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patch autotune, firmware tested and works on hardware

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This commit is contained in:
topquark12 2022-02-12 18:42:31 +08:00
parent b2a58a6703
commit 678edfd2d1
1 changed files with 2 additions and 2 deletions
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4
pytec/autotune.py
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@ -77,8 +77,8 @@ class PIDAutotune:
""" """
divisors = self._tuning_rules[tuning_rule] divisors = self._tuning_rules[tuning_rule]
kp = self._Ku * divisors[0] kp = self._Ku * divisors[0]
ki = divisors[1] * self._Ku / self._Pu ki = divisors[1] * self._Ku / self._Pu / 0.12
kd = divisors[2] * self._Ku * self._Pu kd = divisors[2] * self._Ku * self._Pu * 0.12
return PIDAutotune.PIDParams(kp, ki, kd) return PIDAutotune.PIDParams(kp, ki, kd)
def run(self, input_val, time_input): def run(self, input_val, time_input):