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temperature.cpp:Add PID Conditional integration on heated bed.

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David Forrest 2014-06-08 01:05:11 -04:00
parent c9b8435749
commit 984177c40c
1 changed files with 8 additions and 1 deletions
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9
Marlin/temperature.cpp
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@ -565,7 +565,14 @@ void manage_heater()
dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
temp_dState_bed = pid_input;
pid_output = constrain(pTerm_bed + iTerm_bed - dTerm_bed, 0, MAX_BED_POWER);
pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
if (pid_output > MAX_BED_PID) {
if (pid_error_bed > 0 ) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output=PID_MAX;
} else if (pid_output < 0){
if (pid_error_bed < 0 ) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output=0;
}
#else
pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);