Struct pid_control::PIDController
[−]
[src]
pub struct PIDController { pub p_gain: f64, pub i_gain: f64, pub d_gain: f64, pub i_min: f64, pub i_max: f64, pub out_min: f64, pub out_max: f64, pub d_mode: DerivativeMode, // some fields omitted }
PID Controller.
A PID controller, supporting the Controller
interface. Any public values
are safe to modify while in operation.
p_gain
, i_gain
and d_gain
are the respective gain values. The
controlller internally stores an already adjusted integral, making it safe
to alter the i_gain
- it will not result in an immediate large jump in
controller output.
i_min
and i_max
are the limits for the internal integral storage.
Similarly, out_min
and out_max
clip the output value to an acceptable
range of values. By default, all limits are set to +/- infinity.
d_mode
The DerivativeMode
, the default is OnMeasurement
.
Fields
p_gain | Proportional gain |
i_gain | Integral gain |
d_gain | Differential gain, |
i_min | |
i_max | |
out_min | |
out_max | |
d_mode |
Methods
impl PIDController
fn new(p_gain: f64, i_gain: f64, d_gain: f64) -> PIDController
Creates a new PID Controller.
fn set_limits(&mut self, min: f64, max: f64)
Convenience function to set i_min
/i_max
and out_min
/out_max
to the same values simultaneously.