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heater PID works

This commit is contained in:
Matthew Kennedy 2020-10-31 17:34:36 -07:00
parent 0e350c9f66
commit 0b7f591671
1 changed files with 3 additions and 2 deletions
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5
firmware/heater_control.cpp
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@ -50,7 +50,7 @@ static HeaterState GetNextState(HeaterState state, float sensorEsr)
return state;
}
static Pid heaterPid(0.1f, 0, HEATER_CONTROL_PERIOD);
static Pid heaterPid(0.1f, 0.1f, HEATER_CONTROL_PERIOD);
static float GetDutyForState(HeaterState state, float heaterEsr)
{
@ -66,7 +66,8 @@ static float GetDutyForState(HeaterState state, float heaterEsr)
return rampDuty;
case HeaterState::ClosedLoop:
return heaterPid.GetOutput(HEATER_TARGET_ESR, heaterEsr);
// Negated because lower resistance -> hotter
return heaterPid.GetOutput(-HEATER_TARGET_ESR, -heaterEsr);
}
}