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PID evolve

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This commit is contained in:
Patrick Haßel 2024-04-11 21:28:31 +02:00
parent 6a7118635f
commit d5f86fe472
1 changed files with 5 additions and 7 deletions
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12
src/Fermenter.cpp
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@ -8,7 +8,7 @@
#define SENSOR_GPIO D4 #define SENSOR_GPIO D4
#define CONTROL_GPIO D2 #define CONTROL_GPIO D2
#define CONTROL_PWM_BITS 10 #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); Dallas dallas(SENSOR_GPIO);
@ -37,7 +37,7 @@ void patrixSetup() {
configLoad(); configLoad();
pid.begin(&temperatureCurrent, &heaterPWM, &temperatureTarget, proportional, integral, derivative); pid.begin(&temperatureCurrent, &heaterPWM, &temperatureTarget, proportional, integral, derivative);
pid.setOutputLimits(0, CONTROL_PWM_MAX - 1); pid.setOutputLimits(0, CONTROL_PWM_MAX);
pid.start(); pid.start();
} }
@ -57,7 +57,7 @@ void patrixLoop() {
heaterPWM = 0; 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)); analogWrite(CONTROL_GPIO, (int) round(heaterPWM));
static unsigned long lastDebug = 0; static unsigned long lastDebug = 0;
@ -65,7 +65,7 @@ void patrixLoop() {
if (now - lastDebug >= 1000) { if (now - lastDebug >= 1000) {
lastDebug = now; lastDebug = now;
int heaterPercent = (int) round(100.0 * heaterPWM / CONTROL_PWM_MAX); 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) { if (emergencyCutOff) {
error("[EMERGENCY CUTOFF] temperatureCurrent (=%4.1f) > temperatureTarget + %4.1f (=%4.1f) [EMERGENCY CUTOFF]", temperatureCurrent, temperatureMaxOvershoot, temperatureTarget); 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() { void configLoad() {
proportional = configGetDouble("p", 1); proportional = configGetDouble("p", 200);
integral = configGetDouble("i", 0); integral = configGetDouble("i", 0);
proportional = configGetDouble("p", 5);
integral = configGetDouble("i", 2);
derivative = configGetDouble("d", 0); derivative = configGetDouble("d", 0);
temperatureTarget = configGetDouble("target", 31); temperatureTarget = configGetDouble("target", 31);
temperatureMaxOvershoot = configGetDouble("over", 5); temperatureMaxOvershoot = configGetDouble("over", 5);