mirror of https://github.com/rusefi/rusefi.git
51 lines
1.1 KiB
Plaintext
51 lines
1.1 KiB
Plaintext
startPwm(0, 800, 0.1)
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-- direction
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startPwm(1, 80, 1.0)
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-- disable
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startPwm(2, 80, 0.0)
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-- p, i, d, min, max
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pid = Pid.new(2, 0, 0, -100, 100)
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biasCurveIndex = findCurveIndex("bias")
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canRxAdd(0x600)
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voltageFromCan = 0
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function onCanRx(bus, id, dlc, data)
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print('got CAN id=' .. id .. ' dlc=' .. dlc)
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voltageFromCan = data[2] / 256.0 + data[1]
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end
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function onTick()
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local targetVoltage = getAuxAnalog(0)
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-- local target = interpolate(1, 0, 3.5, 100, targetVoltage)
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local target = interpolate(1, 0, 3.5, 100, voltageFromCan)
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-- clamp 0 to 100
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target = math.max(0, target)
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target = math.min(100, target)
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print('Decoded target: ' .. target)
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local tps = getSensor("TPS1")
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tps = (tps == nil and 'invalid TPS' or tps)
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print('Tps ' .. tps)
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local output = pid:get(target, tps)
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local bias = curve(biasCurveIndex, target)
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print('bias ' .. bias)
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local duty = (bias + output) / 100
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isPositive = duty > 0;
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pwmValue = isPositive and duty or -duty
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setPwmDuty(0, pwmValue)
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dirValue = isPositive and 1 or 0;
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setPwmDuty(1, dirValue)
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print('pwm ' .. pwmValue .. ' dir ' .. dirValue)
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print('')
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end |