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b176fc2788 ... 980d27ebfc

1 changed files with 2 additions and 9 deletions
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src/pid.rs
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@ -6,19 +6,12 @@ use uom::si::{
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)] #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
pub struct Parameters { pub struct Parameters {
/// Gain coefficient for proportional term
pub kp: f32, pub kp: f32,
/// Gain coefficient for integral term
pub ki: f32, pub ki: f32,
/// Gain coefficient for derivative term
pub kd: f32, pub kd: f32,
/// Output limit minimum
pub output_min: f32, pub output_min: f32,
/// Output limit maximum
pub output_max: f32, pub output_max: f32,
/// Integral clipping minimum
pub integral_min: f32, pub integral_min: f32,
/// Integral clipping maximum
pub integral_max: f32 pub integral_max: f32
} }
@ -26,8 +19,8 @@ impl Default for Parameters {
fn default() -> Self { fn default() -> Self {
Parameters { Parameters {
kp: 1.5, kp: 1.5,
ki: 1.0, ki: 0.1,
kd: 1.5, kd: 150.0,
output_min: 0.0, output_min: 0.0,
output_max: 2.0, output_max: 2.0,
integral_min: -10.0, integral_min: -10.0,