diff options
Diffstat (limited to 'Sprinter/heater.cpp')
| -rw-r--r-- | Sprinter/heater.cpp | 18 |
1 files changed, 13 insertions, 5 deletions
diff --git a/Sprinter/heater.cpp b/Sprinter/heater.cpp index 7682516..8283373 100644 --- a/Sprinter/heater.cpp +++ b/Sprinter/heater.cpp @@ -66,8 +66,8 @@ unsigned long previous_millis_heater, previous_millis_bed_heater, previous_milli //int output; int error; int heater_duty = 0; - const int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; - const int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; + int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; + int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; #endif @@ -496,6 +496,14 @@ void PID_autotune(int PIDAT_test_temp) } #endif //---------------- END AUTOTUNE PID ------------------------------ + + void updatePID() + { + #ifdef PIDTEMP + temp_iState_min = (256L * -PID_INTEGRAL_DRIVE_MAX) / PID_Ki; + temp_iState_max = (256L * PID_INTEGRAL_DRIVE_MAX) / PID_Ki; + #endif + } void manage_heater() { @@ -637,7 +645,7 @@ void PID_autotune(int PIDAT_test_temp) int delta_temp = current_temp - prev_temp; prev_temp = current_temp; - pTerm = ((long)PID_PGAIN * error) / 256; + pTerm = ((long)PID_Kp * error) / 256; const int H0 = min(HEATER_DUTY_FOR_SETPOINT(target_temp),HEATER_CURRENT); heater_duty = H0 + pTerm; @@ -645,7 +653,7 @@ void PID_autotune(int PIDAT_test_temp) { temp_iState += error; temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); - iTerm = ((long)PID_IGAIN * temp_iState) / 256; + iTerm = ((long)PID_Ki * temp_iState) / 256; heater_duty += iTerm; } @@ -656,7 +664,7 @@ void PID_autotune(int PIDAT_test_temp) 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); + dTerm = ((long)PID_Kd * delta_temp) / (256*log3); heater_duty += dTerm; heater_duty = constrain(heater_duty, 0, HEATER_CURRENT); |