diff options
Diffstat (limited to 'workspace/ts100/src/PID.c')
| -rw-r--r-- | workspace/ts100/src/PID.c | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/workspace/ts100/src/PID.c b/workspace/ts100/src/PID.c index fb63a8b0..97601d3a 100644 --- a/workspace/ts100/src/PID.c +++ b/workspace/ts100/src/PID.c @@ -15,8 +15,8 @@ int32_t computePID(uint16_t setpoint) { uint16_t currentReading = readIronTemp(0, 1,setpoint); //get the current temp of the iron int16_t error = (int16_t) setpoint - (int16_t) currentReading; //calculate the error term ITerm += (pidSettings.ki * error); - if (ITerm > MAXPIDOUTPUT) - ITerm = MAXPIDOUTPUT; + if (ITerm > MAXPIDOUTPUT/2) + ITerm = MAXPIDOUTPUT/2; else if (ITerm < 0) ITerm = 0; //cap at 0 since we cant force the iron to cool itself :) @@ -34,8 +34,8 @@ int32_t computePID(uint16_t setpoint) { } /*Sets up the pid values*/ void setupPID(void) { - pidSettings.kp = 25; - pidSettings.ki = 7; - pidSettings.kd = 2; + pidSettings.kp = 15; + pidSettings.ki = 2; + pidSettings.kd = 3; } |