Diff: Heater.h

Revision:

17:0bfed0e96927

Parent:

16:cd837b230b09

Child:

18:f5d26d3d532f

--- a/Heater.h	Wed Jul 24 14:29:44 2019 +0000
+++ b/Heater.h	Thu Jul 25 16:20:01 2019 +0000
@@ -9,14 +9,18 @@
 #define Heater_H
 #include "mbed.h"
 #include "ADS8568_ADC.h"
+#include "FastPWM.h"
 
-#define MEAS_DELAY          80     // measurement delay for ADC
+#define MEAS_DELAY          50     // measurement delay for ADC
 #define WAIT_DELAY          5      // wait delay for ADC
 
 #define N_ROLL_AVG          1      // rolling average for R values
 #define ALL_CH              15     //value of convst bus to read all chanels simultaneosly
-#define Kd                  0.5f   //proportional gain
-#define Ki                  1.0f   //Integrator gain
+#define Kp                  30.0f   //proportional gain
+#define Ti                  2       //Integration time
+#define Kd                  0.0f   //Differentiator gain
+#define WIND_UP_LIMIT       0.006f //Avoids integral windup on a sharp drop in T_ref
+#define PWM_PERIOD          50     
 
 class Heater
 {
@@ -28,7 +32,7 @@
                  * @param drive, the motor drive
                  * @param R_ref, the target value for R
                  */
-        Heater(int i_port, int v_port, PwmOut * drive, float corr_grad, float corr_int, float R_ref = 1);
+        Heater(int i_port, int v_port, FastPWM * drive, float corr_grad, float corr_int, float R_ref = 1);
         
         //Public member functions
 
@@ -67,11 +71,12 @@
         float R;
         float R_ref;
         float error;
+        float error_diff;
         float error_integrated;
         
         int i_port;
         int v_port;
-        PwmOut * drive;
+        FastPWM * drive;
 
         //Heater correlations give temperature for a given resistance (assume linear relationship)
         float corr_grad;