Lib.rs

This is a Generic PID Controller

Check out cu_rp_balancebot for a full example of how to use it.

Compatibility

This crate is compatible for std and no_std targets.

Task and Input

To be able to use it, you need to specialize it before you can reference it in your copper RON config:

// in mymod.rs
use cu_pid::GenericPIDTask;
pub type MyPID = GenericPIDTask<MyPayload>;

// MyPayload needs to implement an Into<f32> trait to be able to be used as a reference for the PID controller
pub struct MyPayload {
    pub value: f32,
}

impl Into<f32> for MyPayload {
    fn into(self) -> f32 {
        self.value
    }
}

Then you can use it in your copper RON config:

  (
            id: "my_pid",
            type: "mymod::MyPID", // Set your type alias here
            config: {
                "kp": 0.015,
                "kd": 0.01,
                "ki": 0.00005,
                 "setpoint": 3176.0,
                 "cutoff": 170.0,
            },
        ),
 [...]

Configuration

• kp: Proportional gain
• ki: Integral gain
• kd: Derivative gain
• setpoint: The target value
• cutoff: The +/- deviation from the setpoint that is considered acceptable, otherwise the PID will return None ( safety mode)

Output

The PID controller will return a full state with the p, i and d contributions in PIDControlOutput struct:

pub struct PIDControlOutput {
    pub p: f32,
    pub i: f32,
    pub d: f32,
    pub output: f32,  // output == p+i+d
}