diff options
| author | Keegi <keegi@spamcop.net> | 2011-08-09 10:56:34 +0300 |
|---|---|---|
| committer | Keegi <keegi@spamcop.net> | 2011-09-17 17:43:09 +0300 |
| commit | c6a228d62ed7f42eb2a019801d9fa4316b45bdb7 (patch) | |
| tree | ce41e578ec85d0075d073def9239ae5be8c8dec6 /Sprinter/Configuration.h | |
| parent | d6fe1dab44a452fcd223c03524698f040407e61f (diff) | |
PID fixes
Diffstat (limited to 'Sprinter/Configuration.h')
| -rw-r--r-- | Sprinter/Configuration.h | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h index bc00ce1..df55c7d 100644 --- a/Sprinter/Configuration.h +++ b/Sprinter/Configuration.h @@ -120,10 +120,14 @@ char uuid[] = "00000000-0000-0000-0000-000000000000"; // Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful. //#define PIDTEMP #ifdef PIDTEMP -#define PID_INTEGRAL_DRIVE_MAX 220 -#define PID_PGAIN 180 //100 is 1.0 -#define PID_IGAIN 2 //100 is 1.0 -#define PID_DGAIN 100 //100 is 1.0 +#define PID_INTEGRAL_DRIVE_MAX 80 // too big, and heater will lag after changing temperature, too small and it might not compensate enough for long-term errors +#define PID_PGAIN 1280 //256 is 1.0 // value of 5.0 means that error of 20C is changing it almost halfway of the PWM range +#define PID_IGAIN 64 //256 is 1.0 // value of 0.25 means that each degree error over 1 sec (2 measurements) changes duty cycle by 0.5 units (verify?) +#define PID_DGAIN 2048 //256 is 1.0 // value of 8.0 means that each degree change over one measurement (half second) adjusts PWM by 8 units to compensate +// magic formula 1, to get approximate "zero error" PWM duty. It is most likely linear formula +#define HEATER_DUTY_FOR_SETPOINT(setpoint) (22+1*setpoint) +// magic formula 2, to make led brightness approximately linear +#define LED_PWM_FOR_BRIGTHNESS(brightness) ((64*brightness-1384)/(300-brightness)) #endif // Change this value (range 1-255) to limit the current to the nozzle |