Struct Pid

pub struct Pid<T: Float> {
    pub order: Leaf<Order>,
    pub gain: Gain<T>,
    pub limit: Gain<T>,
    pub setpoint: Leaf<T>,
    pub min: Leaf<T>,
    pub max: Leaf<T>,
}

PID Controller parameters

Fields

order: Leaf<Order>

Feedback term order

gain: Gain<T>

Gain

• Sequence: [I², I, P, D, D²]
• Units: output/intput * second**order where Action::I2 has order=-2
• Gains outside the range order..=order + 3 are ignored
• P gain sign determines sign of all gains

limit: Gain<T>

Gain imit

• Sequence: [I², I, P, D, D²]
• Units: output/intput
• P gain limit is ignored
• Limits outside the range order..order + 3 are ignored
• P gain sign determines sign of all gain limits

setpoint: Leaf<T>

Setpoint

Units: input

min: Leaf<T>

Output lower limit

Units: output

max: Leaf<T>

Output upper limit

Units: output

Implementations

impl<T: Float> Pid<T>

pub fn build<C, I>(&self, period: T, b_scale: T, y_scale: T) -> Biquad<C>

where C: Coefficient + AsPrimitive<C> + AsPrimitive<I>, T: AsPrimitive<I> + AsPrimitive<C>, I: Float + 'static + AsPrimitive<C>,

Return the Biquad

Builder intermediate type I, coefficient type C

Trait Implementations

impl<T: Clone + Float> Clone for Pid<T>

fn clone(&self) -> Pid<T>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<T: Debug + Float> Debug for Pid<T>

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

Formats the value using the given formatter.

impl<T: Float> Default for Pid<T>

fn default() -> Self

Returns the “default value” for a type.

impl<T: Float> TreeAny for Pid<T>

where Gain<T>: TreeAny, Leaf<T>: TreeAny,

fn ref_any_by_key<K>(&self, keys: K) -> Result<&dyn Any, Traversal>

where K: Keys,

Obtain a reference to a dyn Any trait object for a leaf node.

fn mut_any_by_key<K>(&mut self, keys: K) -> Result<&mut dyn Any, Traversal>

where K: Keys,

Obtain a mutable reference to a dyn Any trait object for a leaf node.

fn ref_by_key<T, K>(&self, keys: K) -> Result<&T, Traversal>

where T: Any, K: IntoKeys,

Obtain a reference to a leaf of known type by key.

fn mut_by_key<T, K>(&mut self, keys: K) -> Result<&mut T, Traversal>

where T: Any, K: IntoKeys,

Obtain a mutable reference to a leaf of known type by key.

impl<'de, T: Float> TreeDeserialize<'de> for Pid<T>

where Gain<T>: TreeDeserialize<'de>, Leaf<T>: TreeDeserialize<'de>,

fn deserialize_by_key<K, D>( &mut self, keys: K, de: D, ) -> Result<usize, Error<D::Error>>

where K: Keys, D: Deserializer<'de>,

Deserialize a leaf node by its keys.

impl<T: Float> TreeKey for Pid<T>

where Gain<T>: TreeKey, Leaf<T>: TreeKey,

fn traverse_all<W: Walk>() -> Result<W, W::Error>

Walk metadata about all paths.

fn traverse_by_key<K, F, E>(keys: K, func: F) -> Result<usize, Error<E>>

where K: Keys, F: FnMut(usize, Option<&'static str>, NonZero<usize>) -> Result<(), E>,

Traverse from the root to a leaf and call a function for each node.

fn transcode<N, K>(keys: K) -> Result<(N, Node), Traversal>

where K: IntoKeys, N: Transcode + Default,

Transcode keys to a new keys type representation

fn nodes<N, const D: usize>() -> NodeIter<Self, N, D>

where N: Transcode + Default,

Return an iterator over nodes of a given type

impl<T: Float> TreeSerialize for Pid<T>

where Gain<T>: TreeSerialize, Leaf<T>: TreeSerialize,

fn serialize_by_key<K, S>( &self, keys: K, ser: S, ) -> Result<usize, Error<S::Error>>

where K: Keys, S: Serializer,

Serialize a node by keys.