Revert "Testing Fix for Arduino 1.6+ compiler issue #1523"
This reverts commit fb75a9272d
.
This commit is contained in:
parent
fb75a9272d
commit
7f060d7caf
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@ -215,7 +215,7 @@ Here are some standard links for getting your machine calibrated:
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// If your configuration is significantly different than this and you don't understand the issues involved, you probably
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// If your configuration is significantly different than this and you don't understand the issues involved, you probably
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// shouldn't use bed PID until someone else verifies your hardware works.
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// shouldn't use bed PID until someone else verifies your hardware works.
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// If this is enabled, find your own PID constants below.
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// If this is enabled, find your own PID constants below.
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#define PIDTEMPBED
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//#define PIDTEMPBED
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//
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//
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//#define BED_LIMIT_SWITCHING
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//#define BED_LIMIT_SWITCHING
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@ -226,10 +226,17 @@ Here are some standard links for getting your machine calibrated:
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#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
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#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
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#ifdef PIDTEMPBED
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#ifdef PIDTEMPBED
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// Felix Foil Heater
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//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
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#define DEFAULT_bedKp 103.37
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//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
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#define DEFAULT_bedKi 2.79
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#define DEFAULT_bedKp 10.00
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#define DEFAULT_bedKd 956.94
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#define DEFAULT_bedKi .023
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#define DEFAULT_bedKd 305.4
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//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
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//from pidautotune
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// #define DEFAULT_bedKp 97.1
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// #define DEFAULT_bedKi 1.41
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// #define DEFAULT_bedKd 1675.16
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// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
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// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
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#endif // PIDTEMPBED
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#endif // PIDTEMPBED
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@ -273,15 +280,15 @@ your extruder heater takes 2 minutes to hit the target on heating.
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// uncomment the 2 defines below:
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// uncomment the 2 defines below:
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// Parameters for all extruder heaters
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// Parameters for all extruder heaters
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#define THERMAL_RUNAWAY_PROTECTION_PERIOD 60 //in seconds
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//#define THERMAL_RUNAWAY_PROTECTION_PERIOD 40 //in seconds
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#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 5 // in degree Celsius
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//#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 4 // in degree Celsius
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// If you want to enable this feature for your bed heater,
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// If you want to enable this feature for your bed heater,
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// uncomment the 2 defines below:
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// uncomment the 2 defines below:
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// Parameters for the bed heater
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// Parameters for the bed heater
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#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 30 //in seconds
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//#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 20 //in seconds
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#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 5// in degree Celsius
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//#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 2 // in degree Celsius
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//===========================================================================
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//===========================================================================
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@ -109,7 +109,7 @@ static volatile bool temp_meas_ready = false;
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static float temp_iState_min_bed;
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static float temp_iState_min_bed;
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static float temp_iState_max_bed;
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static float temp_iState_max_bed;
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#else //PIDTEMPBED
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#else //PIDTEMPBED
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static unsigned long previous_millis_bed_heater;
