1 stable release
1.0.0 | Dec 29, 2019 |
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#8 in #gain
68KB
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AdriftDev PID Controller library
Proportional, integral, and derivative controller module designed to allow easy calculation of outputs based on feedback loop from plant equipment (sensors / microcontrollers). output of PID controller can control motors, servos, or any component that can output a varities of outputs to achieve targeted outcome.
RoadMap
- Smoothing of output curve.
- PID Stack control - can use any variety of controller pattern, not just PID, eg PD, PI, P, or PID controller configurations.
- General microcontroller optimisations
Example Usage
Tuning of the PID Controllers is as simple as changing the gain for each controller component for a module.
below is a small example of creating a PID Control Module
use adriftdev_pid::control;
fn main() {
let mut pid = control::Module::new(
control::PController::new(0.2),
control::IController::new(0.2),
control::DController::new(0.2),
); // Total of 0.6 gain
pid.set_setpoint(2000.0);
while pid.output < 1999.0 {
println!("{}", pid.compute());
}
}
Possible Applications
There are plenty of uses for PID Controllers this is just a small sample of usages.
Air Conditioner
- Temperature regulation - through controlled output and feebback loop from temp sensors`
Quadcopter
- Altitude control
- Speed control
- Rotation control
- Tilt control
- Advanced Navigation
Electric Skateboard
- Speed Control
- Brake Control