Commit | Line | Data |
---|---|---|
df27a6a3 | 1 | /* |
cd011f58 AW |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
cd011f58 AW |
6 | */ |
7 | ||
7b49793d | 8 | // TODO : THIS FILE IS LAME, MUST BE MADE MUCH BETTER |
cd011f58 | 9 | |
ded56b35 AW |
10 | #include "libs/Module.h" |
11 | #include "libs/Kernel.h" | |
12 | #include <math.h> | |
13 | #include "TemperatureControl.h" | |
3c308aeb | 14 | #include "TemperatureControlPool.h" |
3c132bd0 | 15 | #include "libs/Pin.h" |
3c4f2dd8 | 16 | #include "modules/robot/Conveyor.h" |
8293d443 | 17 | #include "PublicDataRequest.h" |
2fa50ca0 | 18 | |
38b9f24a L |
19 | #include "PublicData.h" |
20 | #include "ToolManagerPublicAccess.h" | |
61134a65 JM |
21 | #include "StreamOutputPool.h" |
22 | #include "Config.h" | |
23 | #include "checksumm.h" | |
24 | #include "Gcode.h" | |
61134a65 JM |
25 | #include "SlowTicker.h" |
26 | #include "Pauser.h" | |
8d54c34c | 27 | #include "ConfigValue.h" |
66383b80 JM |
28 | #include "TemperatureControl.h" |
29 | #include "PID_Autotuner.h" | |
ded56b35 | 30 | |
9d955060 | 31 | // Temp sensor implementations: |
32 | #include "Thermistor.h" | |
4710532a | 33 | #include "max31855.h" |
9d955060 | 34 | |
8f91e4e6 MM |
35 | #include "MRI_Hooks.h" |
36 | ||
85eabc50 JM |
37 | #define UNDEFINED -1 |
38 | ||
9d955060 | 39 | #define sensor_checksum CHECKSUM("sensor") |
40 | ||
85eabc50 JM |
41 | #define readings_per_second_checksum CHECKSUM("readings_per_second") |
42 | #define max_pwm_checksum CHECKSUM("max_pwm") | |
43 | #define pwm_frequency_checksum CHECKSUM("pwm_frequency") | |
989d0e94 JM |
44 | #define bang_bang_checksum CHECKSUM("bang_bang") |
45 | #define hysteresis_checksum CHECKSUM("hysteresis") | |
85eabc50 JM |
46 | #define heater_pin_checksum CHECKSUM("heater_pin") |
47 | ||
48 | #define get_m_code_checksum CHECKSUM("get_m_code") | |
49 | #define set_m_code_checksum CHECKSUM("set_m_code") | |
50 | #define set_and_wait_m_code_checksum CHECKSUM("set_and_wait_m_code") | |
51 | ||
52 | #define designator_checksum CHECKSUM("designator") | |
53 | ||
54 | #define p_factor_checksum CHECKSUM("p_factor") | |
55 | #define i_factor_checksum CHECKSUM("i_factor") | |
56 | #define d_factor_checksum CHECKSUM("d_factor") | |
57 | ||
58 | #define i_max_checksum CHECKSUM("i_max") | |
59 | ||
60 | #define preset1_checksum CHECKSUM("preset1") | |
61 | #define preset2_checksum CHECKSUM("preset2") | |
62 | ||
8e8b938e | 63 | TemperatureControl::TemperatureControl(uint16_t name, int index) |
d8baddd9 | 64 | { |
8e8b938e JM |
65 | name_checksum= name; |
66 | pool_index= index; | |
67 | waiting= false; | |
68 | min_temp_violated= false; | |
69 | sensor= nullptr; | |
d8baddd9 | 70 | } |
ded56b35 | 71 | |
d8baddd9 | 72 | TemperatureControl::~TemperatureControl() |
73 | { | |
74 | delete sensor; | |
75 | } | |
4710532a JM |
76 | |
77 | void TemperatureControl::on_module_loaded() | |
78 | { | |
907d5e8a | 79 | |
81b547a1 | 80 | // We start not desiring any temp |
907d5e8a | 81 | this->target_temperature = UNDEFINED; |
ded56b35 AW |
82 | |
83 | // Settings | |
7dd8133c | 84 | this->on_config_reload(this); |
ded56b35 | 85 | |
ded56b35 | 86 | // Register for events |
476dcb96 | 87 | register_for_event(ON_CONFIG_RELOAD); |
df27a6a3 | 88 | this->register_for_event(ON_GCODE_EXECUTE); |
b0be67b5 | 89 | this->register_for_event(ON_GCODE_RECEIVED); |
df27a6a3 | 90 | this->register_for_event(ON_MAIN_LOOP); |
8ccab7cf | 91 | this->register_for_event(ON_SECOND_TICK); |
8293d443 | 92 | this->register_for_event(ON_GET_PUBLIC_DATA); |
991d98cc | 93 | this->register_for_event(ON_SET_PUBLIC_DATA); |
ded56b35 AW |
94 | } |
95 | ||
4710532a JM |
96 | void TemperatureControl::on_main_loop(void *argument) |