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static unsigned long previous_millis_bed_heater;
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#endif //PIDTEMPBED
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#endif //PIDTEMPBED
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static unsigned char soft_pwm[EXTRUDERS];
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static unsigned char soft_pwm[EXTRUDERS];
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@ -377,8 +377,8 @@ void updatePID()
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}
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}
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int getHeaterPower(int heater) {
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int getHeaterPower(int heater) {
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if (heater<0)
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if (heater<0)
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return soft_pwm_bed;
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return soft_pwm_bed;
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return soft_pwm[heater];
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return soft_pwm[heater];
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}
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}
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@ -527,13 +527,12 @@ void manage_heater()
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dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
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dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
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pid_output = pTerm[e] + iTerm[e] - dTerm[e];
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pid_output = pTerm[e] + iTerm[e] - dTerm[e];
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if (pid_output > PID_MAX) {
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if (pid_output > PID_MAX) {
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if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e];
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if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
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pid_output=PID_MAX;
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pid_output=PID_MAX;
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} else if (pid_output < 0){
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} else if (pid_output < 0){
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if (pid_error[e] < 0 ) temp_iState[e] -= pid_error[e];
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if (pid_error[e] < 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
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pid_output=0;
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pid_output=0;
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}
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}
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}
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}
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temp_dState[e] = pid_input;
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temp_dState[e] = pid_input;
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#else
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#else
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@ -625,18 +624,18 @@ void manage_heater()
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pid_input = current_temperature_bed;
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pid_input = current_temperature_bed;
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#ifndef PID_OPENLOOP
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#ifndef PID_OPENLOOP
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pid_error_bed = target_temperature_bed - pid_input;
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pid_error_bed = target_temperature_bed - pid_input;
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pTerm_bed = bedKp * pid_error_bed;
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pTerm_bed = bedKp * pid_error_bed;
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temp_iState_bed += pid_error_bed;
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temp_iState_bed += pid_error_bed;
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temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
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temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
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iTerm_bed = bedKi * temp_iState_bed;
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iTerm_bed = bedKi * temp_iState_bed;
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//K1 defined in Configuration.h in the PID settings
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//K1 defined in Configuration.h in the PID settings
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#define K2 (1.0-K1)
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#define K2 (1.0-K1)
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dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
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dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
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temp_dState_bed = pid_input;
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temp_dState_bed = pid_input;
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pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
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pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
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if (pid_output > MAX_BED_POWER) {
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if (pid_output > MAX_BED_POWER) {
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if (pid_error_bed > 0 ) temp_iState_bed -= pid_error_bed; // conditional un-integration
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if (pid_error_bed > 0 ) temp_iState_bed -= pid_error_bed; // conditional un-integration
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pid_output=MAX_BED_POWER;
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pid_output=MAX_BED_POWER;
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@ -649,13 +648,13 @@ void manage_heater()
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pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
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pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
