diff options
Diffstat (limited to 'workspace/TS100/src/main.cpp')
| -rw-r--r-- | workspace/TS100/src/main.cpp | 21 |
1 files changed, 8 insertions, 13 deletions
diff --git a/workspace/TS100/src/main.cpp b/workspace/TS100/src/main.cpp index dd986967..44249442 100644 --- a/workspace/TS100/src/main.cpp +++ b/workspace/TS100/src/main.cpp @@ -787,17 +787,11 @@ void startPIDTask(void const *argument) { osDelay(500); int32_t integralCount = 0; int32_t derivativeLastValue = 0; - int32_t kp, ki, kd; - ki = 50; - kd = 15; + // REMEBER ^^^^ These constants are backwards // They act as dividers, so to 'increase' a P term, you make the number // smaller. - if (getInputVoltageX10(systemSettings.voltageDiv) < 150) { - //Boot P term if < 15 Volts - kp = 30; - } else - kp = 42; + const int32_t itermMax = 100; pidTaskNotification = xTaskGetCurrentTaskHandle(); for (;;) { @@ -818,7 +812,7 @@ void startPIDTask(void const *argument) { int32_t rawTempError = currentlyActiveTemperatureTarget - rawTemp; - int32_t ierror = (rawTempError / ki); + int32_t ierror = (rawTempError / ((int32_t)systemSettings.PID_I)); integralCount += ierror; if (integralCount > (itermMax / 2)) integralCount = itermMax / 2; // prevent too much lead @@ -828,11 +822,11 @@ void startPIDTask(void const *argument) { int32_t dInput = (rawTemp - derivativeLastValue); /*Compute PID Output*/ - int32_t output = (rawTempError / kp); - if (ki) + int32_t output = (rawTempError / ((int32_t)systemSettings.PID_P)); + if (((int32_t)systemSettings.PID_I)) output += integralCount; - if (kd) - output -= (dInput / kd); + if (((int32_t)systemSettings.PID_D)) + output -= (dInput / ((int32_t)systemSettings.PID_D)); if (output > 100) { output = 100; // saturate @@ -968,6 +962,7 @@ void startMOVTask(void const *argument) { bool showBootLogoIfavailable() { // check if the header is there (0xAA,0x55,0xF0,0x0D) // If so display logo + //TODO REDUCE STACK ON THIS ONE, USE DRAWING IN THE READ LOOP uint16_t temp[98]; for (uint8_t i = 0; i < (98); i++) { |