97 | { | |
7e57bc2c | 98 | if (this->min_temp_violated) { |
9d955060 | 99 | THEKERNEL->streams->printf("Error: MINTEMP triggered. Check your temperature sensors!\n"); |
7e57bc2c | 100 | this->min_temp_violated = false; |
a7f12bed | 101 | } |
7e57bc2c | 102 | } |
7dd8133c AW |
103 | |
104 | // Get configuration from the config file | |
4710532a JM |
105 | void TemperatureControl::on_config_reload(void *argument) |
106 | { | |
7dd8133c | 107 | |
1306ba99 | 108 | // General config |
314ab8f7 MM |
109 | this->set_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number(); |
110 | this->set_and_wait_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_and_wait_m_code_checksum)->by_default(109)->as_number(); | |
111 | this->get_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number(); | |
112 | this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number(); | |
7dee00e4 | 113 | |
314ab8f7 | 114 | this->designator = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string(); |
b0be67b5 | 115 | |
d8baddd9 | 116 | // For backward compatibility, default to a thermistor sensor. |
117 | std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string(); | |
118 | ||
119 | // Instantiate correct sensor (TBD: TempSensor factory?) | |
120 | delete sensor; | |
121 | sensor = nullptr; // In case we fail to create a new sensor. | |
4710532a | 122 | if(sensor_type.compare("thermistor") == 0) { |
d8baddd9 | 123 | sensor = new Thermistor(); |
4710532a | 124 | } else if(sensor_type.compare("max31855") == 0) { |
d8baddd9 | 125 | sensor = new Max31855(); |
4710532a | 126 | } else { |
d8baddd9 | 127 | sensor = new TempSensor(); // A dummy implementation |
128 | } | |
129 | sensor->UpdateConfig(temperature_control_checksum, this->name_checksum); | |
4710532a | 130 | |
314ab8f7 MM |
131 | this->preset1 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number(); |
132 | this->preset2 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number(); | |
f4bd4fc3 | 133 | |
907d5e8a | 134 | |
c4f4cf73 | 135 | // sigma-delta output modulation |
b35ac71e | 136 | this->o = 0; |
3c132bd0 | 137 | |
3c132bd0 | 138 | // Heater pin |
314ab8f7 MM |
139 | this->heater_pin.from_string( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output(); |
140 | this->heater_pin.max_pwm( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() ); | |
989d0e94 | 141 | |
7dee00e4 | 142 | this->heater_pin.set(0); |
989d0e94 JM |
143 | |
144 | // used to enable bang bang control of heater | |
4710532a JM |
145 | this->use_bangbang = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool(); |
146 | this->hysteresis = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number(); | |
7dd8133c | 147 | |
cb3460e9 | 148 | set_low_on_debug(heater_pin.port_number, heater_pin.pin); |
8f91e4e6 | 149 | |
907d5e8a | 150 | // activate SD-DAC timer |
314ab8f7 | 151 | THEKERNEL->slow_ticker->attach( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, pwm_frequency_checksum)->by_default(2000)->as_number() , &heater_pin, &Pwm::on_tick); |
907d5e8a | 152 | |
f39da6fe | 153 | // reading tick |
314ab8f7 | 154 | THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick ); |
4710532a | 155 | this->PIDdt = 1.0 / this->readings_per_second; |
f39da6fe | 156 | |
907d5e8a | 157 | // PID |
314ab8f7 | 158 | setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() ); |
1ad23cd3 | 159 | setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() ); |
314ab8f7 | 160 | setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() ); |
10e66797 | 161 | // set to the same as max_pwm by default |
314ab8f7 | 162 | this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(this->heater_pin.max_pwm())->as_number(); |