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#endif //PID_OPENLOOP
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#endif //PID_OPENLOOP
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if((current_temperature_bed > BED_MINTEMP) && (current_temperature_bed < BED_MAXTEMP))
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if((current_temperature_bed > BED_MINTEMP) && (current_temperature_bed < BED_MAXTEMP))
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{
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{
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soft_pwm_bed = (int)pid_output >> 1;
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soft_pwm_bed = (int)pid_output >> 1;
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}
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}
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else {
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else {
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soft_pwm_bed = 0;
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soft_pwm_bed = 0;
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}
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}
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#elif !defined(BED_LIMIT_SWITCHING)
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#elif !defined(BED_LIMIT_SWITCHING)
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// Check if temperature is within the correct range
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// Check if temperature is within the correct range
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@ -699,23 +698,23 @@ void manage_heater()
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//code for controlling the extruder rate based on the width sensor
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//code for controlling the extruder rate based on the width sensor
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#ifdef FILAMENT_SENSOR
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#ifdef FILAMENT_SENSOR
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if(filament_sensor)
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if(filament_sensor)
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{
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{
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meas_shift_index=delay_index1-meas_delay_cm;
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meas_shift_index=delay_index1-meas_delay_cm;
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if(meas_shift_index<0)
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if(meas_shift_index<0)
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meas_shift_index = meas_shift_index + (MAX_MEASUREMENT_DELAY+1); //loop around buffer if needed
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meas_shift_index = meas_shift_index + (MAX_MEASUREMENT_DELAY+1); //loop around buffer if needed
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//get the delayed info and add 100 to reconstitute to a percent of the nominal filament diameter
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//get the delayed info and add 100 to reconstitute to a percent of the nominal filament diameter
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//then square it to get an area
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//then square it to get an area
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if(meas_shift_index<0)
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if(meas_shift_index<0)
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meas_shift_index=0;
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meas_shift_index=0;
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else if (meas_shift_index>MAX_MEASUREMENT_DELAY)
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else if (meas_shift_index>MAX_MEASUREMENT_DELAY)
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meas_shift_index=MAX_MEASUREMENT_DELAY;
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meas_shift_index=MAX_MEASUREMENT_DELAY;
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volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = pow((float)(100+measurement_delay[meas_shift_index])/100.0,2);
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volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = pow((float)(100+measurement_delay[meas_shift_index])/100.0,2);
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if (volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] <0.01)
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if (volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] <0.01)
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volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]=0.01;
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volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]=0.01;
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}
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}
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#endif
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#endif
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}
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}
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@ -839,9 +838,9 @@ float temp;
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temp=filament_width_meas;
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temp=filament_width_meas;
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if(filament_width_meas<MEASURED_LOWER_LIMIT)
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if(filament_width_meas<MEASURED_LOWER_LIMIT)
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temp=filament_width_nominal; //assume sensor cut out
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temp=filament_width_nominal; //assume sensor cut out
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else if (filament_width_meas>MEASURED_UPPER_LIMIT)
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else if (filament_width_meas>MEASURED_UPPER_LIMIT)
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temp= MEASURED_UPPER_LIMIT;
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temp= MEASURED_UPPER_LIMIT;
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return(filament_width_nominal/temp*100);
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return(filament_width_nominal/temp*100);
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@ -939,7 +938,7 @@ void tp_init()
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#if TEMP_1_PIN < 8
