Limit PID autotune PWM to PID_MAX
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1 changed files with 5 additions and 5 deletions
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@ -134,8 +134,8 @@ void PID_autotune(float temp)
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long t_high;
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long t_low;
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long bias=127;
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long d = 127;
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long bias=PID_MAX/2;
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long d = PID_MAX/2;
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float Ku, Tu;
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float Kp, Ki, Kd;
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float max, min;
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@ -144,7 +144,7 @@ void PID_autotune(float temp)
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disable_heater(); // switch off all heaters.
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soft_pwm[0] = 255>>1;
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soft_pwm[0] = PID_MAX/2;
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for(;;) {
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@ -172,8 +172,8 @@ void PID_autotune(float temp)
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t_low=t2 - t1;
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if(cycles > 0) {
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bias += (d*(t_high - t_low))/(t_low + t_high);
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bias = constrain(bias, 20 ,235);
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if(bias > 127) d = 254 - bias;
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bias = constrain(bias, 20 ,PID_MAX-20);
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if(bias > PID_MAX/2) d = PID_MAX - 1 - bias;
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else d = bias;
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SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);
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