From c57906b627bf7245578522ab50e9d35e9c6bc96b Mon Sep 17 00:00:00 2001
From: Bernhard Kubicek <kubicek@gmx.at>
Date: Sun, 13 Nov 2011 21:43:26 +0100
Subject: [PATCH] fixed bug with adjusting ki in realtime.
---
Marlin/Configuration.h | 8 ++++----
Marlin/Marlin.pde | 40 ++++++++++++++++++++++------------------
Marlin/temperature.cpp | 7 +++++++
Marlin/temperature.h | 1 +
4 files changed, 34 insertions(+), 22 deletions(-)
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 8661ae438e..5b15dd0a47 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -95,11 +95,11 @@
// PID_SWING_AT_CRITIAL is the time for a full period of the oscillations at the critical Gain
// usually further manual tunine is necessary.
- #define PID_CRITIAL_GAIN 3000
- #define PID_SWING_AT_CRITIAL 45 //seconds
+ #define PID_CRITIAL_GAIN 50
+ #define PID_SWING_AT_CRITIAL 47 //seconds
- #define PID_PI //no differentail term
- //#define PID_PID //normal PID
+ //#define PID_PI //no differentail term
+ #define PID_PID //normal PID
#ifdef PID_PID
//PID according to Ziegler-Nichols method
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index e15f025514..84f07b3e68 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -898,24 +898,28 @@ inline void process_commands()
#ifdef PIDTEMP
case 301: // M301
- if(code_seen('P')) Kp = code_value();
- if(code_seen('I')) Ki = code_value()*PID_dT;
- if(code_seen('D')) Kd = code_value()/PID_dT;
- #ifdef PID_ADD_EXTRUSION_RATE
- if(code_seen('C')) Kc = code_value();
- #endif
- SERIAL_PROTOCOL("ok p:");
- SERIAL_PROTOCOL(Kp);
- SERIAL_PROTOCOL(" i:");
- SERIAL_PROTOCOL(Ki/PID_dT);
- SERIAL_PROTOCOL(" d:");
- SERIAL_PROTOCOL(Kd*PID_dT);
- #ifdef PID_ADD_EXTRUSION_RATE
- SERIAL_PROTOCOL(" c:");
- SERIAL_PROTOCOL(Kc*PID_dT);
- #endif
- SERIAL_PROTOCOLLN("");
-
+ {
+
+
+ if(code_seen('P')) Kp = code_value();
+ if(code_seen('I')) Ki = code_value()*PID_dT;
+ if(code_seen('D')) Kd = code_value()/PID_dT;
+ #ifdef PID_ADD_EXTRUSION_RATE
+ if(code_seen('C')) Kc = code_value();
+ #endif
+ updatePID();
+ SERIAL_PROTOCOL("ok p:");
+ SERIAL_PROTOCOL(Kp);
+ SERIAL_PROTOCOL(" i:");
+ SERIAL_PROTOCOL(Ki/PID_dT);
+ SERIAL_PROTOCOL(" d:");
+ SERIAL_PROTOCOL(Kd*PID_dT);
+ #ifdef PID_ADD_EXTRUSION_RATE
+ SERIAL_PROTOCOL(" c:");
+ SERIAL_PROTOCOL(Kc*PID_dT);
+ #endif
+ SERIAL_PROTOCOLLN("");
+ }
break;
#endif //PIDTEMP
case 400: // finish all moves
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 8ea8ee008f..ac299399dc 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -111,6 +111,13 @@ static unsigned long previous_millis_heater, previous_millis_bed_heater;
//=============================functions ============================
//===========================================================================
+void updatePID()
+{
+#ifdef PIDTEMP
+ temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
+#endif
+}
+
void manage_heater()
{
#ifdef USE_WATCHDOG
diff --git a/Marlin/temperature.h b/Marlin/temperature.h
index 9c4b59a241..0f0de985f4 100644
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@@ -87,6 +87,7 @@ inline bool isCoolingBed() {return target_raw[TEMPSENSOR_BED] < current_raw[TEMP
void disable_heater();
void setWatch();
+void updatePID();
#endif
--
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