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Experimental PID support. Use with caution.

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This commit is contained in:
kliment 2011-04-10 21:58:56 +02:00
parent d8f195bd3f
commit 31936a2caa
2 changed files with 45 additions and 2 deletions
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33
Tonokip_Firmware/Tonokip_Firmware.pde
View file

@ -49,7 +49,7 @@
//Stepper Movement Variables
bool direction_x, direction_y, direction_z, direction_e;
unsigned long previous_micros=0, previous_micros_x=0, previous_micros_y=0, previous_micros_z=0, previous_micros_e=0, previous_millis_heater;
unsigned long previous_micros=0, previous_micros_x=0, previous_micros_y=0, previous_micros_z=0, previous_micros_e=0, previous_millis_heater, previous_millis_bed_heater;
unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take;
unsigned long long_full_velocity_units = full_velocity_units * 100;
unsigned long max_x_interval = 1000000.0 / (min_units_per_second * x_steps_per_unit);
@ -87,6 +87,18 @@ int current_raw;
int target_bed_raw = 0;
int current_bed_raw;
float tt=0,bt=0;
#ifdef PIDTEMP
int temp_iState=0;
int temp_dState=0;
int pTerm;
int iTerm;
int dTerm;
//int output;
int error;
int temp_iState_min = 100*-PID_INTEGRAL_DRIVE_MAX/PID_IGAIN;
int temp_iState_max = 100*PID_INTEGRAL_DRIVE_MAX/PID_IGAIN;
#endif
//Inactivity shutdown variables
unsigned long previous_millis_cmd=0;
@ -924,9 +936,21 @@ inline void enable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN, E_ENA
inline void manage_heater()
{
current_raw = analogRead(TEMP_0_PIN); // If using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target,
if(USE_THERMISTOR) current_raw = 1023 - current_raw; // this switches it up so that the reading appears lower than target for the control logic.
#ifdef PIDTEMP
error = target_raw - current_raw;
pTerm = (PID_PGAIN * error)/100;
temp_iState += error;
temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
iTerm = (PID_IGAIN * temp_iState) /100;
dTerm = (PID_DGAIN * (current_raw - temp_dState))/100;
temp_dState = current_raw;
analogWrite(HEATER_0_PIN, constrain(pTerm + iTerm - dTerm, 0, PID_MAX));
#else
if(current_raw >= target_raw)
{
digitalWrite(HEATER_0_PIN,LOW);
@ -937,6 +961,13 @@ inline void manage_heater()
digitalWrite(HEATER_0_PIN,HIGH);
digitalWrite(LED_PIN,HIGH);
}
#endif
if(millis()-previous_millis_bed_heater<5000)
return;
previous_millis_bed_heater = millis();
current_bed_raw = analogRead(TEMP_1_PIN); // If using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target,
if(USE_THERMISTOR) current_bed_raw = 1023 - current_bed_raw; // this switches it up so that the reading appears lower than target for the control logic.

14
Tonokip_Firmware/configuration.h
View file

@ -15,6 +15,18 @@ float min_units_per_second = 35.0; // the minimum feedrate
// THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!!
const bool USE_THERMISTOR = true; //Set to false if using thermocouple
//PID settings:
//Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful.
//#define PIDTEMP 1
#ifdef PIDTEMP
#define PID_MAX 255 // limits current to nozzle
#define PID_INTEGRAL_DRIVE_MAX 220
#define PID_PGAIN 180 //100 is 1.0
#define PID_IGAIN 2 //100 is 1.0
#define PID_DGAIN 100 //100 is 1.0
#endif
// Calibration formulas
// e_extruded_steps_per_mm = e_feedstock_steps_per_mm * (desired_extrusion_diameter^2 / feedstock_diameter^2)
// new_axis_steps_per_mm = previous_axis_steps_per_mm * (test_distance_instructed/test_distance_traveled)
@ -25,7 +37,7 @@ float x_steps_per_unit = 80.376;
float y_steps_per_unit = 80.376;
float z_steps_per_unit = 3200/1.25;
float e_steps_per_unit = 16;
float max_feedrate = 18000;
float max_feedrate = 200000; //mmm, acceleration!
//float x_steps_per_unit = 10.047;
//float y_steps_per_unit = 10.047;