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authorFelipe CorrĂȘa da Silva Sanches <juca@members.fsf.org>2012-06-26 08:32:28 -0300
committerFelipe CorrĂȘa da Silva Sanches <juca@members.fsf.org>2012-06-27 08:52:36 -0300
commit890038c93eb381f644194552ea08374ad89a07af (patch)
tree995c686ba0663aace262db1ea5ecbde63aead0c7 /Sprinter
parent16a408af3d15f48bf25564568d8b791b322ba898 (diff)
use PID_PGAIN, PID_IGAIN, PID_DGAIN for PID default values
Diffstat (limited to 'Sprinter')
-rw-r--r--Sprinter/Configuration.h3
-rw-r--r--Sprinter/Sprinter.pde2
-rw-r--r--Sprinter/store_eeprom.cpp6
3 files changed, 4 insertions, 7 deletions
diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h
index 0859c1b..f5a5730 100644
--- a/Sprinter/Configuration.h
+++ b/Sprinter/Configuration.h
@@ -200,9 +200,6 @@ const long min_time_before_dir_change = 30; //milliseconds
#define DEFAULT_MINTRAVELFEEDRATE 0.0
#define _MIN_SEG_TIME 20000
-#define DEFAULT_KP 2560
-#define DEFAULT_KI 64
-#define DEFAULT_KD 4096
// If defined the movements slow down when the look ahead buffer is only half full
#define SLOWDOWN
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index cb57382..cc0ed44 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -250,7 +250,7 @@ float max_xy_jerk = _MAX_XY_JERK;
float max_z_jerk = _MAX_Z_JERK;
float max_e_jerk = _MAX_E_JERK;
unsigned long min_seg_time = _MIN_SEG_TIME;
-unsigned int Kp = DEFAULT_KP, Ki = DEFAULT_KI, Kd = DEFAULT_KD;
+unsigned int Kp = PID_PGAIN, Ki = PID_IGAIN, Kd = PID_DGAIN;
long max_acceleration_units_per_sq_second[4] = _MAX_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
diff --git a/Sprinter/store_eeprom.cpp b/Sprinter/store_eeprom.cpp
index 943924a..5dc884a 100644
--- a/Sprinter/store_eeprom.cpp
+++ b/Sprinter/store_eeprom.cpp
@@ -195,9 +195,9 @@ void EEPROM_RetrieveSettings(bool def, bool printout)
max_z_jerk=_MAX_Z_JERK;
max_e_jerk=_MAX_E_JERK;
min_seg_time=_MIN_SEG_TIME;
- Kp = DEFAULT_KP;
- Ki = DEFAULT_KI;
- Kd = DEFAULT_KD;
+ Kp = PID_PGAIN;
+ Ki = PID_IGAIN;
+ Kd = PID_DGAIN;
showString(PSTR("Using Default settings\r\n"));
}