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@ -191,9 +191,26 @@ void PID_autotune(float temp) |
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if(cycles > 2) { |
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Ku = (4.0*d)/(3.14159*(max-min)/2.0); |
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Tu = ((float)(t_low + t_high)/1000.0); |
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SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku); |
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SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu); |
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Kp = 0.6*Ku; |
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Ki = 2*Kp/Tu; |
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Kd = Kp*Tu/8; |
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SERIAL_PROTOCOLLNPGM(" Clasic PID ") |
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SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); |
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); |
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); |
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Kp = 0.33*Ku; |
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Ki = Kp/Tu; |
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Kd = Kp*Tu/3; |
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SERIAL_PROTOCOLLNPGM(" Some overshoot ") |
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SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); |
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); |
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); |
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Kp = 0.2*Ku; |
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Ki = 2*Kp/Tu; |
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Kd = Kp*Tu/3; |
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SERIAL_PROTOCOLLNPGM(" No overshoot ") |
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SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); |
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); |
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); |
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