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#if TEMP_1_PIN < 8
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DIDR0 |= 1<<TEMP_1_PIN;
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DIDR0 |= 1<<TEMP_1_PIN;
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#else
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#else
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DIDR2 |= 1<<(TEMP_1_PIN - 8);
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DIDR2 |= 1<<(TEMP_1_PIN - 8);
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#endif
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#endif
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#endif
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#endif
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#if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1)
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#if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1)
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@ -1442,27 +1441,27 @@ ISR(TIMER0_COMPB_vect)
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if (soft_pwm_0 > 0) {
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if (soft_pwm_0 > 0) {
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// turn ON heather only if the minimum time is up
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// turn ON heather only if the minimum time is up
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if (state_timer_heater_0 == 0) {
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if (state_timer_heater_0 == 0) {
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// if change state set timer
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// if change state set timer
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if (state_heater_0 == 0) {
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if (state_heater_0 == 0) {
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state_timer_heater_0 = MIN_STATE_TIME;
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state_timer_heater_0 = MIN_STATE_TIME;
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}
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}
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state_heater_0 = 1;
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state_heater_0 = 1;
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WRITE(HEATER_0_PIN, 1);
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WRITE(HEATER_0_PIN, 1);
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#ifdef HEATERS_PARALLEL
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#ifdef HEATERS_PARALLEL
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WRITE(HEATER_1_PIN, 1);
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WRITE(HEATER_1_PIN, 1);
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#endif
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#endif
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}
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}
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} else {
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} else {
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// turn OFF heather only if the minimum time is up
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// turn OFF heather only if the minimum time is up
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if (state_timer_heater_0 == 0) {
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if (state_timer_heater_0 == 0) {
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// if change state set timer
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// if change state set timer
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if (state_heater_0 == 1) {
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if (state_heater_0 == 1) {
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state_timer_heater_0 = MIN_STATE_TIME;
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state_timer_heater_0 = MIN_STATE_TIME;
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}
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}
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state_heater_0 = 0;
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state_heater_0 = 0;
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WRITE(HEATER_0_PIN, 0);
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WRITE(HEATER_0_PIN, 0);
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#ifdef HEATERS_PARALLEL
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#ifdef HEATERS_PARALLEL
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WRITE(HEATER_1_PIN, 0);
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WRITE(HEATER_1_PIN, 0);
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#endif
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#endif
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}
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}
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}
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}
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@ -1473,22 +1472,22 @@ ISR(TIMER0_COMPB_vect)
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if (soft_pwm_1 > 0) {
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if (soft_pwm_1 > 0) {
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// turn ON heather only if the minimum time is up
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// turn ON heather only if the minimum time is up
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if (state_timer_heater_1 == 0) {
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if (state_timer_heater_1 == 0) {
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// if change state set timer
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// if change state set timer
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if (state_heater_1 == 0) {
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if (state_heater_1 == 0) {
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state_timer_heater_1 = MIN_STATE_TIME;
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state_timer_heater_1 = MIN_STATE_TIME;
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}
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}
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state_heater_1 = 1;
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state_heater_1 = 1;
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WRITE(HEATER_1_PIN, 1);
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WRITE(HEATER_1_PIN, 1);
