From b176fc2788963cd33227da3989ab222b868bdc85 Mon Sep 17 00:00:00 2001 From: Astro Date: Fri, 18 Dec 2020 16:29:53 +0100 Subject: [PATCH] pid: doc parameters --- src/pid.rs | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/pid.rs b/src/pid.rs index 0cab33a..b5f2809 100644 --- a/src/pid.rs +++ b/src/pid.rs @@ -6,12 +6,19 @@ use uom::si::{ #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)] pub struct Parameters { + /// Gain coefficient for proportional term pub kp: f32, + /// Gain coefficient for integral term pub ki: f32, + /// Gain coefficient for derivative term pub kd: f32, + /// Output limit minimum pub output_min: f32, + /// Output limit maximum pub output_max: f32, + /// Integral clipping minimum pub integral_min: f32, + /// Integral clipping maximum pub integral_max: f32 }