10e66797 | 163 | this->iTerm = 0.0; |
4710532a | 164 | this->lastInput = -1.0; |
907d5e8a | 165 | this->last_reading = 0.0; |
7dd8133c AW |
166 | } |
167 | ||
4710532a JM |
168 | void TemperatureControl::on_gcode_received(void *argument) |
169 | { | |
170 | Gcode *gcode = static_cast<Gcode *>(argument); | |
8dfbc976 | 171 | if (gcode->has_m) { |
ee4711d1 | 172 | |
4710532a | 173 | if( gcode->m == this->get_m_code ) { |
93284f6f | 174 | char buf[32]; // should be big enough for any status |
4710532a | 175 | int n = snprintf(buf, sizeof(buf), "%s:%3.1f /%3.1f @%d ", this->designator.c_str(), this->get_temperature(), ((target_temperature == UNDEFINED) ? 0.0 : target_temperature), this->o); |
93284f6f | 176 | gcode->txt_after_ok.append(buf, n); |
a24ab0ac | 177 | gcode->mark_as_taken(); |
8dfbc976 JM |
178 | |
179 | } else if (gcode->m == 301) { | |
74b6303c | 180 | gcode->mark_as_taken(); |
4710532a | 181 | if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) { |
827a49ca | 182 | if (gcode->has_letter('P')) |
201e6dcf | 183 | setPIDp( gcode->get_value('P') ); |
827a49ca | 184 | if (gcode->has_letter('I')) |
201e6dcf | 185 | setPIDi( gcode->get_value('I') ); |
827a49ca | 186 | if (gcode->has_letter('D')) |
201e6dcf | 187 | setPIDd( gcode->get_value('D') ); |
827a49ca MM |
188 | if (gcode->has_letter('X')) |
189 | this->i_max = gcode->get_value('X'); | |
190 | } | |
10e66797 | 191 | //gcode->stream->printf("%s(S%d): Pf:%g If:%g Df:%g X(I_max):%g Pv:%g Iv:%g Dv:%g O:%d\n", this->designator.c_str(), this->pool_index, this->p_factor, this->i_factor/this->PIDdt, this->d_factor*this->PIDdt, this->i_max, this->p, this->i, this->d, o); |
4710532a | 192 | gcode->stream->printf("%s(S%d): Pf:%g If:%g Df:%g X(I_max):%g O:%d\n", this->designator.c_str(), this->pool_index, this->p_factor, this->i_factor / this->PIDdt, this->d_factor * this->PIDdt, this->i_max, o); |
8dfbc976 | 193 | |
4710532a JM |
194 | } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings |
195 | gcode->stream->printf(";PID settings:\nM301 S%d P%1.4f I%1.4f D%1.4f\n", this->pool_index, this->p_factor, this->i_factor / this->PIDdt, this->d_factor * this->PIDdt); | |
33e4cc02 JM |
196 | gcode->mark_as_taken(); |
197 | ||
8e8b938e JM |
198 | } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S')) { |
199 | // this only gets handled if it is not controlle dby the tool manager or is active in the toolmanager | |
200 | this->active = true; | |
201 | ||
202 | // this is safe as old configs as well as single extruder configs the toolmanager will not be running so will return false | |
203 | // this will also ignore anything that the tool manager is not controlling and return false, otherwise it returns the active tool | |
204 | void *returned_data; | |
205 | bool ok = THEKERNEL->public_data->get_value( tool_manager_checksum, is_active_tool_checksum, this->name_checksum, &returned_data ); | |
206 | if (ok) { | |
207 | uint16_t active_tool_name = *static_cast<uint16_t *>(returned_data); | |
208 | this->active = (active_tool_name == this->name_checksum); | |
209 | } | |
210 | ||
211 | if(this->active) { | |
212 | // Attach gcodes to the last block for on_gcode_execute | |
213 | THEKERNEL->conveyor->append_gcode(gcode); | |
2134bcf2 | 214 | |
8e8b938e JM |
215 | // push an empty block if we have to wait, so the Planner can get things right, and we can prevent subsequent non-move gcodes from executing |
216 | if (gcode->m == this->set_and_wait_m_code) { | |
217 | // ensure that no subsequent gcodes get executed with our M109 or similar | |
218 | THEKERNEL->conveyor->queue_head_block(); | |
219 | } | |
220 | } | |
3c4f2dd8 | 221 | } |
b0be67b5 MM |
222 | } |
223 | } | |
db453125 | 224 | |