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}
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}
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} else {
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} else {
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// turn OFF heather only if the minimum time is up
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// turn OFF heather only if the minimum time is up
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if (state_timer_heater_1 == 0) {
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if (state_timer_heater_1 == 0) {
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// if change state set timer
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// if change state set timer
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if (state_heater_1 == 1) {
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if (state_heater_1 == 1) {
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state_timer_heater_1 = MIN_STATE_TIME;
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state_timer_heater_1 = MIN_STATE_TIME;
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}
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}
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state_heater_1 = 0;
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state_heater_1 = 0;
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WRITE(HEATER_1_PIN, 0);
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WRITE(HEATER_1_PIN, 0);
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}
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}
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}
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}
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#endif
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#endif
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@ -1499,22 +1498,22 @@ ISR(TIMER0_COMPB_vect)
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if (soft_pwm_2 > 0) {
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if (soft_pwm_2 > 0) {
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// turn ON heather only if the minimum time is up
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// turn ON heather only if the minimum time is up
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if (state_timer_heater_2 == 0) {
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if (state_timer_heater_2 == 0) {
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// if change state set timer
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// if change state set timer
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if (state_heater_2 == 0) {
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if (state_heater_2 == 0) {
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state_timer_heater_2 = MIN_STATE_TIME;
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state_timer_heater_2 = MIN_STATE_TIME;
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}
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}
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state_heater_2 = 1;
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state_heater_2 = 1;
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WRITE(HEATER_2_PIN, 1);
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WRITE(HEATER_2_PIN, 1);
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}
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}
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} else {
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} else {
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// turn OFF heather only if the minimum time is up
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// turn OFF heather only if the minimum time is up
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if (state_timer_heater_2 == 0) {
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if (state_timer_heater_2 == 0) {
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// if change state set timer
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// if change state set timer
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if (state_heater_2 == 1) {
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if (state_heater_2 == 1) {
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state_timer_heater_2 = MIN_STATE_TIME;
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state_timer_heater_2 = MIN_STATE_TIME;
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}
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}
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state_heater_2 = 0;
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state_heater_2 = 0;
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WRITE(HEATER_2_PIN, 0);
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WRITE(HEATER_2_PIN, 0);
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}
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}
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}
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}
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#endif
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#endif
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@ -1525,22 +1524,22 @@ ISR(TIMER0_COMPB_vect)
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if (soft_pwm_3 > 0) {
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if (soft_pwm_3 > 0) {
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// turn ON heather only if the minimum time is up
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// turn ON heather only if the minimum time is up
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if (state_timer_heater_3 == 0) {
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if (state_timer_heater_3 == 0) {
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// if change state set timer
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// if change state set timer
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if (state_heater_3 == 0) {
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if (state_heater_3 == 0) {
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state_timer_heater_3 = MIN_STATE_TIME;
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state_timer_heater_3 = MIN_STATE_TIME;
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}
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}
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state_heater_3 = 1;
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state_heater_3 = 1;
