diff options
| author | Felipe Corrêa da Silva Sanches <juca@members.fsf.org> | 2012-06-26 08:32:28 -0300 |
|---|---|---|
| committer | Felipe Corrêa da Silva Sanches <juca@members.fsf.org> | 2012-06-27 08:52:36 -0300 |
| commit | 890038c93eb381f644194552ea08374ad89a07af (patch) | |
| tree | 995c686ba0663aace262db1ea5ecbde63aead0c7 | |
| parent | 16a408af3d15f48bf25564568d8b791b322ba898 (diff) | |
use PID_PGAIN, PID_IGAIN, PID_DGAIN for PID default values
| -rw-r--r-- | Sprinter/Configuration.h | 3 | ||||
| -rw-r--r-- | Sprinter/Sprinter.pde | 2 | ||||
| -rw-r--r-- | Sprinter/store_eeprom.cpp | 6 |
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")); } |