Struct Pid

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

PID Controller parameters

Fields§

§order: 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: T

Setpoint

Units: input

§min: T

Output lower limit

Units: output

§max: T

Output upper limit

Units: output

Implementations§

Source§

impl<T: Float> Pid<T>

Source

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§

Source§

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

Source§

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

Returns a duplicate of the value. Read more
1.0.0 · Source§

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

Performs copy-assignment from source. Read more
Source§

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

Source§

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

Formats the value using the given formatter. Read more
Source§

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

Source§

fn default() -> Self

Returns the “default value” for a type. Read more
Source§

impl<T> TreeAny for Pid<T>
where Gain<T>: TreeAny, T: TreeAny + Float,

Source§

fn ref_any_by_key(&self, keys: impl Keys) -> Result<&dyn Any, ValueError>

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

fn mut_any_by_key( &mut self, keys: impl Keys, ) -> Result<&mut dyn Any, ValueError>

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

fn ref_by_key<T>(&self, keys: impl IntoKeys) -> Result<&T, ValueError>
where T: Any,

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

fn mut_by_key<T>(&mut self, keys: impl IntoKeys) -> Result<&mut T, ValueError>
where T: Any,

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

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

Source§

fn deserialize_by_key<D: Deserializer<'de>>( &mut self, keys: impl Keys, de: D, ) -> Result<(), SerdeError<D::Error>>

Deserialize a leaf node by its keys. Read more
Source§

fn probe_by_key<D: Deserializer<'de>>( keys: impl Keys, de: D, ) -> Result<(), SerdeError<D::Error>>

Blind deserialize a leaf node by its keys. Read more
Source§

impl<T> TreeSchema for Pid<T>
where Gain<T>: TreeSchema, T: TreeSchema + Float,

Source§

const SCHEMA: &'static Schema

Schema for this tree level
Source§

impl<T> TreeSerialize for Pid<T>
where Gain<T>: TreeSerialize, T: TreeSerialize + Float,

Source§

fn serialize_by_key<S: Serializer>( &self, keys: impl Keys, ser: S, ) -> Result<S::Ok, SerdeError<S::Error>>

Serialize a node by keys. Read more

Auto Trait Implementations§

§

impl<T> Freeze for Pid<T>
where T: Freeze,

§

impl<T> RefUnwindSafe for Pid<T>
where T: RefUnwindSafe,

§

impl<T> Send for Pid<T>
where T: Send,

§

impl<T> Sync for Pid<T>
where T: Sync,

§

impl<T> Unpin for Pid<T>
where T: Unpin,

§

impl<T> UnwindSafe for Pid<T>
where T: UnwindSafe,

Blanket Implementations§

Source§

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

Source§

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
Source§

impl<T> Borrow<T> for T
where T: ?Sized,

Source§

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
Source§

impl<T> BorrowMut<T> for T
where T: ?Sized,

Source§

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
Source§

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

Source§

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

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dest. Read more
Source§

impl<T> From<T> for T

Source§

fn from(t: T) -> T

Returns the argument unchanged.

Source§

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

Source§

fn into(self) -> U

Calls U::from(self).

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

Source§

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

Source§

type Error = Infallible

The type returned in the event of a conversion error.
Source§

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
Source§

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

Source§

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

The type returned in the event of a conversion error.
Source§

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.
§

impl<T> TreeDeserializeOwned for T
where T: for<'de> TreeDeserialize<'de>,