MPCNC/Firmware
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

temperature.cpp:Add PID Conditional integration on heated bed.

Browse Source
This commit is contained in:
David Forrest 2014-06-08 01:05:11 -04:00
parent c9b8435749
commit 984177c40c
1 changed files with 8 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
Marlin/temperature.cpp
View File

@ -565,7 +565,14 @@ void manage_heater()
dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed); dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
temp_dState_bed = pid_input; temp_dState_bed = pid_input;
pid_output = constrain(pTerm_bed + iTerm_bed - dTerm_bed, 0, MAX_BED_POWER); pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
if (pid_output > MAX_BED_PID) {
if (pid_error_bed > 0 ) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output=PID_MAX;
} else if (pid_output < 0){
if (pid_error_bed < 0 ) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output=0;
}
#else #else
pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER); pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);