Struct Pid 

pub struct Pid { /* private fields */ }

PID controller with tunable gains and output clamping.

Implementations

impl Pid

pub fn new(kp: f32, ki: f32, kd: f32) -> Self

Create a new PID controller.

kp, ki, kd are the gain constants.

pub fn with_output_limits(self, min: f32, max: f32) -> Self

Set output limits.

pub fn with_integral_limits(self, min: f32, max: f32) -> Self

Set integral limits for anti-windup.

pub fn reset(&mut self)

Reset integrator + derivative history.

pub fn update(&mut self, setpoint: f32, measurement: f32, dt: f32) -> f32

Update the controller.

setpoint — desired value
measurement — current value
dt — timestep in seconds (e.g. 0.02 for 50 Hz control loop)

Returns a normalized command in [out_min, out_max] which can be mapped to motor drive.