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base: BFPOWER/physical:f06582caedf6bfa7d5802d9f490a770a15ff9a6e
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compare: BFPOWER/physical:dependency-update
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BFPOWER/physical:dependency-update BFPOWER/physical:master

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f06582caed ... dependency-update

Author SHA1 Message Date
Zachary Levy 0ccd4f9e56 Made prev_measurement in PID public 2026-05-27 12:43:38 -07:00
Zachary Levy ea4ea1730d Made integral term public in PID 2026-05-25 19:11:44 -07:00
1 changed files with 2 additions and 2 deletions
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src/control/pid.rs
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@@ -90,9 +90,9 @@ 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>, pub prev_measurement: Option<T>,
} }
impl<T> Pid<T> impl<T> Pid<T>