4710532a JM |
225 | void TemperatureControl::on_gcode_execute(void *argument) |
226 | { | |
227 | Gcode *gcode = static_cast<Gcode *>(argument); | |
228 | if( gcode->has_m) { | |
cf1a7632 | 229 | if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code)) |
4710532a | 230 | && gcode->has_letter('S') && this->active) { |
1ad23cd3 | 231 | float v = gcode->get_value('S'); |
f4bd4fc3 | 232 | |
4710532a | 233 | if (v == 0.0) { |
907d5e8a | 234 | this->target_temperature = UNDEFINED; |
4710532a JM |
235 | this->heater_pin.set((this->o = 0)); |
236 | } else { | |
f4bd4fc3 | 237 | this->set_desired_temperature(v); |
cf1a7632 | 238 | |
4710532a | 239 | if( gcode->m == this->set_and_wait_m_code) { |
314ab8f7 | 240 | THEKERNEL->pauser->take(); |
cf1a7632 MM |
241 | this->waiting = true; |
242 | } | |
907d5e8a | 243 | } |
df27a6a3 | 244 | } |
df27a6a3 | 245 | } |
ded56b35 AW |
246 | } |
247 | ||
4710532a JM |
248 | void TemperatureControl::on_get_public_data(void *argument) |
249 | { | |
250 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
201e6dcf | 251 | |
b19aa09d JM |
252 | if(!pdr->starts_with(temperature_control_checksum)) return; |
253 | ||
8e8b938e JM |
254 | if(pdr->second_element_is(pool_index_checksum)) { |
255 | // asking for our instance pointer if we have this pool_index | |
256 | if(pdr->third_element_is(this->pool_index)) { | |
257 | static void *return_data; | |
258 | return_data = this; | |
259 | pdr->set_data_ptr(&return_data); | |
260 | pdr->set_taken(); | |
261 | } | |
262 | return; | |
263 | ||
264 | }else if(!pdr->second_element_is(this->name_checksum)) return; | |
b19aa09d JM |
265 | |
266 | // ok this is targeted at us, so send back the requested data | |
267 | if(pdr->third_element_is(current_temperature_checksum)) { | |
2fa50ca0 JM |
268 | this->public_data_return.current_temperature = this->get_temperature(); |
269 | this->public_data_return.target_temperature = (target_temperature == UNDEFINED) ? 0 : this->target_temperature; | |
270 | this->public_data_return.pwm = this->o; | |
271 | this->public_data_return.designator= this->designator; | |
272 | pdr->set_data_ptr(&this->public_data_return); | |
b19aa09d JM |
273 | pdr->set_taken(); |
274 | } | |
8e8b938e | 275 | |
8293d443 | 276 | } |
db453125 | 277 | |
4710532a JM |
278 | void TemperatureControl::on_set_public_data(void *argument) |
279 | { | |
280 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
77047e76 | 281 | |
991d98cc | 282 | if(!pdr->starts_with(temperature_control_checksum)) return; |
77047e76 | 283 | |
8e8b938e | 284 | if(!pdr->second_element_is(this->name_checksum)) return; |
77047e76 | 285 | |
991d98cc | 286 | // ok this is targeted at us, so set the temp |
4710532a | 287 | float t = *static_cast<float *>(pdr->get_data_ptr()); |
991d98cc JM |
288 | this->set_desired_temperature(t); |
289 | pdr->set_taken(); | |
77047e76 JM |
290 | } |
291 | ||
1ad23cd3 | 292 | void TemperatureControl::set_desired_temperature(float desired_temperature) |
cf1a7632 MM |
293 | { |
294 | if (desired_temperature == 1.0) | |
295 | desired_temperature = preset1; | |
296 | else if (desired_temperature == 2.0) | |
297 | desired_temperature = preset2; | |
298 | ||
907d5e8a | 299 | target_temperature = desired_temperature; |
959dc7db | 300 | if (desired_temperature == 0.0) |
b35ac71e | 301 | heater_pin.set((this->o = 0)); |
ded56b35 AW |
302 | } |
303 | ||
4710532a JM |
304 | float TemperatureControl::get_temperature() |
305 | { | |
907d5e8a | 306 | return last_reading; |
ded56b35 AW |
307 | } |
308 | ||
4710532a JM |
309 | uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy) |
310 | { | |
9d955060 | 311 | float temperature = sensor->get_temperature(); |
