Mercurial > mbsePi-apps / file comparison
comparison: thermferm/thermferm.c
thermferm/thermferm.c
- changeset 177
- 48d19ec83a49
- parent 176
- 8c7d87a2c094
- child 179
- 417ee898fb02
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| 176:8c7d87a2c094 | 177:48d19ec83a49 |
|---|---|
| 365 err = 0; | 365 err = 0; |
| 366 P_err = err; | 366 P_err = err; |
| 367 I_err += unit->PID_err_old; | 367 I_err += unit->PID_err_old; |
| 368 D_err = err - unit->PID_err_old; | 368 D_err = err - unit->PID_err_old; |
| 369 | 369 |
| 370 Out = 0.1*P_err + 0.3*I_err + 0.02*D_err; | 370 Out = (0.1*P_err) + (0.3*I_err) + (0.02*D_err); |
| 371 // Kp Ki Kd | |
| 371 if (debug) | 372 if (debug) |
| 372 fprintf(stdout, "sp=%.2f pv=%.2f err_old=%.2f err=%.2f P_err=%.2f I_err=%.2f D_err=%.2f Out=%.2f\n", | 373 fprintf(stdout, "sp=%.2f pv=%.2f err_old=%.2f err=%.2f P_err=%.2f I_err=%.2f D_err=%.2f Out=%.2f\n", |
| 373 sp, pv, unit->PID_err_old, err, P_err, I_err, D_err, Out); | 374 sp, pv, unit->PID_err_old, err, P_err, I_err, D_err, Out); |
| 374 } | 375 } |
| 375 | 376 |
