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Add optional support for defmt #41

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Add optional support for defmt #41

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9 changes: 9 additions & 0 deletions Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,15 @@ keywords = ["pid"]
categories = ["no-std", "embedded", "algorithms"]
readme = "README.md"

[features]
defmt = ["dep:defmt"]
serde = ["dep:serde"]

[dependencies.defmt]
version = "1.0.1"
optional = true
default-features = false

[dependencies.num-traits]
version = "0.2"
default-features = false
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12 changes: 6 additions & 6 deletions src/lib.rs
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Expand Up @@ -44,9 +44,6 @@
//! ```
#![no_std]

#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};

/// A trait for any numeric type usable in the PID controller
///
/// This trait is automatically implemented for all types that satisfy `PartialOrd + num_traits::Signed + Copy`. This includes all of the signed float types and builtin integer except for [isize]:
Expand Down Expand Up @@ -102,8 +99,9 @@ impl<T: PartialOrd + num_traits::Signed + Copy> Number for T {}
/// # Type Warning
///
/// [Number] is abstract and can be used with anything from a [i32] to an [i128] (as well as user-defined types). Because of this, very small types might overflow during calculation in [`next_control_output`](Self::next_control_output). You probably don't want to use [i8] or user-defined types around that size so keep that in mind when designing your controller.
#[derive(Clone, Copy, Eq, PartialEq, Ord, PartialOrd)]
#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
#[derive(Debug, Clone, Copy, Eq, PartialEq, Ord, PartialOrd)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[cfg_attr(feature = "serde", derive(serde::Deserialize, serde::Serialize))]
pub struct Pid<T: Number> {
/// Ideal setpoint to strive for.
pub setpoint: T,
Expand Down Expand Up @@ -144,7 +142,9 @@ pub struct Pid<T: Number> {
/// let output = pid.next_control_output(26.2456);
/// println!("P: {}\nI: {}\nD: {}\nFinal Output: {}", output.p, output.i, output.d, output.output);
/// ```
#[derive(Debug, PartialEq, Eq)]
#[derive(Debug, Clone, Copy, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[cfg_attr(feature = "serde", derive(serde::Deserialize, serde::Serialize))]
pub struct ControlOutput<T: Number> {
/// Contribution of the P term to the output.
pub p: T,
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