Skip to content

Add function to set integral term #27

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Mar 26, 2025
Merged

Add function to set integral term #27

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 7 additions & 0 deletions src/lib.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -263,6 +263,13 @@ where
pub fn reset_integral_term(&mut self) {
self.integral_term = T::zero();
}

/// Set integral term to custom value. This might be important to set pid
/// controller to previous state after an interruption or crash
pub fn set_integral_term(&mut self, integral_term: impl Into<T>) -> &mut Self {
self.integral_term = integral_term.into();
self
}
}

/// Saturating the input `value` according the absolute `limit` (`-abs(limit) <= output <= abs(limit)`).
Expand Down