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rm pid setpoint change kick

This commit is contained in:
linuswck 2024-05-10 10:28:56 +08:00
parent 8c1cb3117c
commit 925601f4f5
1 changed files with 1 additions and 3 deletions
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4
src/pid.rs
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@ -54,15 +54,13 @@ impl Controller {
// + x0 * (kp + ki + kd) // + x0 * (kp + ki + kd)
// - x1 * (kp + 2kd) // - x1 * (kp + 2kd)
// + x2 * kd // + x2 * kd
// + kp * (u0 - u1)
// y0 = clip(y0', ymin, ymax) // y0 = clip(y0', ymin, ymax)
pub fn update(&mut self, input: f64) -> f64 { pub fn update(&mut self, input: f64) -> f64 {
let mut output: f64 = self.y1 - self.target * f64::from(self.parameters.ki) let mut output: f64 = self.y1 - self.target * f64::from(self.parameters.ki)
+ input * f64::from(self.parameters.kp + self.parameters.ki + self.parameters.kd) + input * f64::from(self.parameters.kp + self.parameters.ki + self.parameters.kd)
- self.x1 * f64::from(self.parameters.kp + 2.0 * self.parameters.kd) - self.x1 * f64::from(self.parameters.kp + 2.0 * self.parameters.kd)
+ self.x2 * f64::from(self.parameters.kd) + self.x2 * f64::from(self.parameters.kd);
+ f64::from(self.parameters.kp) * (self.target - self.u1);
if output < self.parameters.output_min.into() { if output < self.parameters.output_min.into() {
output = self.parameters.output_min.into(); output = self.parameters.output_min.into();
} }