BFPOWER/physical
2
0
Fork 0
Code Issues 2 Pull Requests Releases Activity

Made integral term public in PID

Browse Source
This commit is contained in:
Zachary Levy
2026-05-25 19:11:44 -07:00
parent f06582caed
commit ea4ea1730d
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/control/pid.rs
+1 -1
View File
@@ -90,7 +90,7 @@ pub struct Pid<T: Number> {
/// Limiter for the derivative term: `-d_limit <= D <= d_limit`. /// Limiter for the derivative term: `-d_limit <= D <= d_limit`.
pub derivative_limit: T, pub derivative_limit: T,
/// Last calculated integral value if [Pid::i_gain] is used. /// Last calculated integral value if [Pid::i_gain] is used.
integral_term: T, pub integral_term: T,
/// Previously found measurement whilst using the [Pid::next_control_output] method. /// Previously found measurement whilst using the [Pid::next_control_output] method.
prev_measurement: Option<T>, prev_measurement: Option<T>,
} }