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pid demo progress

This commit is contained in:
rusefi 2021-11-13 10:02:45 -05:00
parent 676f2dfb93
commit 844a8418a8
1 changed files with 10 additions and 3 deletions
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13
firmware/config/engines/custom_engine.cpp
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@ -929,7 +929,7 @@ pid = Pid.new(2, 0, 0, -100, 100)
biasCurveIndex = findCurveIndex("bias")
function onCanRx(id, dlc, data)
print(id .. ' ' .. dlc .. data)
print(id .. ' ' .. dlc .. data)
end
function onTick()
@ -951,9 +951,16 @@ function onTick()
local bias = curve(biasCurveIndex, target)
print('bias ' .. bias)
print('pid output ' .. output)
local duty = (bias + output) / 100
isPositive = duty > 0;
pwmValue = isPositive and duty or -duty
setPwmDuty(0, pwmValue)
dirValue = isPositive and 1 or 0;
setPwmDuty(1, dirValue)
print('pwm ' .. pwmValue .. ' dir ' .. dirValue)
print('')
end
)";
strncpy(config->luaScript, script, efi::size(config->luaScript));