andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Fix broken PID_PARAMS_PER_EXTRUDER 

As noted by @FalloutBe in #3519
pull/1/head
Scott Lahteine 9 years ago
parent
04fdb4de7d
commit
d4a848c72a
2 changed files with 37 additions and 31 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 56
      Marlin/temperature.cpp
  2. 10
      Marlin/temperature.h

56
Marlin/temperature.cpp
View File

@ -231,7 +231,7 @@ void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false
long bias, d;
float Ku, Tu;
float Kp = 0, Ki = 0, Kd = 0;
float workKp = 0, workKi = 0, workKd = 0;
float max = 0, min = 10000;
#if HAS_AUTO_FAN
@ -309,28 +309,28 @@ void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false
Tu = ((float)(t_low + t_high) / 1000.0);
SERIAL_PROTOCOLPGM(MSG_KU); SERIAL_PROTOCOL(Ku);
SERIAL_PROTOCOLPGM(MSG_TU); SERIAL_PROTOCOLLN(Tu);
Kp = 0.6 * Ku;
Ki = 2 * Kp / Tu;
Kd = Kp * Tu / 8;
workKp = 0.6 * Ku;
workKi = 2 * workKp / Tu;
workKd = workKp * Tu / 8;
SERIAL_PROTOCOLLNPGM(MSG_CLASSIC_PID);
SERIAL_PROTOCOLPGM(MSG_KP); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(MSG_KI); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(MSG_KD); SERIAL_PROTOCOLLN(Kd);
SERIAL_PROTOCOLPGM(MSG_KP); SERIAL_PROTOCOLLN(workKp);
SERIAL_PROTOCOLPGM(MSG_KI); SERIAL_PROTOCOLLN(workKi);
SERIAL_PROTOCOLPGM(MSG_KD); SERIAL_PROTOCOLLN(workKd);
/**
Kp = 0.33*Ku;
Ki = Kp/Tu;
Kd = Kp*Tu/3;
workKp = 0.33*Ku;
workKi = workKp/Tu;
workKd = workKp*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_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(workKp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(workKi);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(workKd);
workKp = 0.2*Ku;
workKi = 2*workKp/Tu;
workKd = workKp*Tu/3;
SERIAL_PROTOCOLLNPGM(" No overshoot ");
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(workKp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(workKi);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(workKd);
*/
}
}
@ -365,24 +365,24 @@ void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false
if (cycles > ncycles) {
SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED);
const char* estring = extruder < 0 ? "bed" : "";
SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kp "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Ki "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kd "); SERIAL_PROTOCOLLN(Kd);
SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kp "); SERIAL_PROTOCOLLN(workKp);
SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Ki "); SERIAL_PROTOCOLLN(workKi);
SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kd "); SERIAL_PROTOCOLLN(workKd);
// Use the result? (As with "M303 U1")
if (set_result) {
if (extruder < 0) {
#if ENABLED(PIDTEMPBED)
bedKp = Kp;
bedKi = scalePID_i(Ki);
bedKd = scalePID_d(Kd);
bedKp = workKp;
bedKi = scalePID_i(workKi);
bedKd = scalePID_d(workKd);
updatePID();
#endif
}
else {
PID_PARAM(Kp, extruder) = Kp;
PID_PARAM(Ki, e) = scalePID_i(Ki);
PID_PARAM(Kd, e) = scalePID_d(Kd);
PID_PARAM(Kp, extruder) = workKp;
PID_PARAM(Ki, extruder) = scalePID_i(workKi);
PID_PARAM(Kd, extruder) = scalePID_d(workKd);
updatePID();
}
}

10
Marlin/temperature.h
View File

@ -82,10 +82,16 @@ extern float current_temperature_bed;
#if ENABLED(PIDTEMP)
#if ENABLED(PID_PARAMS_PER_EXTRUDER)
extern float Kp[EXTRUDERS], Ki[EXTRUDERS], Kd[EXTRUDERS], Kc[EXTRUDERS]; // one param per extruder
extern float Kp[EXTRUDERS], Ki[EXTRUDERS], Kd[EXTRUDERS]; // one param per extruder
#if ENABLED(PID_ADD_EXTRUSION_RATE)
extern float Kc[EXTRUDERS];
#endif
#define PID_PARAM(param, e) param[e] // use macro to point to array value
#else
extern float Kp, Ki, Kd, Kc; // one param per extruder - saves 20 or 36 bytes of ram (inc array pointer)
extern float Kp, Ki, Kd; // one param per extruder - saves 20 or 36 bytes of ram (inc array pointer)
#if ENABLED(PID_ADD_EXTRUSION_RATE)
extern float Kc;
#endif
#define PID_PARAM(param, e) param // use macro to point directly to value
#endif // PID_PARAMS_PER_EXTRUDER
float scalePID_i(float i);

Write Preview
Loading…
Cancel
Save