Struct PIDController 

pub struct PIDController {
    pub config: PIDConfig,
    /* private fields */
}

Discrete-time PID controller.

Implements the [Controller] trait with State = f64, Reference = f64, and Output = f64.

Example

use rust_robotics_control::pid_controller::{PIDConfig, PIDController};
use rust_robotics_core::Controller;

let mut pid = PIDController::with_gains(1.0, 0.0, 0.0, 0.01);
let output = pid.compute(&0.0, &1.0);
assert!((output - 1.0).abs() < 1e-10);

Fields

config: PIDConfig

Controller configuration.

Implementations

impl PIDController

pub fn new(config: PIDConfig) -> Self

Create a new PIDController with the given configuration.

pub fn with_gains(kp: f64, ki: f64, kd: f64, dt: f64) -> Self

Create a PIDController with common gains and time step.

pub fn step(&mut self, error: f64) -> f64

Advance the controller by one step given a pre-computed error.

This is a convenience wrapper around [Controller::compute] for situations where the error is already known.

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 Controller for PIDController

fn compute(&mut self, state: &f64, reference: &f64) -> f64

Compute the PID control output.

error = reference - state. The integral is clamped to ±max_integral (anti-windup) and the output is clamped to ±max_output.

fn reset(&mut self)

Reset the controller’s internal state (integral and previous error).

type State = f64

State type

type Reference = f64

Reference/target type

type Output = f64

Output control type

impl Debug for PIDController

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

Formats the value using the given formatter.