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WRITE(HEATER_3_PIN, 1);
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WRITE(HEATER_3_PIN, 1);
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}
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}
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} else {
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} else {
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// turn OFF heather only if the minimum time is up
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// turn OFF heather only if the minimum time is up
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if (state_timer_heater_3 == 0) {
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if (state_timer_heater_3 == 0) {
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// if change state set timer
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// if change state set timer
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if (state_heater_3 == 1) {
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if (state_heater_3 == 1) {
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state_timer_heater_3 = MIN_STATE_TIME;
|
state_timer_heater_3 = MIN_STATE_TIME;
|
||||||
}
|
}
|
||||||
state_heater_3 = 0;
|
state_heater_3 = 0;
|
||||||
WRITE(HEATER_3_PIN, 0);
|
WRITE(HEATER_3_PIN, 0);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
@ -1551,22 +1550,22 @@ ISR(TIMER0_COMPB_vect)
|
||||||
if (soft_pwm_b > 0) {
|
if (soft_pwm_b > 0) {
|
||||||
// turn ON heather only if the minimum time is up
|
// turn ON heather only if the minimum time is up
|
||||||
if (state_timer_heater_b == 0) {
|
if (state_timer_heater_b == 0) {
|
||||||
// if change state set timer
|
// if change state set timer
|
||||||
if (state_heater_b == 0) {
|
if (state_heater_b == 0) {
|
||||||
state_timer_heater_b = MIN_STATE_TIME;
|
state_timer_heater_b = MIN_STATE_TIME;
|
||||||
}
|
}
|
||||||
state_heater_b = 1;
|
state_heater_b = 1;
|
||||||
WRITE(HEATER_BED_PIN, 1);
|
WRITE(HEATER_BED_PIN, 1);
|
||||||
}
|
}
|
||||||
} else {
|
} else {
|
||||||
// turn OFF heather only if the minimum time is up
|
// turn OFF heather only if the minimum time is up
|
||||||
if (state_timer_heater_b == 0) {
|
if (state_timer_heater_b == 0) {
|
||||||
// if change state set timer
|
// if change state set timer
|
||||||
if (state_heater_b == 1) {
|
if (state_heater_b == 1) {
|
||||||
state_timer_heater_b = MIN_STATE_TIME;
|
state_timer_heater_b = MIN_STATE_TIME;
|
||||||
}
|
}
|
||||||
state_heater_b = 0;
|
state_heater_b = 0;
|
||||||
WRITE(HEATER_BED_PIN, 0);
|
WRITE(HEATER_BED_PIN, 0);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
@ -1578,7 +1577,7 @@ ISR(TIMER0_COMPB_vect)
|
||||||
if (state_timer_heater_0 == 0) {
|
if (state_timer_heater_0 == 0) {
|
||||||
// if change state set timer
|
// if change state set timer
|
||||||
if (state_heater_0 == 1) {
|
if (state_heater_0 == 1) {
|
||||||
state_timer_heater_0 = MIN_STATE_TIME;
|
state_timer_heater_0 = MIN_STATE_TIME;
|
||||||
}
|
}
|
||||||
state_heater_0 = 0;
|
state_heater_0 = 0;
|
||||||
WRITE(HEATER_0_PIN, 0);
|
WRITE(HEATER_0_PIN, 0);
|
||||||
|
@ -1595,7 +1594,7 @@ ISR(TIMER0_COMPB_vect)
|
||||||
if (state_timer_heater_1 == 0) {
|
if (state_timer_heater_1 == 0) {
|
||||||
// if change state set timer
|
// if change state set timer
|
||||||
if (state_heater_1 == 1) {
|
if (state_heater_1 == 1) {
|
||||||
state_timer_heater_1 = MIN_STATE_TIME;
|
state_timer_heater_1 = MIN_STATE_TIME;
|
||||||
}
|
}
|
||||||
state_heater_1 = 0;
|
state_heater_1 = 0;
|
||||||
WRITE(HEATER_1_PIN, 0);
|
WRITE(HEATER_1_PIN, 0);
|
||||||
|
@ -1610,7 +1609,7 @@ ISR(TIMER0_COMPB_vect)
|
||||||
if (state_timer_heater_2 == 0) {
|
if (state_timer_heater_2 == 0) {
|
||||||
// if change state set timer
|
// if change state set timer
|
||||||
if (state_heater_2 == 1) {
|
if (state_heater_2 == 1) {
|
||||||
state_timer_heater_2 = MIN_STATE_TIME;
|
state_timer_heater_2 = MIN_STATE_TIME;
|
||||||
}
|
}
|
||||||
state_heater_2 = 0;
|
state_heater_2 = 0;
|
||||||
WRITE(HEATER_2_PIN, 0);
|
WRITE(HEATER_2_PIN, 0);
|
||||||
|
@ -1625,7 +1624,7 @@ ISR(TIMER0_COMPB_vect)
|
||||||
if (state_timer_heater_3 == 0) {
|
if (state_timer_heater_3 == 0) {
|
||||||
// if change state set timer
|
// if change state set timer
|
||||||
if (state_heater_3 == 1) {
|
if (state_heater_3 == 1) {
|
||||||
state_timer_heater_3 = MIN_STATE_TIME;
|
state_timer_heater_3 = MIN_STATE_TIME;
|
||||||
}
|
}
|
||||||
state_heater_3 = 0;
|
state_heater_3 = 0;
|
||||||
WRITE(HEATER_3_PIN, 0);
|
WRITE(HEATER_3_PIN, 0);
|
||||||
|
@ -1640,7 +1639,7 @@ ISR(TIMER0_COMPB_vect)
|
||||||
if (state_timer_heater_b == 0) {
|
if (state_timer_heater_b == 0) {
|
||||||
// if change state set timer
|
// if change state set timer
|
||||||
if (state_heater_b == 1) {
|
if (state_heater_b == 1) {
|
||||||
state_timer_heater_b = MIN_STATE_TIME;
|
state_timer_heater_b = MIN_STATE_TIME;
|
||||||
}
|
}
|
||||||
state_heater_b = 0;
|
state_heater_b = 0;
|
||||||
WRITE(HEATER_BED_PIN, 0);
|
WRITE(HEATER_BED_PIN, 0);
|
||||||
|
@ -1810,7 +1809,7 @@ ISR(TIMER0_COMPB_vect)
|
||||||
//raw_filwidth_value += ADC; //remove to use an IIR filter approach
|
//raw_filwidth_value += ADC; //remove to use an IIR filter approach
|
||||||
if(ADC>102) //check that ADC is reading a voltage > 0.5 volts, otherwise don't take in the data.
|
if(ADC>102) //check that ADC is reading a voltage > 0.5 volts, otherwise don't take in the data.
|
||||||
{
|
{
|
||||||
raw_filwidth_value= raw_filwidth_value-(raw_filwidth_value>>7); //multipliy raw_filwidth_value by 127/128
|
raw_filwidth_value= raw_filwidth_value-(raw_filwidth_value>>7); //multipliy raw_filwidth_value by 127/128
|
||||||
|
|
||||||
raw_filwidth_value= raw_filwidth_value + ((unsigned long)ADC<<7); //add new ADC reading
|
raw_filwidth_value= raw_filwidth_value + ((unsigned long)ADC<<7); //add new ADC reading
|
||||||
}
|
}
|
||||||
|
@ -1975,12 +1974,12 @@ ISR(TIMER0_COMPB_vect)
|
||||||
|
|
||||||
float scalePID_i(float i)
|
float scalePID_i(float i)
|
||||||
{
|
{
|
||||||
return i*PID_dT;
|
return i*PID_dT;
|
||||||
}
|
}
|
||||||
|
|
||||||
float unscalePID_i(float i)
|
float unscalePID_i(float i)
|
||||||
{
|
{
|
||||||
return i/PID_dT;
|
return i/PID_dT;
|
||||||
}
|
}
|
||||||
|
|
||||||
float scalePID_d(float d)
|
float scalePID_d(float d)
|
||||||
|
@ -1990,7 +1989,7 @@ float scalePID_d(float d)
|
||||||
|
|
||||||
float unscalePID_d(float d)
|
float unscalePID_d(float d)
|
||||||
{
|
{
|
||||||
return d*PID_dT;
|
return d*PID_dT;
|
||||||
}
|
}
|
||||||
|
|
||||||
#endif //PIDTEMP
|
#endif //PIDTEMP
|
||||||
|
|
Loading…
Reference in a new issue