Struct Pid

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,
}

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

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 duplicate 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> TreeAny for Pid<T>

where Gain<T>: TreeAny, T: TreeAny + Float,

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.

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.

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

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

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.

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

Blind deserialize a leaf node by its keys.

impl<T> TreeSchema for Pid<T>

where Gain<T>: TreeSchema, T: TreeSchema + Float,

const SCHEMA: &'static Schema

Schema for this tree level

impl<T> TreeSerialize for Pid<T>

where Gain<T>: TreeSerialize, T: TreeSerialize + Float,

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

Serialize a node by keys.