cu-pid

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 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
}