconds since the previous call; a non-positive dt is a no-op that returns the last output.

pub fn reset(&mut self)

Resets the controller to its initial resting state (output_max).

pub fn output(&self) -> f32

The last saturated output (the current control value). Glass-box only.

pub fn config(&self) -> &PidConfig

The active configuration.

Trait Implementations

impl Clone for PidController

fn clone(&self) -> PidController

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PidController

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

Formats the value using the given formatter.