907d5e8a | 312 | |
4710532a JM |
313 | if (target_temperature > 0) { |
314 | if (isinf(temperature)) { | |
7e57bc2c | 315 | this->min_temp_violated = true; |
907d5e8a | 316 | target_temperature = UNDEFINED; |
4710532a JM |
317 | heater_pin.set((this->o = 0)); |
318 | } else { | |
907d5e8a | 319 | pid_process(temperature); |
4710532a | 320 | if ((temperature > target_temperature) && waiting) { |
347854ff | 321 | THEKERNEL->pauser->release(); |
907d5e8a | 322 | waiting = false; |
81b547a1 | 323 | } |
ded56b35 | 324 | } |
4710532a | 325 | } else { |
b35ac71e | 326 | heater_pin.set((this->o = 0)); |
959dc7db | 327 | } |
907d5e8a | 328 | last_reading = temperature; |
281967e4 | 329 | return 0; |
ded56b35 AW |
330 | } |
331 | ||
10e66797 JM |
332 | /** |
333 | * Based on https://github.com/br3ttb/Arduino-PID-Library | |
334 | */ | |
1ad23cd3 | 335 | void TemperatureControl::pid_process(float temperature) |
907d5e8a | 336 | { |
989d0e94 | 337 | if(use_bangbang) { |
b35ac71e | 338 | // bang bang is very simple, if temp is < target - hysteresis turn on full else if temp is > target + hysteresis turn heater off |
989d0e94 | 339 | // good for relays |
4710532a | 340 | if(temperature > (target_temperature + hysteresis) && this->o > 0) { |
989d0e94 | 341 | heater_pin.set(false); |
4710532a | 342 | this->o = 0; // for display purposes only |
989d0e94 | 343 | |
4710532a | 344 | } else if(temperature < (target_temperature - hysteresis) && this->o <= 0) { |
989d0e94 JM |
345 | if(heater_pin.max_pwm() >= 255) { |
346 | // turn on full | |
347 | this->heater_pin.set(true); | |
4710532a JM |
348 | this->o = 255; // for display purposes only |
349 | } else { | |
989d0e94 JM |
350 | // only to whatever max pwm is configured |
351 | this->heater_pin.pwm(heater_pin.max_pwm()); | |
4710532a | 352 | this->o = heater_pin.max_pwm(); // for display purposes only |
989d0e94 | 353 | } |
989d0e94 JM |
354 | } |
355 | return; | |
356 | } | |
ded56b35 | 357 | |
989d0e94 JM |
358 | // regular PID control |
359 | float error = target_temperature - temperature; | |
10e66797 JM |
360 | this->iTerm += (error * this->i_factor); |
361 | if (this->iTerm > this->i_max) this->iTerm = this->i_max; | |
362 | else if (this->iTerm < 0.0) this->iTerm = 0.0; | |
ded56b35 | 363 | |
4710532a JM |
364 | if(this->lastInput < 0.0) this->lastInput = temperature; // set first time |
365 | float d = (temperature - this->lastInput); | |
ded56b35 | 366 | |
10e66797 JM |
367 | // calculate the PID output |
368 | // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that | |
4710532a | 369 | this->o = (this->p_factor * error) + this->iTerm - (this->d_factor * d); |
8cdae54c | 370 | |
7dee00e4 | 371 | if (this->o >= heater_pin.max_pwm()) |
7dee00e4 | 372 | this->o = heater_pin.max_pwm(); |
27aecda6 | 373 | else if (this->o < 0) |
907d5e8a MM |
374 | this->o = 0; |
375 | ||
27aecda6 | 376 | this->heater_pin.pwm(this->o); |
4710532a | 377 | this->lastInput = temperature; |
907d5e8a | 378 | } |
ded56b35 | 379 | |
4710532a | 380 | void TemperatureControl::on_second_tick(void *argument) |
8ccab7cf MM |
381 | { |
382 | if (waiting) | |
4710532a | 383 | THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED) ? 0.0 : target_temperature), o); |
8ccab7cf | 384 | } |
201e6dcf | 385 | |
4710532a JM |
386 | void TemperatureControl::setPIDp(float p) |
387 | { | |
388 | this->p_factor = p; | |
201e6dcf JM |
389 | } |
390 | ||
4710532a JM |
391 | void TemperatureControl::setPIDi(float i) |
392 | { | |
393 | this->i_factor = i * this->PIDdt; | |
201e6dcf JM |
394 | } |
395 | ||
4710532a JM |
396 | void TemperatureControl::setPIDd(float d) |
397 | { | |
398 | this->d_factor = d / this->PIDdt; | |
201e6dcf | 399 | } |