From 33f569788853aebf2c663235021791e73f1fe035 Mon Sep 17 00:00:00 2001 From: Erik van der Zalm Date: Sun, 11 Mar 2012 22:18:25 +0100 Subject: [PATCH] PPID tune exports more constants. --- Marlin/temperature.cpp | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index 6578f4e94e..8aedf269b6 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -191,9 +191,26 @@ void PID_autotune(float temp) if(cycles > 2) { Ku = (4.0*d)/(3.14159*(max-min)/2.0); Tu = ((float)(t_low + t_high)/1000.0); + SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku); + SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu); Kp = 0.6*Ku; Ki = 2*Kp/Tu; Kd = Kp*Tu/8; + SERIAL_PROTOCOLLNPGM(" Clasic PID ") + SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); + SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); + SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); + Kp = 0.33*Ku; + Ki = Kp/Tu; + Kd = Kp*Tu/3; + SERIAL_PROTOCOLLNPGM(" Some overshoot ") + SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); + SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); + SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); + Kp = 0.2*Ku; + Ki = 2*Kp/Tu; + Kd = Kp*Tu/3; + SERIAL_PROTOCOLLNPGM(" No overshoot ") SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);