Struct Pid 

pub struct Pid { /* private fields */ }

Drives a measured value to a target by blending proportional, integral, and derivative terms.

This is the workhorse continuous controller behind “keep it here”: hold a heater at a temperature, a pump at a pressure, a motor at a speed. It sums three responses to the error (target minus measurement): the proportional term reacts to the error now, the integral term removes the steady offset the proportional term leaves behind, and the derivative term damps overshoot by reacting to how fast the error is changing. The gains kp, ki, and kd weight them. The output is clamped to a configurable range, and the integral is held back from winding up past that range while the output is saturated, the standard clamping anti-windup.

For the simplest on/off case (a fridge, a tank pump) reach for Thermostat instead; a PID is for a smooth, proportional actuator.

Examples

use pamoja_kit::Pid;

// Proportional-only: the command is the gain times the error.
let mut pid = Pid::new(2.0, 0.0, 0.0);
assert_eq!(pid.update(10.0, 7.0, 1.0), 6.0); // error 3 times kp 2

Implementations

impl Pid

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

Creates a PID controller with the given gains and no output limit.

Arguments

• kp - proportional gain.
• ki - integral gain.
• kd - derivative gain.

Returns

A controller with a cleared history and unbounded output.

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

Limits the output to [min, max], also bounding the integral so it cannot wind up beyond the range while the output is saturated.

Arguments

• min - the lowest output.
• max - the highest output. If max is below min the two are swapped.

Returns

The controller, for chaining after new.

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

Computes the control output for one time step.

Arguments

• setpoint - the target value.
• measurement - the latest measured value.
• dt - the time since the previous update, in the unit ki and kd assume. A value at or below zero skips the integral and derivative updates.

Returns

The control output, clamped to the configured limits.

pub fn reset(&mut self)

Clears the integral and derivative history.

Trait Implementations

impl Clone for Pid

fn clone(&self) -> Pid

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Pid

impl Debug for Pid

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

Formats the value using the given formatter.