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Limit PID autotune PWM to PID_MAX

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This commit is contained in:
Erik van der Zalm 2012-05-16 19:32:23 +02:00
parent b2a9ccdb97
commit e31bef31ad
1 changed files with 5 additions and 5 deletions
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10
Marlin/temperature.cpp
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@ -134,8 +134,8 @@ void PID_autotune(float temp)
long t_high; long t_high;
long t_low; long t_low;
long bias=127; long bias=PID_MAX/2;
long d = 127; long d = PID_MAX/2;
float Ku, Tu; float Ku, Tu;
float Kp, Ki, Kd; float Kp, Ki, Kd;
float max, min; float max, min;
@ -144,7 +144,7 @@ void PID_autotune(float temp)
disable_heater(); // switch off all heaters. disable_heater(); // switch off all heaters.
soft_pwm[0] = 255>>1; soft_pwm[0] = PID_MAX/2;
for(;;) { for(;;) {
@ -172,8 +172,8 @@ void PID_autotune(float temp)
t_low=t2 - t1; t_low=t2 - t1;
if(cycles > 0) { if(cycles > 0) {
bias += (d*(t_high - t_low))/(t_low + t_high); bias += (d*(t_high - t_low))/(t_low + t_high);
bias = constrain(bias, 20 ,235); bias = constrain(bias, 20 ,PID_MAX-20);
if(bias > 127) d = 254 - bias; if(bias > PID_MAX/2) d = PID_MAX - 1 - bias;
else d = bias; else d = bias;
SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias); SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);