{"id":14992279,"url":"https://github.com/ua-kxie/pid-ctrl","last_synced_at":"2025-09-25T14:31:02.559Z","repository":{"id":57748902,"uuid":"523651665","full_name":"ua-kxie/pid-ctrl","owner":"ua-kxie","description":"Flexible pid controller with time delta as argument","archived":false,"fork":false,"pushed_at":"2023-04-04T02:57:02.000Z","size":19,"stargazers_count":5,"open_issues_count":0,"forks_count":1,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-01-02T01:24:35.680Z","etag":null,"topics":["embedded","pid-controller","rust"],"latest_commit_sha":null,"homepage":"","language":"Rust","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ua-kxie.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE-APACHE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2022-08-11T08:54:26.000Z","updated_at":"2024-08-09T14:40:34.000Z","dependencies_parsed_at":"2023-02-02T10:10:10.451Z","dependency_job_id":null,"html_url":"https://github.com/ua-kxie/pid-ctrl","commit_stats":null,"previous_names":[],"tags_count":1,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ua-kxie%2Fpid-ctrl","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ua-kxie%2Fpid-ctrl/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ua-kxie%2Fpid-ctrl/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ua-kxie%2Fpid-ctrl/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ua-kxie","download_url":"https://codeload.github.com/ua-kxie/pid-ctrl/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":234200176,"owners_count":18795139,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["embedded","pid-controller","rust"],"created_at":"2024-09-24T15:00:54.233Z","updated_at":"2025-09-25T14:31:02.222Z","avatar_url":"https://github.com/ua-kxie.png","language":"Rust","funding_links":[],"categories":["Motion Control"],"sub_categories":[],"readme":"## Overview\nA proportional-integral-derivative (PID) controller.\n\nInspired by [pid-rs](https://github.com/braincore/pid-rs) \n\nWith cleaner API and assumptions (constant time delta and symmetrical limits) dropped.\n\n## Features\n* Discrete time PID controller\n* Defined for generic float types\n* Attempts to conform to rust [API Guidelines](https://rust-lang.github.io/api-guidelines/about.html)\n* ```#![no_std]```\n* Limits for each of p, i, d terms and output\n* Calculates derivative term using measurement over error (no derivative kick on new setpoint)\n* Clamps time interval to between ```Float::epsilon()``` and ```Float::infinity()```\n\n## Installation\n```cargo add pid-ctrl```\n\n## Examples\n```rust\nuse pid_ctrl;\nuse num_traits;\n\nfn main() {\n    let mut pid = pid_ctrl::PidCtrl::new_with_pid(3.0, 2.0, 1.0);\n\n    let setpoint = 5.0;\n    let prev_measurement = 0.0;\n    // calling init optional. Setpoint and prev_measurement set to 0.0 by default.\n    // Recommended to avoid derivative kick on startup\n    pid.init(setpoint, prev_measurement);\n\n    let measurement = 0.0;\n    let time_delta = 1.0;\n    assert_eq!(\n        pid.step(pid_ctrl::PidIn::new(measurement, time_delta)), \n        pid_ctrl::PidOut::new(15.0, 10.0, 0.0, 25.0)\n    );\n\n    // changing pid constants\n    pid.kp.set_scale(4.0);\n    assert_eq!(\n        pid.step(pid_ctrl::PidIn::new(measurement, time_delta)), \n        pid_ctrl::PidOut::new(20.0, 20.0, 0.0, 40.0)\n    );\n\n    // setting symmetrical limits around zero\n    pid.kp.limits.set_limit(10.0);\n    assert_eq!(\n        pid.step(pid_ctrl::PidIn::new(measurement, time_delta)), \n        pid_ctrl::PidOut::new(10.0, 30.0, 0.0, 40.0)\n    );\n\n    let time_delta = 0.5;\n    assert_eq!(\n        pid.step(pid_ctrl::PidIn::new(measurement, time_delta)), \n        pid_ctrl::PidOut::new(10.0, 35.0, 0.0, 45.0)\n    );\n\n    // setting upper limits returns error if new value conflicts with lower limit\n    pid.ki.limits.try_set_upper(28.0).unwrap();  \n    assert_eq!(\n        pid.step(pid_ctrl::PidIn::new(measurement, time_delta)), \n        pid_ctrl::PidOut::new(10.0, 28.0, 0.0, 38.0)\n    );\n\n    // time_delta gets clamped to Float::epsilon() - Float::infinity()\n    let measurement = 1.0;\n    let time_delta = -7.0;\n    pid.kd.set_scale(num_traits::Float::epsilon());\n    assert_eq!(pid.step(\n        pid_ctrl::PidIn::new(measurement, time_delta)), \n        pid_ctrl::PidOut::new(10.0, 28.0, -1.0, 37.0)\n    );\n\n    // configure setpoint directly\n    pid.setpoint = 1.0;\n    assert_eq!(pid.step(\n        pid_ctrl::PidIn::new(measurement, time_delta)), \n        pid_ctrl::PidOut::new(0.0, 28.0, 0.0, 28.0)\n    );\n}\n```\n## Contribute\nFeel free to raise issues. \n\nWould like to make ```#![no_std]``` optional so types can impl Display trait.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fua-kxie%2Fpid-ctrl","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fua-kxie%2Fpid-ctrl","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fua-kxie%2Fpid-ctrl/lists"}