Sets ticks directly for heater test
Diff: Heater.cpp
- Revision:
- 14:f266bf960b8d
- Parent:
- 12:8a048f111140
- Child:
- 15:e7838491c104
diff -r 8a048f111140 -r f266bf960b8d Heater.cpp --- a/Heater.cpp Tue Jul 23 09:41:53 2019 +0000 +++ b/Heater.cpp Tue Jul 23 11:29:20 2019 +0000 @@ -27,7 +27,7 @@ void Heater::output() { - pc.printf("%d,%f,%f,%f\n",timer.read_ms(),R_ref,R,drive.read()); + pc.printf("%d,%f,%f,%f,%f\n",timer.read_ms(),R_ref,R,R_avg,drive.read()); } void Heater::read() @@ -35,7 +35,7 @@ //Reads R and then resets the drive back to its previous value int i = 0; - int drive_prev = drive; //Store previous value of drive + float drive_prev = drive.read(); //Store previous value of drive drive = 1; wait_us(MEAS_DELAY); //Wait for ADC to settle adc.start_conversion(ALL_CH); @@ -44,7 +44,7 @@ wait_us(1); i++; } - drive = drive_prev; + drive.write(drive_prev); adc.read_channels(); @@ -58,11 +58,17 @@ R = (float)v/curr; R_avg = (((N_ROLL_AVG - 1) * R_avg) + R)/N_ROLL_AVG; - error = R_ref - R; + error = R_ref - R_avg; + + //Avoid integral windup by limiting error past actuation saturation (actuator does saturate for any negative error, but to ensure integrated error can decrease, the limit has been set to the negative of the positive limit + if (error*Kd > 1) {error = 1/Kd;} + else if (error*Kd < -1) {error = -1/Kd;} + + error_integrated += error; log_count++; - if (log_count > 2000) + if (log_count > 50) { log_count = 0; output(); @@ -84,7 +90,7 @@ drive.write(Kd * error + Ki * error_integrated); wait_ms(WAIT_DELAY); //Minimum duty cycle of 1% - pc.printf("%f,%f,%f\n",error,error_integrated,drive.read()); + //pc.printf("%f,%f,%f\n",error,error_integrated,drive.read()); }