Struct PidState 

pub struct PidState {
    pub integral: i32,
    pub derivative: i32,
    /* private fields */
}

C-layout PID memory, with reset marking the next measurement as the derivative origin.

Fields

integral: i32

Current bounded integral.

derivative: i32

Current bounded filtered derivative on measurement.

Implementations

impl PidState

pub fn reset(&mut self)

Clear all memory and establish a zero-derivative first sample.

pub fn step( &mut self, coefficients: &Coefficients, cycle: u32, reference: i32, position: i32, ) -> Result<Command, InvalidCoefficients>

Update a conditional-integration PID with derivative on measurement.

The prior integral is used to detect output saturation. If saturation and error have the same direction, retain that integral; otherwise accept the proposed integral before computing the command. First-sample derivative is zero. Invalid coefficients leave state unchanged. Gains remain stable until reset.

Trait Implementations

impl Clone for PidState

fn clone(&self) -> PidState

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for PidState

impl Debug for PidState

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

Formats the value using the given formatter.

impl Default for PidState

fn default() -> PidState

Returns the “default value” for a type.

impl Eq for PidState

impl PartialEq for PidState

fn eq(&self, other: &PidState) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for PidState