https://github.com/josh-tracey/PIDController
Rust PID Controller library
https://github.com/josh-tracey/PIDController
pid pid-controller rust
Last synced: 9 days ago
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Rust PID Controller library
- Host: GitHub
- URL: https://github.com/josh-tracey/PIDController
- Owner: josh-tracey
- License: gpl-3.0
- Created: 2019-12-28T23:46:59.000Z (almost 6 years ago)
- Default Branch: master
- Last Pushed: 2021-01-15T05:26:00.000Z (over 4 years ago)
- Last Synced: 2024-09-24T16:10:02.444Z (about 1 year ago)
- Topics: pid, pid-controller, rust
- Language: Rust
- Homepage:
- Size: 67.4 KB
- Stars: 4
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-rust-list - josh-tracey/PIDController - tracey/PIDController?style=social"/> : Rust PID Controller library. Rust Crate: [https://crates.io/crates/adriftdev_pid](https://crates.io/crates/adriftdev_pid) (Motion Control)
- awesome-rust-list - josh-tracey/PIDController - tracey/PIDController?style=social"/> : Rust PID Controller library. Rust Crate: [https://crates.io/crates/adriftdev_pid](https://crates.io/crates/adriftdev_pid) (Motion Control)
README
# PID Controller library
Rust Crate: https://crates.io/crates/adriftdev_pid
Proportional, integral, and derivative controller module designed to allow easy calculation of outputs based on feedback loop from plant equipment (sensors / microcontrollers). output of PID controller can control motors, servos, or any component that can output a varities of outputs to achieve targeted outcome.
## RoadMap
- Smoothing of output curve.
- PID Stack control - can use any variety of controller pattern, not just PID, eg PD, PI, P, or PID controller configurations.
- General microcontroller optimisations
## Example Usage
The following example shows how to use the PID controller to bring a simulated system to a target setpoint.
```rust
use adriftdev_pid::control;
use std::{thread, time::Duration};
fn main() {
// Create a new PID controller module
let mut pid = control::Module::new(
control::PController::new(0.1),
control::IController::new(0.05),
control::DController::new(0.01),
);
// Set the target value for the PID controller
let setpoint = 100.0;
pid.set_setpoint(setpoint);
println!("Setpoint: {}", setpoint);
// Set the output limits for the PID controller
pid.set_output_limits(-10.0, 10.0);
// Simulate a simple plant (e.g., a heater, a motor, etc.)
let mut plant_state = 0.0; // The current state of our system (e.g., temperature)
println!("--- Starting simulation ---");
// Loop for a fixed number of iterations to simulate the control process
for i in 0..200 {
// The PID controller computes the output based on the current plant state
let output = pid.compute(plant_state);
// The output of the PID controller affects the plant's state.
// This is a very simple plant model. In a real system, this would be
// the physics of the system you are controlling.
plant_state += output * 0.1;
println!(
"Iteration {}: Plant State = {:.2}, PID Output = {:.2}",
i, plant_state, output
);
// In a real application, you would have a delay here that matches
// the sample time of your controller.
thread::sleep(Duration::from_millis(10));
// For this example, we'll break if we are close to the setpoint
if (plant_state - setpoint).abs() < 0.1 {
println!("--- Setpoint reached ---");
break;
}
}
println!("--- Simulation finished ---");
}
```
### API Notes
- The `compute` method now takes the current sensor reading (process variable) as an `input: f64`.
- You can set output limits using `set_output_limits(min: f64, max: f64)`.
## Possible Applications
There are plenty of uses for PID Controllers this is just a small sample of usages.
### Air Conditioner
- Temperature regulation - through controlled output and feebback loop from temp sensors`
### Quadcopter
- Altitude control
- Speed control
- Rotation control
- Tilt control
- Advanced Navigation
### Electric Skateboard
- Speed Control
- Brake Control