diff options
Diffstat (limited to 'Sprinter/Sprinter.pde')
| -rw-r--r-- | Sprinter/Sprinter.pde | 20 |
1 files changed, 15 insertions, 5 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index 2f8cac9..7e9b3ba 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -1499,12 +1499,22 @@ void manage_heater() int delta_temp = current_temp - prev_temp; prev_temp = current_temp; pTerm = ((long)PID_PGAIN * error) / 256; - temp_iState += error; - temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); - iTerm = ((long)PID_IGAIN * temp_iState) / 256; - dTerm = ((long)PID_DGAIN * delta_temp) / 256; const int H0 = min(HEATER_DUTY_FOR_SETPOINT(target_temp),HEATER_CURRENT); - heater_duty = H0 + constrain(pTerm + iTerm - dTerm, -H0, HEATER_CURRENT-H0); + heater_duty = H0 + pTerm; + if(error < 20){ + temp_iState += error; + temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); + iTerm = ((long)PID_IGAIN * temp_iState) / 256; + heater_duty += iTerm; + } + int prev_error = abs(target_temp - prev_temp); + int log3 = 1; // discrete logarithm base 3, plus 1 + if(prev_error > 81){ prev_error /= 81; log3 += 4; } + if(prev_error > 9){ prev_error /= 9; log3 += 2; } + if(prev_error > 3){ prev_error /= 3; log3 ++; } + dTerm = ((long)PID_DGAIN * delta_temp) / (256*log3); + heater_duty += dTerm; + heater_duty = constrain(heater_duty, 0, HEATER_CURRENT); analogWrite(HEATER_0_PIN, heater_duty); #if LED_PIN>-1 analogWrite(LED_PIN, constrain(LED_PWM_FOR_BRIGHTNESS(heater_duty),0,255)); |