4 releases (2 breaking)
new 0.5.0 | Dec 2, 2024 |
---|---|
0.4.1 | Nov 15, 2024 |
0.4.0 | Oct 29, 2024 |
0.3.1 | Oct 12, 2024 |
#306 in Robotics
177 downloads per month
Used in cu-rp-balancebot
150KB
2.5K
SLoC
This is a Generic PID Controller
Check out cu_rp_balancebot for a full example of how to use it.
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 gainki
: Integral gainkd
: Derivative gainsetpoint
: The target valuecutoff
: 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
}
Dependencies
~15–27MB
~411K SLoC