From 85b0c4b6b4599da6aac67edaad54449c418b1720 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Sat, 31 Oct 2020 18:44:09 -0700
Subject: [PATCH] gains

---
 firmware/heater_control.cpp | 2 +-
 firmware/pump_control.cpp   | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/firmware/heater_control.cpp b/firmware/heater_control.cpp
index f96c152..28e6ef3 100644
--- a/firmware/heater_control.cpp
+++ b/firmware/heater_control.cpp
@@ -50,7 +50,7 @@ static HeaterState GetNextState(HeaterState state, float sensorEsr)
     return state;
 }
 
-static Pid heaterPid(0.05f, 0.15f, HEATER_CONTROL_PERIOD);
+static Pid heaterPid(0.01f, 0.05f, HEATER_CONTROL_PERIOD);
 
 static float GetDutyForState(HeaterState state, float heaterEsr)
 {
diff --git a/firmware/pump_control.cpp b/firmware/pump_control.cpp
index 7d3131c..4fef4e8 100644
--- a/firmware/pump_control.cpp
+++ b/firmware/pump_control.cpp
@@ -7,7 +7,7 @@
 
 #include "ch.h"
 
-static Pid pumpPid(0, 0.01f, 2);
+static Pid pumpPid(50.0f, 300.0f, 2);
 
 static THD_WORKING_AREA(waPumpThread, 256);
 static void PumpThread(void*)
@@ -22,7 +22,7 @@ static void PumpThread(void*)
             float result = pumpPid.GetOutput(NERNST_TARGET, nernstVoltage);
 
             // result is in mA
-            SetPumpCurrentTarget(result / 1000.0f);
+            SetPumpCurrentTarget(result * 1000);
         }
 
         // Run at 500hz