From d5f86fe4725ed6c298ca18f8c0d0349935dc789e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Patrick=20Ha=C3=9Fel?= <git@patrick-hassel.de>
Date: Thu, 11 Apr 2024 21:28:31 +0200
Subject: [PATCH] PID evolve

---
 src/Fermenter.cpp | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/src/Fermenter.cpp b/src/Fermenter.cpp
index e0d441e..8187f4a 100644
--- a/src/Fermenter.cpp
+++ b/src/Fermenter.cpp
@@ -8,7 +8,7 @@
 #define SENSOR_GPIO           D4
 #define CONTROL_GPIO          D2
 #define CONTROL_PWM_BITS      10
-#define CONTROL_PWM_MAX       (pow(10, CONTROL_PWM_BITS))
+#define CONTROL_PWM_MAX       (pow(2, CONTROL_PWM_BITS) - 1)
 
 Dallas dallas(SENSOR_GPIO);
 
@@ -37,7 +37,7 @@ void patrixSetup() {
   configLoad();
 
   pid.begin(&temperatureCurrent, &heaterPWM, &temperatureTarget, proportional, integral, derivative);
-  pid.setOutputLimits(0, CONTROL_PWM_MAX - 1);
+  pid.setOutputLimits(0, CONTROL_PWM_MAX);
   pid.start();
 }
 
@@ -57,7 +57,7 @@ void patrixLoop() {
     heaterPWM = 0;
   }
 
-  heaterPWM = min(0.0, max(CONTROL_PWM_MAX, heaterPWM));
+  heaterPWM = min(CONTROL_PWM_MAX, max(0.0, heaterPWM));
   analogWrite(CONTROL_GPIO, (int) round(heaterPWM));
 
   static unsigned long lastDebug = 0;
@@ -65,7 +65,7 @@ void patrixLoop() {
   if (now - lastDebug >= 1000) {
     lastDebug = now;
     int heaterPercent = (int) round(100.0 * heaterPWM / CONTROL_PWM_MAX);
-    debug("p: %f | i: %f | d: %f | current: %4.1f | target: %4.1f | pwm: %3d%%", proportional, integral, derivative, temperatureCurrent, temperatureTarget, heaterPercent);
+    debug("p: %f | i: %f | d: %f | current: %4.1f | target: %4.1f | heater: %3d%%", proportional, integral, derivative, temperatureCurrent, temperatureTarget, heaterPercent);
     if (emergencyCutOff) {
       error("[EMERGENCY CUTOFF] temperatureCurrent (=%4.1f) > temperatureTarget + %4.1f (=%4.1f) [EMERGENCY CUTOFF]", temperatureCurrent, temperatureMaxOvershoot, temperatureTarget);
     }
@@ -117,10 +117,8 @@ bool patrix_command(char *first) {
 }
 
 void configLoad() {
-  proportional = configGetDouble("p", 1);
+  proportional = configGetDouble("p", 200);
   integral = configGetDouble("i", 0);
-  proportional = configGetDouble("p", 5);
-  integral = configGetDouble("i", 2);
   derivative = configGetDouble("d", 0);
   temperatureTarget = configGetDouble("target", 31);
   temperatureMaxOvershoot = configGetDouble("over", 5);