diff options
Diffstat (limited to 'Tonokip_Firmware/Tonokip_Firmware.pde')
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 33 |
1 files changed, 32 insertions, 1 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index 3232e14..a827856 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -49,7 +49,7 @@ //Stepper Movement Variables bool direction_x, direction_y, direction_z, direction_e; -unsigned long previous_micros=0, previous_micros_x=0, previous_micros_y=0, previous_micros_z=0, previous_micros_e=0, previous_millis_heater; +unsigned long previous_micros=0, previous_micros_x=0, previous_micros_y=0, previous_micros_z=0, previous_micros_e=0, previous_millis_heater, previous_millis_bed_heater; unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take; unsigned long long_full_velocity_units = full_velocity_units * 100; unsigned long max_x_interval = 1000000.0 / (min_units_per_second * x_steps_per_unit); @@ -87,6 +87,18 @@ int current_raw; int target_bed_raw = 0; int current_bed_raw; float tt=0,bt=0; +#ifdef PIDTEMP +int temp_iState=0; +int temp_dState=0; +int pTerm; +int iTerm; +int dTerm; + //int output; +int error; +int temp_iState_min = 100*-PID_INTEGRAL_DRIVE_MAX/PID_IGAIN; +int temp_iState_max = 100*PID_INTEGRAL_DRIVE_MAX/PID_IGAIN; +#endif + //Inactivity shutdown variables unsigned long previous_millis_cmd=0; @@ -924,9 +936,21 @@ inline void enable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN, E_ENA inline void manage_heater() { + current_raw = analogRead(TEMP_0_PIN); // If using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target, if(USE_THERMISTOR) current_raw = 1023 - current_raw; // this switches it up so that the reading appears lower than target for the control logic. + #ifdef PIDTEMP + error = target_raw - current_raw; + pTerm = (PID_PGAIN * error)/100; + temp_iState += error; + temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); + iTerm = (PID_IGAIN * temp_iState) /100; + dTerm = (PID_DGAIN * (current_raw - temp_dState))/100; + temp_dState = current_raw; + analogWrite(HEATER_0_PIN, constrain(pTerm + iTerm - dTerm, 0, PID_MAX)); + + #else if(current_raw >= target_raw) { digitalWrite(HEATER_0_PIN,LOW); @@ -937,6 +961,13 @@ inline void manage_heater() digitalWrite(HEATER_0_PIN,HIGH); digitalWrite(LED_PIN,HIGH); } + #endif + + if(millis()-previous_millis_bed_heater<5000) + return; + previous_millis_bed_heater = millis(); + + current_bed_raw = analogRead(TEMP_1_PIN); // If using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target, if(USE_THERMISTOR) current_bed_raw = 1023 - current_bed_raw; // this switches it up so that the reading appears lower than target for the control logic. |